CN114811265A - Pipeline detection device and system - Google Patents
Pipeline detection device and system Download PDFInfo
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- CN114811265A CN114811265A CN202210222007.2A CN202210222007A CN114811265A CN 114811265 A CN114811265 A CN 114811265A CN 202210222007 A CN202210222007 A CN 202210222007A CN 114811265 A CN114811265 A CN 114811265A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The present invention relates to a pipeline detection device, which comprises: the main machine body is used for carrying a mobile control module and a position sensor module; the mobile control module is used for controlling the mobile parameters of the main machine body; and the position sensor module is used for judging the relative position parameters of the main machine body. The position sensing module measures and calculates a relative position parameter of the pipeline detection device relative to an initial position based on the movement parameter of the pipeline detection device and guides the movement control module to control the movement parameter of the main body. The invention can measure the steering parameter, the speed and the moving direction of the main machine body in real time through the position sensor module, so that the detection device can detect the information of the main machine body relative to the initial position.
Description
Technical Field
The invention relates to the field of detection device engineering, in particular to a pipeline detection device and a pipeline detection system.
Background
With the continuous development of industrial technology in China, the quality requirement of pipelines in many fields is continuously improved, and the pipeline detection technology provides guarantee for the quality and regular maintenance of the pipelines.
In the pipeline detection technology, a pipeline detection robot is indispensable. China starts to research pipeline robots in the 80 th of the 20 th century, starts to move later than developed countries in the west, but rapid development is achieved in recent years. In 2002, Shenyang industrial university and Xinjiang Tri-leaf pipeline technology Limited company in China jointly develop a passive pipeline robot for oil and gas pipeline magnetic leakage detection. Shenyang automation research of Chinese academy of sciences designs a differential type self-adaptive pipeline robot, and the pipeline robot can be automatically adapted to a pipeline with a certain change in pipe diameter. The telescopic pipeline robot for Xue brave and Xiehui achieves the goal of large traction force and bidirectional movement of the telescopic pipeline robot. In 2016, the three-crawler type pipeline robot developed by Qingdao university can adapt to pipelines with different pipe diameters and can walk in a vertical pipeline. A crawler-type pipeline detection robot suitable for the field of petroleum and natural gas is developed by a Wuhan university Xiaoshoi Hui research team in 2018.
The bottleneck of the development of pipeline robots in China is mainly embodied in two aspects. Firstly, the intelligent level of the pipeline robot in China is generally low, autonomous recognition capability to self state and external environment is lacked, and external operators are required to intervene, which is a ubiquitous problem of the pipeline robot in China. Secondly, China has less research on special pipeline robots, the technical level of manufacturers cannot meet the detection requirements of various pipelines, and related research is not deep enough. At present, the pipeline robot is mostly a wheel type robot, and the problems that the turning radius is too large in a tiny pipeline, the turning cannot be carried out, and the vertical pipeline cannot be adapted exist. Various industries and industries increasingly urgently need a novel pipeline detection robot to meet the detection requirements of various pipelines.
In the prior art, as disclosed in patent document CN102425709B, a traveling mechanism of a pipeline robot is provided with: the worm and the motor for driving the worm are arranged, and the axis of the worm is superposed with the axis of the pipeline; three sets of planetary gear sets, located in three planes respectively, each set of planetary gear sets including: the worm wheel meshed with the worm is coaxially connected with a sun wheel, the two planet wheels are mutually separated and respectively meshed with the sun wheel, each planet wheel is respectively and coaxially connected with a walking wheel, the diameter of each walking wheel is larger than that of each planet wheel, in the two walking wheels, one walking wheel is hinged to a rotating shaft of the sun wheel through a first link arm, and the minimum value and the maximum value of an included angle formed between the first link arm and a second link arm are 0 degree and 180 degrees respectively.
CN113090865B discloses a self-stabilizing walking mechanism of a pipeline robot, which comprises a walking unit section, an adjusting group, an auxiliary wheel group, a driving group and a walking group, the walking unit sections are arranged equidistantly from left to right, the two ends of the walking unit sections are provided with adjusting groups, the adjusting groups are provided with auxiliary wheel groups and driving groups, the walking unit sections are provided with walking groups, the adjusting groups adopted by the invention can adjust the auxiliary wheel groups according to the size of the pipeline to support the auxiliary wheel groups on the inner wall of the pipeline, so that the auxiliary wheel set and the inner wall of the pipeline are supported and walk at multiple points, the stability of walking on the inner wall of the pipeline is ensured, the pipeline robot is prevented from being clamped in an inclined way in the walking process, meanwhile, the driving set is adopted to drive the adjusting set to rotate and adjust, the driving shaft is in hinged fit with the connecting rod, so that the driving shaft and the connecting rod are convenient to bend, and the phenomenon that the supporting disc is clamped when the supporting disc moves to the bent pipe of the pipeline is avoided.
