CN115524346A - Oil gas pipeline leak source identification variable diameter inspection robot based on image identification - Google Patents
Oil gas pipeline leak source identification variable diameter inspection robot based on image identification Download PDFInfo
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- CN115524346A CN115524346A CN202210986417.4A CN202210986417A CN115524346A CN 115524346 A CN115524346 A CN 115524346A CN 202210986417 A CN202210986417 A CN 202210986417A CN 115524346 A CN115524346 A CN 115524346A
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- 238000007689 inspection Methods 0.000 title claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 230000001603 reducing effect Effects 0.000 claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 8
- 239000003921 oil Substances 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 5
- 108010066057 cabin-1 Proteins 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000010779 crude oil Substances 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000009659 non-destructive testing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
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Abstract
The invention discloses an oil-gas pipeline leakage point identification variable-diameter inspection robot based on image identification, which comprises a stepping motor placing bin, a battery bin, a rotary diameter-changing mechanism and a telescopic diameter-changing mechanism, wherein the battery bin is fixedly connected with the stepping motor placing bin, the telescopic diameter-changing mechanism is arranged on the battery bin, the rotary diameter-changing mechanism is arranged at the rear part of the stepping motor placing bin, and a holder mounting frame is arranged at the front part of the battery bin. The rotary reducing mechanism comprises a driving wheel, a walking wheel I, a movable supporting arm and a fixed arm, wherein the driving wheel is arranged at the lower end of the movable supporting arm, the walking wheel I is arranged at the upper end of the movable supporting arm, and the driving wheel is in transmission connection with the walking wheel I through a chain. The driving wheel is meshed with a driving shaft of the stepping motor to form worm transmission connection. The robot can automatically realize the reducing action in the pipeline, has stable advancing, can advance and retreat and has good environmental adaptability.
Description
Technical Field
The invention relates to the technical field of pipeline detection, in particular to an oil and gas pipeline leakage point identification variable diameter inspection robot based on image identification.
Background
With the rapid development of the intelligent mobile carrier technology and the pipeline defect nondestructive testing technology, the pipeline inspection by adopting the robot becomes feasible. The pipeline robot is a special robot developed aiming at the overhaul and maintenance operations of oil and gas pipeline detection, spraying, interface welding, foreign matter cleaning and the like, and realizes long-distance, uninterrupted and high-precision detection of the pipeline by integrating a robot technology, a non-contact detection technology, a multi-sensor fusion technology, an image recognition technology, a navigation positioning technology, a wireless communication technology and the like. The oil and gas pipeline inspection robot is mainly divided into an in-pipe inspection robot and an out-pipe inspection robot. The external inspection robot identifies the phenomena of crude oil running, overflowing and leaking through laser or gas detection equipment outside the pipe, gives an alarm in time, is internally provided with a GPS positioning and tracking device, reads field production monitoring parameters and uploads an inspection video in real time; the in-pipe inspection robot puts a detector into the pipeline, provides comprehensive detection and diagnosis for the geometric shape, the reducing diameter, the corrosion condition in the pipe wall, the weld defects, cracks, leak points and the like of the pipeline, and greatly saves manpower and material resources required by pipeline inspection. At present, the inspection means of the robot outside the pipe is diversified, and the development level is high. And the intraductal robot patrols and examines the means comparatively single, and the market mainstream is mostly adopting industry endoscope direct observation oil gas pipeline inner wall corrosion damage degree, and this kind of detection mode error is great, can not effective visual judgement, and its motion mode also stops in theoretical stage mostly. Therefore, the research on the in-pipe inspection robot has important scientific significance and obvious social and economic benefits, and has been paid high attention by countries in the world.
Disclosure of Invention
The invention aims to provide an oil and gas pipeline leakage point identification variable-diameter inspection robot based on image identification, which can realize automatic diameter changing, can perform forward and backward operation and has good environmental adaptability.
In order to achieve the purpose, the oil and gas pipeline leakage point identification variable diameter inspection robot based on image identification comprises a stepping motor placing bin, a battery bin, a rotary diameter changing mechanism and a telescopic diameter changing mechanism, wherein the battery bin is fixedly connected with the stepping motor placing bin, the telescopic diameter changing mechanism is installed on the battery bin, the rotary diameter changing mechanism is installed at the rear part of the stepping motor placing bin, and a holder installing frame is arranged at the front part of the battery bin; the rotary reducing mechanism comprises a driving wheel, a walking wheel I, a movable supporting arm and a fixed arm, wherein the driving wheel is arranged at the lower end of the movable supporting arm, the walking wheel I is arranged at the upper end of the movable supporting arm, and the driving wheel is in transmission connection with the walking wheel I through a chain; a driving shaft of a stepping motor in the stepping motor bin extends out of the rear part of the stepping motor placing bin, and the driving wheel and the driving shaft are meshed to form worm transmission connection; the movable supporting arm is provided with a clamping groove, and a sliding block which can move in the clamping groove is arranged on the clamping groove; one end of the fixed arm is fixedly connected with the rear part of the stepping motor placing bin, and the other end of the fixed arm is hinged with the sliding block, so that the driving wheel moves in the radial direction of the driving wheel to change the height of the travelling wheel I; the three driving wheels are respectively arranged along the circumferential direction of the driving shaft at the same included angle; the telescopic reducing mechanism comprises a spring telescopic rod and a walking wheel II, the walking wheel II is installed at the upper end of the spring telescopic rod, the bottom end of the walking wheel II is fixed on the battery compartment, the spring telescopic rod is three, and the battery compartment is circumferentially arranged along the same included angle.
Furthermore, the rotary reducing mechanism further comprises a tail end fixing plate and a connecting rod, and the tail end fixing plate is fixedly connected with the rear part of the stepping motor placing bin through the connecting rod.
Furthermore, the rotary reducing mechanism further comprises three tension spring sets, each tension spring set comprises two tension springs which are respectively positioned on two sides of the driving wheel, one end of each tension spring is fixedly connected with the bottom of the movable supporting arm, and the other end of each tension spring is fixedly connected with the tail end fixing plate.
Furthermore, the battery compartment is fixedly connected with the stepping motor placing compartment through an elastic hose.
Compared with the prior art, the invention has the advantages that:
(1) The movable support arm is driven by the driving wheel to move back and forth on the driving shaft, so that the angle between the movable support arm and the driving shaft can be adjusted within a certain range, the vertical distance from the traveling wheel 1 to the driving shaft 11 is changed, the diameter-changing function of the robot is further realized, and the robot has the capability of detecting more pipelines with different pipe diameters;
(2) The tension spring can enable the movable supporting arm to restore to an initial state after the diameter changing is finished, and the robot walking wheels are tightly attached to the pipe wall and uniformly arranged in the circumferential direction;
(3) The stepping motor provides sufficient traction force for the robot, and can overcome the gravity of the robot to realize the movement in the vertical pipeline. Meanwhile, when the motor rotates reversely, the driving shaft is driven to rotate reversely, and then the driving wheel and the travelling wheel 1 are driven to rotate reversely, so that the robot travels backwards;
(4) The movable support arms with symmetrical space effectively ensure the consistency of the central axis of the robot and the central axis of the pipeline, and the motion stability of the movable support arms far exceeds that of wheeled and tracked pipeline robots.
Drawings
Fig. 1 is a schematic perspective view of a variable diameter inspection robot according to the present invention;
FIG. 2 is a side view of the variable diameter inspection robot of the present invention;
in the figure, 1-a stepping motor placing bin, 11-a driving shaft, 2-a battery bin, 3-a rotating reducing mechanism, 31-a driving wheel, 32-a traveling wheel I, 33-a movable supporting arm, 34-a fixed arm, 35-a tail end fixed plate, 36-a connecting rod, 37-a tension spring, 4-a telescopic reducing mechanism, 5-a tripod head mounting frame and 6-an elastic hose.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