The technology provides a method for adapting to a complex pipeline environment by adopting a foot type detection device, particularly, the advancing direction of a robot is adjusted by adopting a wheel assembly with strong turning capability, but the adjustment and wall climbing capability when the vertical pipeline crawls are poor, the walking mode and the route cannot be automatically adjusted according to the environment, whether the self is blocked or the rollover and idling condition exists cannot be judged, the walking and detection in the smooth pipeline are only suitable, and the practicability is poor.
Furthermore, on the one hand, due to the differences in understanding to the person skilled in the art; on the other hand, since the inventor has studied a lot of documents and patents when making the present invention, but the space is not limited to the details and contents listed in the above, however, the present invention is by no means free of the features of the prior art, but the present invention has been provided with all the features of the prior art, and the applicant reserves the right to increase the related prior art in the background.
Disclosure of Invention
In order to solve at least some of the above-mentioned deficiencies in the prior art, the present application provides a pipeline detecting device, which comprises: the main machine body is used for carrying a mobile control module and a position sensor module; the mobile control module is used for controlling the mobile parameters of the main body; and the position sensor module is used for judging the relative position parameters of the main machine body. The position sensing module measures and calculates a relative position parameter of the pipeline detection device relative to an initial position based on the movement parameter of the pipeline detection device and guides the movement control module to control the movement parameter of the main body. The invention can measure the steering parameter, the speed and the moving direction of the main machine body in real time through the position sensor module, so that the detection device can detect the information of the main machine body relative to the initial position. According to the invention, through the cooperation of the position information sensor module and the vision sensing module, the robot can smoothly reach a target point to complete a detection task.
Preferably, the position sensor module measures attitude data of speed and angular velocity of the pipeline detection device in real time and sends the data to the processing module, and the processing module can obtain relative position parameters of the pipeline detection device relative to the initial position based on the collected data information. The system also comprises an environment sensing module electrically connected to the processing module, the environment sensing module comprises an infrared detector module and an ultrasonic module, and the processing module calculates barrier parameters based on data collected by the infrared detector module and the ultrasonic module. According to the invention, the position sensor module and the vision sensing module are used for simultaneously acquiring the relative position parameters and the barrier parameters of the robot, so that the error of a single acquisition device is reduced, the data error and the position error caused by the robot are avoided, the data accuracy can be improved, and the guarantee is provided for the obstacle avoidance path planning of the robot motion control module.
Preferably, the processing module corrects the relative position parameter of the obstacle parameter measured and calculated by the current pipeline detection device based on the obstacle parameter obtained through corresponding filtering and processing and a preset obstacle parameter, and sends the obstacle parameter to the mobile control module. The position sensor module provided by the invention can accurately obtain the position of the robot, and establishes the accurate relative position of the robot and the obstacle by matching with the obstacle distance and form information measured and calculated by the infrared detector module, the ultrasonic module and the visual sensing module.
Preferably, the walking units of the driving device of the pipeline detection device are connected by steering engines, and are composed of three sections, the directions can be freely changed, three sections of each walking unit are connected by the steering engines, and the direction of a first steering engine joint connected with the main machine body is changed in a steering mode; in the obstacle crossing mode, the angle of the joint of the second steering engine is changed; and in a wall climbing mode, the angle of the joint of a third steering engine at the tail end is changed.
Preferably, the position information parameters of the pipeline detection device are continuously changed in the working process, the pipeline detection device needs to continuously receive new relative position parameters and barrier parameters for real-time path planning, and the processing module receives the relative position parameters and the barrier parameters of the pipeline detection device, which are transmitted by the position sensor module and the environment sensing module, and guides the movement control module to control the movement of the detection device. In the invention, the analysis module continuously receives the current robot position information and the barrier parameters while moving and calculates the optimal route, so that the collision between the robot and the wall and the barrier can be effectively avoided, and the driving efficiency is improved.
Preferably, the pipeline detection device adopts a method combining path planning and automatic control in the aspect of automatic control, and based on the infrared sensor and the ultrasonic sensor, the pipeline detection device can detect the path condition in a preset range, acquire road information, plan a proper path, move the control module and add a correction system, and realize automatic registration of the walking path. The invention realizes the automation of the advancing of the robot by combining path planning and the automatic calibration of the main control chip.
Preferably, the mobile control module can add a wireless transmission module connection mode, so that the mobile control module can remotely regulate and control in the wireless transmission module connection mode. The invention adopts two operation modes, can avoid the occurrence of emergency and greatly reduce the failure rate of the robot.
Preferably, the pipe and pipeline detecting device detects the condition in the pipeline within the preset range by adopting an infrared sensor and an ultrasonic sensor, judges whether an obstacle exists or not, and obtains a walking mode corresponding to the object outline image and size selection based on the camera.
A pipeline inspection system comprising: performing a detection task based on the control information in a matching way; measuring and calculating relative position parameters based on the movement parameters; determining surrounding obstacle shape parameters based on image information identification; automatically planning an obstacle avoidance path of the pipeline detection device and guiding the detection device to move based on the relative position parameters, the barrier parameters and the target point; calculating the distance and direction parameters of the detection device relative to the initial position by combining the prior data information; acquiring and calculating information parameters of the barrier; and performing optimal path planning and guiding the movement of the detection device in the interval time based on the relative position parameter and the obstacle parameter.
The invention has at least the following advantages:
(1) the detection device has two modes of automation and manual control, so that the failure rate of the machine can be greatly reduced, and the user experience is improved;
(2) the real-time path planning unit can plan the path in real time, select the optimal scheme, effectively avoid the collision between the detection device and the pipe wall and the barrier, and improve the driving efficiency;
(3) the distance and the form information of the obstacle measured and calculated by the infrared detector module and the ultrasonic module can be used for establishing the accurate relative position of the detection device and the obstacle, so that accurate positioning is realized;
(4) the visual sensing and wireless transmission module can uninterruptedly transmit detection information in real time, and has a good detection function;
(5) the foot design of the detection device can realize the wall climbing function and can detect in the vertical direction;
(6) the detection device can automatically turn over to a normal walking state when rollover occurs, and the detection device does not turn over by taking an important structure as a fulcrum when turning over.
Drawings
FIG. 1 is a main body structure view of the present invention;
FIG. 2 is a front view of the body of the present invention;
FIG. 3 is a top view of the body of the present invention;
FIG. 4 is a view of the walking unit of the present invention;
FIG. 5 is a view showing the inside structure of the case of the present invention;
fig. 6 is a schematic diagram of the connection of modules of the present invention.
List of reference numerals
1: a main body; 2: the sensor module is externally connected; 3: a first traveling unit; 4: an infrared detector module; 5: an image transmission module; 6: an ultrasonic module; 7: the main body and the walking unit transmission bearing; 8: a sensor fixing screw hole is externally connected; 9: an ultrasonic sensor fixing screw; 10: an ultrasonic sensor; 11: the sensor drives the rotating shaft; 12: the sensor drives the steering engine box body; 13: an infrared sensor; 14: infrared sensor fixing screws; 15: a camera fixing screw; 16: a camera; 17: a steering engine box body is connected with a screw; 18: adsorbing feet; 19: a steering engine transmission bearing of the walking unit; 20: a steering engine box body; 21: a wireless transmission module; 22: a position sensor module; 23: a steering engine power supply system; 24: a mobile control module; 25: a sensor power supply system; 26: a second traveling unit; 27: a third travel unit; 28: a fourth walking unit; 29: a fifth travel unit; 30: a sixth traveling unit; 31: a seventh traveling unit; 32: an eighth traveling unit; 37: an environment sensing module; 38: and a processing module.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate an orientation or positional relationship based on that shown in the drawings, it is merely for convenience of description and simplicity of description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
In the description of the present invention, it is to be understood that "first direction" refers to a direction parallel to the axis X, "second direction" refers to a direction parallel to the axis Y, and "third direction" refers to a direction parallel to the axis Z.
The invention relates to a pipeline detection device. In order to provide enough intimacy and design feeling for people and facilitate detection, the detection device is integrally designed into a spider shape, meanwhile, an internal circuit is hidden, and meanwhile, the protection effect is also achieved, and a specific structural schematic diagram is shown in figure 1.
As shown in fig. 6, the duct detecting apparatus includes a main body 1 provided with a driving device and a movement control module 24. The main body 1 is mounted with a position sensor module 22 and an environment sensing module 37. The environment sensing module 37 identifies image information based on the infrared detector module 4 and the ultrasonic wave module 6 to determine surrounding obstacle shape parameters, determines road information conditions, and feeds back the road information conditions to the position sensor module 22. The position sensor module 22 calculates the relative position parameters of the detecting device by monitoring the real-time velocity and angular velocity of the detecting device. The motion control module 24 directs the motion of the probe based on the road information and the path plan.
The movement control module 24 receives the relative position parameter information of the detection device and the obstacle parameter from the processing module 38, performs optimal path planning at high frequency in a short time, and guides the driving device to control the movement of the detection device. The motion control module 24 generates a scene map including the coordinate position of the detection device itself with respect to the initial position from the video information collected by the environment sensing module 37, and generates a plurality of walking paths based on the given initial position and target position and stores them in the processing module 38. When a certain travel route is blocked and cannot pass through, the processing module 28 can provide at least one other travel route different from the current travel route to the movement control module when the route cannot pass through. The basis for the detection device to determine that a certain line is not connected is the road information condition determined by the environment sensing module 37. And dividing the operation modes into different execution modes according to the parameter information of the detection device and the obstacle parameters. The working modes of the device are a steering obstacle avoidance mode, an obstacle crossing mode and a climbing mode. The steering obstacle avoidance mode aims at higher and larger obstacles which cannot be crossed; the obstacle crossing mode can be adjusted by the posture of the detection device aiming at small obstacles which can influence the advancing of the detection device, and the movement path does not need to be changed; the climbing mode is applicable to vertical pipes.