As shown in fig. 1 and 2, but an oil gas pipeline leak source discernment reducing inspection robot based on image recognition, place storehouse 1 including step motor, battery compartment 2, rotate reducing mechanism 3 and flexible reducing mechanism 4, wherein step motor places and has placed step motor in the storehouse 1, and battery compartment 2 is connected with step motor through internal wiring, and 1 fixed connection in storehouse is placed with step motor to battery compartment 2, specifically, battery compartment 2 and step motor place through elastic hose 6 fixed connection between the storehouse 1. The telescopic reducing mechanism 4 is installed on the battery bin 2, the rotary reducing mechanism 3 is installed at the rear part of the stepping motor placing bin 1, and a holder installing frame 5 is arranged at the front part of the battery bin 2 and used for placing detection equipment such as a camera. In this embodiment, the battery compartment 2, the stepping motor placing compartment 1, and the elastic tube 6 are all cylindrical in shape and are all concentrically installed. Wherein, the rotation reducing mechanism 3 comprises a driving wheel 31, a walking wheel I32, a movable supporting arm 33 and a fixed arm 34, the driving wheel 31 is arranged at the lower end of the movable supporting arm 33, the walking wheel I32 is arranged at the upper end of the movable supporting arm 33, and the driving wheel 31 is in transmission connection with the walking wheel I32 through a chain. A driving shaft 11 of a stepping motor in the stepping motor cabin 1 extends out from the rear of the stepping motor cabin 1, and a driving wheel 31 is meshed with the driving shaft 11 to form worm transmission connection. The driving wheel 31 is driven to rotate by the rotation of the driving shaft 11, and then the travelling wheel I is driven to rotate by a chain, so that the travelling wheel I can walk in the pipe wall. The movable supporting arm 33 is provided with a clamping groove, and the clamping groove is provided with a sliding block which can move in the clamping groove. One end of the fixed arm 34 is fixedly connected with the rear part of the stepping motor placing bin 1, and the other end is hinged with the sliding block, so that the driving wheel 31 moves in the radial direction of the driving wheel 31 to change the height of the walking wheel I32. Specifically, when the inspection robot enters a narrower stage (pipeline radius becomes smaller) or a wider stage (pipeline radius becomes larger), the vertical height between the travelling wheel I31 and the driving shaft 11 changes at this time, on one hand, the driving wheel I31 needs to move back and forth on the driving shaft I, and meanwhile, the movable support arm needs to be matched with the fixed arm, and as the fixed arm 34 is fixed, the sliding block needs to move up and down in the clamping groove, so that the vertical height of the travelling wheel I32 is adjusted. The fixed arm 34 is hinged with the sliding block and is connected with the sliding block through a pin shaft, so that the angle change between the movable supporting arm 33 and the driving shaft 11 can be realized. As can be seen from figure 2, the fixed arm is a right-angle arm, the upper arm connected with the sliding block is parallel to the driving shaft 11, and the lower arm connected with the rear part of the stepping motor placing bin 1 is vertical to the driving shaft 11. The three driving wheels 31 are respectively arranged along the circumferential direction of the driving shaft 11 at the same included angle, namely, at an included angle of 120 degrees. The telescopic reducing mechanism 4 comprises a spring telescopic rod 41 and a walking wheel II42, the walking wheel II42 is installed at the upper end of the spring telescopic rod 41, the bottom end of the spring telescopic rod is fixed on the battery compartment 2, and the spring telescopic rod 41 is three and is circumferentially arranged along the battery compartment 2 at the same included angle.
The rotary reducing mechanism 3 further comprises a tail end fixing plate 35 and a connecting rod 36, and the tail end fixing plate 35 is fixedly connected with the rear portion of the stepping motor placing bin 1 through the connecting rod 36. The rotary reducing mechanism 3 further comprises three tension spring sets, each tension spring set comprises two tension springs 37 which are respectively located on two sides of each driving wheel 31, one ends of the tension springs 37 are fixedly connected with the bottom of the movable supporting arms 33, and the other ends of the tension springs are fixedly connected with the tail end fixing plate 35.
The movable supporting arm 33 is three in the rotation reducing mechanism in this robot patrols and examines, arranges on driving shaft 11 according to 120 degrees angle circumference, and the spring telescopic link in the flexible reducing mechanism is three, also arranges on battery compartment 2 according to 120 degrees contained angles circumference. And the central line of the inspection robot (namely the central lines of the battery bin 2, the stepping motor placing bin 1 and the driving shaft 11) is superposed with the central axis of the pipeline, so that the stability and the stationarity of the movement of the inspection robot are greatly increased.
Set up flexible hose 6 in this robot patrols and examines, on the one hand can deal with when the pipeline inner arm appears little unevenness, it can play the effect of buffering, protects patrolling and examining robot itself, protects detection devices such as camera simultaneously.
The stepping motor in the stepping motor placing bin 1 can realize the forward and backward movement of the inspection robot through forward and reverse rotation, and the operation is very convenient.