The obstacle avoidance system is provided with a plurality of working modes, can avoid obstacles in different modes according to different obstacle states, and is high in flexibility. Especially the climbing mode, can be used for vertical pipelines and plays a key role in the detection in the pipelines.
The mobile control module 24 can determine the working modes under different road conditions and the mixed conditions of a plurality of working modes based on the relative position parameter information of the detecting device and the barrier parameters.
According to the invention, two working modes are selected according to the form parameters of the obstacle, so that the obstacle can be avoided by moving better and more stably. For example, when an obstacle appears at a certain distance from the detection device, the ultrasonic sensor 10 and the infrared sensor 13 scan the size and shape profile of the obstacle, and an appropriate working mode is selected according to characteristic parameters of the obstacle. The large-sized barrier is selected to turn to avoid, and the small-sized barrier is selected to cross the barrier mode. And a mixed multi-purpose working mode is adopted in a certain distance, and the operation is crossed.
Preferably, as shown in fig. 4, in order to ensure that the detection device can adapt to various environments, the detection device is required to be capable of performing multi-angle posture adjustment, and each walking unit is provided with 3 steering engines. Wherein, first steering wheel links to each other with the main engine body 1, and the second steering wheel is located the centre, links to each other with first steering wheel through walking unit steering wheel transmission bearing 19. The third steering engine is a tail end steering engine connected with the adsorption feet 18 and is connected to the second steering engine through a steering engine box body connecting screw 17. Preferably, the joint of the walking unit steering engine transmission bearing 19 and the walking unit wall is flexibly connected, so that the vibration and impact of the walking unit on the steering engine when the walking unit is in contact with the bottom surface of the pipe body are reduced, additional stress except for working requirements borne by the steering engine is reduced, the service life of the steering engine is prolonged, and the stability of the whole driving mechanism is improved. Referring to fig. 1, the walking unit is connected to the main body 1 through the main body and the walking unit transmission bearing 7, the external sensor 2 is connected to the main body 1 through the external sensor fixing screw hole 8, and the other modules are connected to the main body 1 in a similar manner, which is not described herein again.
Preferably, the foot adhesive material of the product adopts a disc type structure, so that the contact area with the pipe body is increased. The absorption foot 18 is made of rubber, has the function of a shock absorber, and further reduces the impact of the walking unit when contacting with the bottom surface of the pipe body. The foot surface is designed by adopting gecko bionic materials, the materials simulate the design of foot fibers of the gecko, very dense fine villi are contacted with a contact surface, and the detection device is firmly adsorbed on the pipe wall by utilizing intermolecular force to prevent the detection device from falling off, so that the detection device can crawl on a plane and also crawl on a vertical adsorbable vertical surface. The adsorption feet are connected with the walking unit main body through common bolts, so that the adsorption feet can be replaced when the service life of the adsorption feet is prolonged.
Preferably, the movement form of the detection device is diagonal crawling gait, and in a normal walking mode, regular gait is adopted, and each gait cycle completes one step. When the main machine body 1 is in a suspended phase, the main machine body 1 moves by one step distance in the same direction under the driving of the first joints of the steering engines of the third walking unit 27, the fourth walking unit 28, the fifth walking unit 29 and the sixth walking unit 30 to drive the gravity center of the body to move forwards, then the four walking units are all put down, the third walking unit 27, the fourth walking unit 28, the fifth walking unit 29 and the sixth walking unit 30 correspondingly move, and the detection device returns to the initial state of the pose. The gait is continuously circulated, and the geometric gravity center of the detection device continuously moves forwards. As can be seen from the joint angle displacement curve, the slope of the angle displacement curve is zero when the detection device lifts and drops feet, and the impact force of the sole on the pipeline is also reduced to the minimum, so that the invention has small impact with the pipe body in the crawling process, and simultaneously improves the crawling stability of the detection device.
Preferably, the first execution mode of the pipeline detection device is steering obstacle avoidance, and for a large obstacle, the environment sensing module detects the obstacle of the advancing road and outputs the size contour of the obstacle, and the output content at least includes: the height of the highest obstacle, the length of the obstacle and the height of the lowest obstacle. When the height of the lowest obstacle still exceeds a predetermined value (e.g. the highest height that can be reached by the chassis of the main body 1 of the duct detection apparatus), the processing module 38 may select a first execution mode, namely, an obstacle avoidance mode, according to the parameter information: the steering engine box 20 of the third traveling unit 27, the fourth traveling unit 28, the fifth traveling unit 29 and the sixth traveling unit 30 rotate in opposite directions by a certain angle, and the first traveling unit 3, the second traveling unit 26, the seventh traveling unit 31 and the eighth traveling unit 32 still move in the forward direction, so that the steering function is realized and obstacles are avoided.
Preferably, the second mode of execution of the duct detection apparatus is an obstacle crossing mode. When the height of the highest position of the obstacle is smaller than the preset value and the length of the obstacle is smaller than the distance between the walking units on the two sides of the detection device, the environment sensing module 37 confirms that a small obstacle exists on the advancing road based on the obstacle parameters, and the analysis module 37 selects an obstacle crossing mode. A second steering engine joint of the foot of the walking unit of the detection device rotates for a certain angle around a steering engine transmission bearing of the walking unit to enable the gravity center of the detection device to rise, and a third steering engine correspondingly rotates to the adsorption foot 18 to keep in contact with the ground, so that a small obstacle is crossed. When the height of the highest position of the barrier is smaller than the preset value, but the length of the barrier is larger than the distance between the walking units on the two sides of the detection device, the control module selects the first execution mode to bypass.
Preferably, the third mode of execution of the sonde is a wall climbing mode, for a vertical riser climbing environment. The working principle of the first wall climbing mode is that when the environment sensing module and the position sensor module 22 detect that the front of the first direction moving direction is a vertical pipeline, the first walking unit 3 and the fifth walking unit 29 rotate around the main body and the walking unit transmission bearing 7 to the vertical pipe wall pointing to the positive direction of the first direction until the vertical pipe wall is touched, the second steering engine joint rotates around the walking unit steering engine transmission bearing 19 for 90 degrees until the third steering engine and the adsorption foot 18 are in a state of being perpendicular to the vertical pipe wall, and at the moment, the adsorption foot 18 is in contact with the vertical pipe wall. The viscous materials of the bottom of the first walking unit 3 and the bottom of the fifth walking unit 29, which adsorb the feet 18, are attached to the wall surface of the vertical pipe, the third walking unit 27, the fourth walking unit 28 and the sixth walking unit 30 move by one step distance towards the direction of the pipe wall, the fifth walking unit 29 moves upwards along the vertical pipe wall, accordingly, the second walking unit 26, the seventh walking unit 31 and the eighth walking unit 32 move in the same way as the walking unit 3 until the second walking unit 26 and the sixth walking unit 30 contact with the vertical pipe wall, the steering engines at the second joints of the second walking unit 26 and the sixth walking unit 30 rotate by 90 degrees until the viscous materials at the bottom of the feet are attached to the vertical pipe, and the third walking unit 27, the seventh walking unit 31, the fourth walking unit 28 and the ninth walking unit 32 are the same as the above process, so that the vertical pipe crawling is finally realized.
Preferably, the wall climbing mode can be divided into two types according to the relative posture of the detection device and the pipe wall: the first wall climbing mode refers to the wall climbing posture when the horizontal axis of the pipeline detection device is vertical or nearly vertical to the pipe wall; and the second wall climbing mode refers to the wall climbing posture when the horizontal axis of the pipeline detection device is nearly parallel or nearly parallel to the pipe wall. Because pipeline environment is complicated, pipeline detection device its position can influence crawling of pipeline detection device when the pipe wall climbing is carried out to needs, if, when pipeline detection device walked in narrower passageway, pipeline detection device can't turn to and utilize preceding running unit to scramble and remove after perpendicular with the pipe wall, then need pipeline detection device to scramble with the help of the running unit of one side this moment.
The second wall climbing mode: when the pipeline detection device is positioned in a circular pipeline, the pipeline detection device can climb the pipe wall simply, and can climb to the two sides of the pipeline wall only by changing the walking direction. When the pipeline detection device is located in the square pipeline for detection, the pipeline detection device needs to be switched to a second wall climbing mode for climbing movement. Taking the positive direction of the first direction as the moving direction as an example, the processing module 38 determines that the vertical pipeline is in a narrow channel based on the information transmitted by the image transmission module 5 from the environment sensing module 37, and an obstacle needing to avoid and detour in the moving direction cannot be turned to and moved, and when the vertical pipeline needs to crawl and avoid, the pipeline detection device needs to climb by means of the walking unit on one side. The processing module 38 determines that the front needs to avoid the obstacle and detour but is located at a position where the front cannot turn based on the information transmitted by the environment sensing module 37, and sends second climbing information to the mobile control module 24 based on the position sensor module 22 and the distance information. The movement control module 24 controls the traveling units to switch to the corresponding second wall climbing mode based on the climbing information. The second walking unit 26 and the third walking unit 27 which are in contact or close contact with the pipe wall rotate 90 degrees around the walking unit steering engine transmission bearing 19 at the joint of the second steering engine until the third steering engine and the adsorption foot 18 keep a vertical contact state with the vertical pipe wall, the fourth walking unit 28, the eighth walking unit 32 and the first walking unit 3 move one step distance towards the direction of the second walking unit 26, and the fifth walking unit 29 moves upwards along the pipe wall. Correspondingly, the second walking unit 26, the seventh walking unit 31 and the eighth walking unit 32 move in the same way as the walking unit 3, so that the first walking unit 3 and the fourth walking unit 28 are close to the pipe wall and attached to the vertical pipe, the fifth walking unit 29, the eighth walking unit 32, the sixth walking unit 30 and the seventh walking unit 31 are the same as the above process, and finally the whole detection device moves to the vertical pipe wall. The problem that the detection device can't turn to and only can retreat and return when meetting the barrier that needs keep away the barrier in narrow passageway is solved to this scheme, and detection device need not adjust to specific angle alright carry out the pipe wall climbing activity, compares in current vertical detection device of crawling the suitability and obtains improving.