This robot patrols and examines is through setting up two kinds of reducing mechanisms, and two kinds of reducing modes all can realize the reducing automatically according to pipeline radial change, have good environmental suitability.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited thereto, and various changes which can be made within the knowledge of those skilled in the art without departing from the gist of the present invention are within the scope of the claims of the present invention.
Claims (4)
1. The utility model provides an oil gas pipeline leak source discernment variable diameter inspection robot based on image recognition which characterized in that: the device comprises a stepping motor placing bin (1), a battery bin (2), a rotary reducing mechanism (3) and a telescopic reducing mechanism (4), wherein the battery bin (2) is fixedly connected with the stepping motor placing bin (1), the telescopic reducing mechanism (4) is installed on the battery bin (2), the rotary reducing mechanism (3) is installed at the rear part of the stepping motor placing bin (1), and a holder mounting frame (5) is arranged at the front part of the battery bin (2); the rotary reducing mechanism (3) comprises a driving wheel (31), a travelling wheel I (32), a movable supporting arm (33) and a fixed arm (34), wherein the driving wheel (31) is mounted at the lower end of the movable supporting arm (33), the travelling wheel I (32) is mounted at the upper end of the movable supporting arm (33), and the driving wheel (31) is in transmission connection with the travelling wheel I (32) through a chain; a driving shaft (11) of a stepping motor in the stepping motor bin (1) extends out of the rear part of the stepping motor placing bin (1), and the driving wheel (31) is meshed with the driving shaft (11) to form worm transmission connection; the movable supporting arm (33) is provided with a clamping groove, and a sliding block which can move in the clamping groove is arranged on the clamping groove; one end of the fixed arm (34) is fixedly connected with the rear part of the stepping motor placing bin (1), and the other end of the fixed arm is hinged with the sliding block, so that the driving wheel (31) moves in the radial direction of the driving wheel (31) to change the height of the travelling wheel I (32); the three driving wheels (31) are respectively arranged along the circumferential direction of the driving shaft (11) at the same included angle; flexible reducing mechanism (4) include spring telescopic link (41) and walking wheel II (42), install spring telescopic link (41) upper end walking wheel II (42), the bottom mounting is in on battery compartment (2), spring telescopic link (41) are three, follow with the same contained angle battery compartment (2) circumference is arranged.
2. The oil and gas pipeline missing point identification variable inspection robot based on image identification as claimed in claim 1, wherein: rotate reducing mechanism (3) and still include tail-end fixing plate (35), connecting rod (36), tail-end fixing plate (35) pass through connecting rod (36) with step motor places storehouse (1) rear portion fixed connection.
3. The oil and gas pipeline missing point identification variable inspection robot based on image identification as claimed in claim 2, wherein: rotating reducing mechanism (3) still includes three extension spring group, extension spring group includes two extension springs (37), is located every respectively action wheel (31) both sides, extension spring (37) one end with the bottom fixed connection of movable supporting arm (33), the other end with tail end fixed plate (35) fixed connection.
4. The oil and gas pipeline missing point identification variable inspection robot based on image identification as claimed in claim 1, wherein: the battery compartment (2) is fixedly connected with the stepping motor placing compartment (1) through an elastic hose (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210986417.4A CN115524346A (en) | 2022-08-17 | 2022-08-17 | Oil gas pipeline leak source identification variable diameter inspection robot based on image identification |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210986417.4A CN115524346A (en) | 2022-08-17 | 2022-08-17 | Oil gas pipeline leak source identification variable diameter inspection robot based on image identification |
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| CN115524346A true CN115524346A (en) | 2022-12-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210986417.4A Pending CN115524346A (en) | 2022-08-17 | 2022-08-17 | Oil gas pipeline leak source identification variable diameter inspection robot based on image identification |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115901805A (en) * | 2023-02-09 | 2023-04-04 | 滨州市特种设备检验研究院 | Pipeline reducing detection device |
| CN116271645A (en) * | 2023-02-20 | 2023-06-23 | 山东龙盾智能技术有限公司 | Fire safety on-line monitoring system |
-
2022
- 2022-08-17 CN CN202210986417.4A patent/CN115524346A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115901805A (en) * | 2023-02-09 | 2023-04-04 | 滨州市特种设备检验研究院 | Pipeline reducing detection device |
| CN116271645A (en) * | 2023-02-20 | 2023-06-23 | 山东龙盾智能技术有限公司 | Fire safety on-line monitoring system |
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