Preferably, the detection device may detect whether or not the rollover occurs under detection of the camera 16 or based on a structure such as a level meter (not shown). The detection device is easy to fall accidentally to cause side turning when the road condition is changed or the detection device climbs on the pipe wall in the walking process. At this moment, the posture of the detection device needs to be adjusted to a normal walking posture, namely, the pipeline detection device needs to be turned over to a posture that the ultrasonic module 6 faces the positive direction of the third direction. The camera 16 is connected to the main body 1 by a camera fixing screw 15. The camera 16 can take real-time pictures of the surrounding environment and transmit the pictures to the processing module 38 through the image transmission module 5. The processing module 38 analyzes and judges whether the pipeline detection device is turned over based on the image information and the environment sensing module 37, analyzes a turning-over angle based on the image information, and judges the position information of the walking unit based on the movement control module 24. Based on the information, the processing module 38 makes an indication to adjust the attitude of the pipeline sonde and sends the indication to the motion control module 24. The gesture instruction for adjusting the pipeline detecting device by the processing module 38 includes: judging the state of the detection device and making a turning measure according to the operation. Wherein the judging of the state of the detecting device itself includes judging the attitude information of each traveling unit based on the movement control module 24 and judging the three-dimensional inclination state of the main body 1 based on the environment sensing module 37. The three-dimensional inclined state comprises a first direction inclined angle, a second direction inclined angle and a third direction inclined angle of a normal vector of the bottom panel of the main machine body 1 relative to the bottom plane of the pipeline. When the bottom panel of the main body 1 is perpendicular to the bottom surface of the pipe body at the position, that is, the third inclination angle is 0 °, the pipeline detection device completely lands on one side, and the processing module 38 transmits the attitude indication of the first pipeline detection device to the movement control module 24 based on the three-dimensional inclination angle of the pipeline detection device. The mobile control module 24 controls the posture of the walking unit which is in contact with the bottom surface of the pipe body in the current state to the second steering engine joint of the walking unit to contract towards the bottom panel of the main machine body 1, and controls the gravity center of the pipeline detection device to incline towards the bottom panel side of the main machine body 1. At this time, the main machine body 1 is turned over to a normal walking state along the direction of the bottom plate of the main machine body 1 under the pushing of the second steering engine joint of the walking unit. After the processing module 38 judges that the pipeline detection device is turned to a normal horizontal state based on the environment sensing module 37, it sends information of walking recovery posture to the mobile control module 24, and the mobile control module 24 controls the walking unit to extend to a walking state.
When the bottom panel of the main body 1 is not perpendicular to the bottom surface of the pipe body at the position, that is, the main body 1 is tilted to the bottom surface of the pipe body and turned over, at most 8 walking units of the pipeline detection device are not in contact with the bottom surface of the pipe body at the position. The processing module 38 transmits a second adjusted pipeline sonde attitude indicator to the motion control module 24 based on the three dimensional tilt angle of the pipeline sonde. The mobile control module 24 adjusts two walking unit second steering engine joints farthest away from the bottom surface of the pipe body based on the three-dimensional inclination data to rotate to fully contact the bottom surface of the pipe body and prop the main machine body 1 located at the two walking units to be higher to the precision devices such as the ultrasonic module 6 on the main machine body 1 based on the length of the second steering engine to be far away from the bottom surface of the pipe body. The rest of the walking units are used as fulcrums to rotate around the fulcrums to a third inclination angle of 90 degrees in the process of lifting one end of the main body 1. Then, the detecting device can be adjusted to the normal working state by adopting the processing method when the third inclination angle of the detecting device is 90 degrees. The walking unit is used as the overturning shaft, so that collision damage to precision devices such as the ultrasonic module 6 is avoided to a certain extent, and the ultrasonic module 6 cannot be damaged due to the need of supporting the main machine body 1 in the overturning process. Preferably, when other precise instruments are further arranged on the main body 1, the number and the serial number of the walking units used during turning can be adjusted, so that the turning is not carried out by taking an important structure as a fulcrum during turning, and the instruments on the pipeline detection device are protected during turning distinctively.
Preferably, with reference to fig. 5, the position sensor module 22 measures the speed, angular velocity and attitude information of the pipeline detection device at intervals, and sends the measured information to the processing module 38, and the processing module 38 combines the previously measured data to obtain the path information of the pipeline detection device through calculation, so as to obtain the distance and direction parameters of the detection device relative to the initial position. The environment sensing module 37 includes an infrared detector module 4 and an ultrasonic module 6, the environment sensing module 37 obtains the outline of the obstacle based on the scanning of the infrared detector module 4 and the ultrasonic module 6 and through image analysis processing, and sends the shape parameters of the obstacle to the processing module 38 through the image transmission module 5 so as to guide the walking route and the walking state of the pipeline detection device. When receiving the image information transmitted by the infrared detector module 4 and the ultrasonic module 6, the processing module 38 will compare and overlap the two image information, so as to precisely measure the outline of the obstacle. When the received image information transmitted by the infrared detector module 4 and the ultrasonic module 6 has a large difference, the processing module 38 can improve the detection frequency of the infrared detector module 4 and the ultrasonic module 6, and simultaneously send alert information to the mobile control module 24, so as to reduce the movement speed of the walking unit, and when the module to be processed 38 receives accurate information of the outline of the obstacle, the module to be processed sends recovery information to the mobile control module 24 to control the pipeline detection device to recover the normal walking state. The information parameters of the pipeline detection device are changed continuously in the walking process, the detection device needs to receive new relative position parameters and barrier parameters continuously to plan a real-time path, the processing module 38 receives the relative position parameters and the barrier parameters of the detection device, which are transmitted by the position sensor module and the environment sensing module, plans an optimal path once every short time, and guides the execution mechanism to control the movement of the detection device. Preferably, the processing module 38 performs optimal route planning each time before the pipeline detection device reaches the next intersection based on pre-stored map data. The processing module 38 regularly collects and analyzes the environmental road conditions based on the visual transmission module during the walking process of the pipeline detection device, collects information of the surrounding environment as much as possible, and continuously guides the planning of the route. Preferably, when the environment sensing module 37 detects that a continuous arc wall-shaped object exists near the position of the pipeline detection device, the processing module 38 analyzes and processes the extending direction and the extending length of the wall body and adds the analyzed and processed extending direction and the extending length to the walking route planning of the pipeline detection device. When the processing module 38 determines that an arc-shaped wall or a vertical pipe wall exists near the obstacle that cannot be bypassed based on the environment sensing module 37, the processing module 38 may send a wall climbing instruction to the movement control module 24. When the invention moves, the processing module continuously receives the current position information of the detection device and the barrier parameters and calculates the optimal route, thereby effectively avoiding the collision between the detection device and the pipe wall and the barrier and improving the running efficiency.
Preferably, the pipeline detection device performs walking control in the aspect of automatic control by adopting a method combining path planning and automatic control. The pipeline detection device is provided with an infrared sensor 13 and an ultrasonic sensor 10 which are used for measuring the route condition in a certain fixed range and angle on the walking route, collecting road information and planning a proper route. The mobile control module 24 is added with a correction system, so that the walking posture and the walking route of the pipeline detection device are corrected and improved in time, and the automatic registration of the walking path is realized.
Preferably, the product adds a wireless transmission mode, as shown in fig. 5. For example, when the user temporarily changes the movement path of the detection device, or the advancing path of the detection device deviates from the planned path, the user can change the advancing direction and the path scheme of the detection device according to temporary conditions or emergencies, and the detection device can continue to operate through a manual operation mode when the detection device is in failure or is not controlled. Meanwhile, the wireless transmission module 21 can also transmit monitoring information of the external sensor module, after the external sensor 2 is installed, detection information of the external sensor 2 is transmitted to the mobile control module through the I/O interface, and analyzed data can be transmitted to the user terminal through the wireless transmission module 21 after processing. The wireless transmission module 21 provides a way to transmit signals, improving the safety and operability of the device.
Preferably, two power supply systems are installed in the detection device box, the No. 1 power supply system supplies power to the steering engine in the walking unit, the capacity of the power supply system is relatively large, factors such as self weight and size of the detection device are considered, a lithium battery is used as a source, the power supply circuit is matched to keep voltage unchanged, current is distributed to the steering engine in work, the situations that input current of the steering engine is too large, voltage is too small and the like are avoided, and the stability of work is guaranteed. The No. 2 power supply system is a sensor power supply system and is responsible for ensuring that the position sensor module 22, the image transmitter module 5, the ultrasonic wave module 6, the infrared detector module 4 and the driving steering engine 12 of the ultrasonic wave sensor supply power, and in addition, an additional external sensor also needs to supply power by the No. 2 power supply system. Therefore, the No. 2 power supply system is characterized in that the power supply voltages of all parts are possibly different, and the lithium batteries are matched with the power supply circuit to supply power respectively, so that all sensors work normally.
A detection system based on above-mentioned pipeline detection device, it includes: performing a detection task based on the control information in a matching way; measuring and calculating relative position parameters based on the movement parameters; determining surrounding obstacle shape parameters based on image information identification; automatically planning an obstacle avoidance path of the pipeline detection device and guiding the detection device to move based on the relative position parameters, the barrier parameters and the target point; calculating the distance and direction parameters of the detection device relative to the initial position by combining the prior data information; acquiring and calculating information parameters of the barrier; and performing optimal path planning and guiding the movement of the detection device in the interval time based on the relative position parameter and the obstacle parameter. The pipeline detection system further comprises: and detecting the conditions in the pipeline and whether an obstacle exists in an angle within a certain range, and judging whether the obstacle avoidance scheme is to cross the obstacle or turn around the obstacle based on the outline image and the size of the object.
It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the invention is defined by the claims and their equivalents.
Claims (10)
1. A pipeline inspection device, comprising:
a main body (1) for mounting a movement control module (24) and a position sensor module (22);
a movement control module (24) for controlling movement parameters of the main body (1);
the position sensor module (22) is used for judging the relative position parameters of the main machine body (1);
the device is characterized in that the position sensor module (22) calculates a relative position parameter of the pipeline detection device relative to an initial position based on the movement parameter of the pipeline detection device and guides the movement control module (24) to control the movement parameter of the main body (1).
2. The pipeline detection device according to claim 1, wherein the position sensor module (22) measures attitude data of speed and angular velocity of the pipeline detection device in real time and transmits the data to the processing module (38), and the processing module (38) can obtain relative position parameters of the pipeline detection device relative to an initial position based on collected data information.
3. The pipeline detecting device according to claim 1 or 2, further comprising an environment sensing module (37) electrically connected to the processing module (37), wherein the environment sensing module (37) comprises an infrared detector module (4) and an ultrasonic module (6), and the processing module (38) calculates the obstacle parameter based on data collected by the infrared detector module (4) and the ultrasonic module (6).
4. The pipeline sonde of one of the preceding claims, wherein the processing module (38) corrects the relative position parameter of the obstacle parameter measured by the current pipeline sonde on the basis of the obstacle parameter, which has been filtered and processed accordingly, and a predetermined obstacle parameter, and transmits the obstacle parameter to the motion control module (24).
5. The pipeline detection device according to one of the preceding claims, wherein the walking units of the driving device of the pipeline detection device are connected by steering engines, and are composed of three sections, the directions can be freely changed, three sections of each walking unit are connected by the steering engines, and the direction of the joint of the first steering engine connected with the main machine body (1) is changed in a steering mode; in the obstacle crossing mode, the angle of the joint of the second steering engine is changed; and in a wall climbing mode, the angle of the joint of a third steering engine at the tail end is changed.
6. A pipeline detection device as claimed in any preceding claim, wherein the relative position parameters of the pipeline detection device are constantly changed during operation, and the pipeline detection device is required to constantly receive new relative position parameters and obstacle parameters for real-time path planning,
the processing module (38) receives the relative position parameters of the pipeline detection device and the obstacle parameters transmitted by the position sensor module (22) and the environment sensing module (37) and guides the movement control module (24) to control the movement of the detection device.
7. The pipeline detection device according to one of the preceding claims, wherein the pipeline detection device adopts a method combining path planning and automatic control in the aspect of automatic control, based on the infrared sensor (13) and the ultrasonic sensor (10), the path condition within a preset range can be detected, road information is acquired, a proper path is planned, and the mobile control module is additionally provided with a correction system to realize automatic registration of a walking path.
8. A pipeline probe as claimed in any preceding claim, wherein the mobile control module (24) is capable of adding a wireless transmission module (21) connection mode, such that the mobile control module can be remotely regulated in the wireless transmission module (21) connection mode.
9. The pipeline detection device according to one of the preceding claims, wherein the pipeline detection device uses the infrared sensor (13) and the ultrasonic sensor (10) to detect the conditions in the pipeline within a preset range and judge whether an obstacle exists, and a walking mode corresponding to the object outline image and size selection is obtained based on the camera (16).
10. A pipeline inspection system, comprising: performing a detection task based on the control information in a matching way; measuring and calculating relative position parameters based on the movement parameters; determining surrounding obstacle shape parameters based on image information identification; automatically planning an obstacle avoidance path of the pipeline detection device and guiding the detection device to move based on the relative position parameters, the barrier parameters and the target point; calculating the distance and direction parameters of the detection device relative to the initial position by combining the prior data information; acquiring and calculating information parameters of the barrier; and performing optimal path planning and guiding the movement of the detection device in the interval time based on the relative position parameter and the obstacle parameter.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116069040A (en) * | 2023-03-06 | 2023-05-05 | 之江实验室 | Path planning method and device for wall climbing robot constrained by curved surface of pipeline |
| CN117406759A (en) * | 2023-12-14 | 2024-01-16 | 深圳天溯计量检测股份有限公司 | Pipeline robot crawling calibration method and system |
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- 2022-03-08 CN CN202210222007.2A patent/CN114811265A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116069040A (en) * | 2023-03-06 | 2023-05-05 | 之江实验室 | Path planning method and device for wall climbing robot constrained by curved surface of pipeline |
| CN117406759A (en) * | 2023-12-14 | 2024-01-16 | 深圳天溯计量检测股份有限公司 | Pipeline robot crawling calibration method and system |
| CN117406759B (en) * | 2023-12-14 | 2024-04-05 | 深圳天溯计量检测股份有限公司 | Pipeline robot crawling calibration method and system |
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