CN115946097A - Robot for detecting quality of metal pipeline outside pipe - Google Patents
Robot for detecting quality of metal pipeline outside pipe Download PDFInfo
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- CN115946097A CN115946097A CN202211700729.0A CN202211700729A CN115946097A CN 115946097 A CN115946097 A CN 115946097A CN 202211700729 A CN202211700729 A CN 202211700729A CN 115946097 A CN115946097 A CN 115946097A
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Abstract
The invention discloses a robot for detecting the quality of a metal pipeline outside a pipe, which comprises a main body module, a joint module and a driving universal wheel module, wherein the joint module is arranged on the main body module; the main body module comprises a main body shell, a motion control module, a power supply and signal excitation source module, a signal amplification and post-processing module and an image processing module are arranged in the main body shell, and an image acquisition device, a magnetic flux sensing probe and a driving universal wheel are arranged below the main body shell; a joint shaft of the joint module and a joint torque motor are coaxially arranged to drive a joint to generate torque to tightly hold a pipeline, wherein elastic electric brush excitation signal transmitting probes are arranged on 4 joint arms; the driving universal wheel completes driving and steering through gear transmission and laser reflection monitoring technology. By adopting the bionic structure, the invention can carry out precise detection and data feedback on metal pipelines with medium and small pipe diameters, and has stronger practical significance.
Description
Technical Field
The invention relates to the field of pipeline quality detection, in particular to a robot.
Background
With the needs of daily life of people, a large number of pipeline systems are applied to long-distance oil and gas transportation, and in recent years, environmental problems and safety problems caused by pipeline leakage are frequent, which puts higher requirements on the safety of pipeline transportation, so that the detection of the quality of the pipeline is particularly important. The manual detection consumes large cost of manpower and material resources, and has certain potential safety hazard.
The existing external flaw detection robot on the market has the matched pipelines with larger pipe diameters, and the implementation cost is high.
Disclosure of Invention
The invention aims to provide a metal pipeline quality outside-pipe detection robot which combines an image and an electromagnetic means, can be self-adaptive to the quality detection work of metal pipes with different pipe diameters by applying a bionic arthropod structure, and realizes low-cost high-adaptability precision pipeline detection.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a robot for detecting the quality of a metal pipeline outside a pipe is characterized in that: the device comprises a main body module, a joint module and a driving universal wheel module;
the main body module comprises a main body shell, a motion control module for controlling a driving joint torque motor and a driving universal wheel is arranged in the main body shell, a power supply and signal excitation source module, a signal amplification and post-processing module and an image processing module are arranged in the main body shell, an image acquisition device is arranged below the image processing module, a magnetic flux sensing probe is arranged below the signal amplification and post-processing module, and the driving universal wheel module is arranged below the main body shell;
the joint module comprises a joint shaft, and the joint shaft and the joint torque motor are coaxially arranged and used for driving the joint to generate torque to hold the pipeline tightly;
the active universal wheel module includes: the laser detector comprises a gear box, a rotating motor, a first rotating gear, a second rotating gear, a rotating shaft, a laser reflector and a laser detector, wherein the gear box is fixed with the rotating shaft; the driving motor drives a transmission bevel gear, the transmission bevel gear drives a first driving transmission straight gear connected with another bevel gear, the first driving transmission straight gear drives a second driving transmission straight gear, the second driving transmission straight gear drives a wheel shaft, and the wheel shaft drives a driving wheel to complete driving;
the joint shaft is connected with a front joint component and a rear joint component which are connected with the joint shaft; 4 elastic electric brush excitation signal emission probes are arranged on the joint component, 2 of the opposite angles form a group, projection connecting lines on the pipeline form an orthogonality, and the magnetic flux sensing probe of the main body module is positioned at an intersection point; when the device works, a signal generating device generates a group of sine waves, the waveform is changed into two paths, one path of sine waves is directly output to a pair of emitting electrodes in a high-frequency pulse mode through chopping, the other path of sine waves firstly carries out 180-degree phase shift on the original waveform to enable the original waveform to lag a half cycle, and then the original waveform is output to the other pair of emitting electrodes in the same mode; at the moment, a continuously changing current field is formed in the pipe wall, according to the operation, the vector of the current field is macroscopically equivalent to uniform rotation under the magnetic flux sensing probe, the magnetic flux is measured through sampling of the sensing probe, amplification and filtering of a post-processing module, and the magnetic induction distribution of the current point in a sine cycle is reconstructed by combining pose information transmitted by a motion control module, so that visual data are obtained for analysis: when a defect intersected with the current field exists, the current deflects when flowing to the defect, the current density is reduced, and the magnetic field is changed; when the current field is orthogonal to the defects, the change reaches an extreme value, so that the detection is realized and the defects are positioned and qualified;
the motion control part carries out real-time feedback closed-loop control on the advancing pose situation according to the absolute value encoders on the driving wheels, and sends real-time pose information to the signal amplification and post-processing module, and the signal amplification and post-processing module obtains the point position measured by the current magnetic flux sensor according to the real-time pose information;
the image recognition module carries out picture shooting and image recognition before the robot advances every time, when the situation that a flange plate and the like cannot pass is detected, the robot returns to the right state to save electric quantity, and sends a signal to a background to wait for manual processing; when the condition of low unevenness which influences the travelling of the universal wheel but can pass is detected, the universal wheel is controlled to rotate to enable the universal wheel to travel to other positions when the universal wheel passes the position; when abnormal appearance (breakage, crack, rust, etc.) is detected, the abnormal appearance is stored locally or uploaded with pictures according to the situation, and the abnormal appearance is normally moved if no abnormality exists.
The laser reflectors are arranged at intervals of 90 degrees, when the laser detector receives a reflected laser signal, the gear box rotates 90 degrees, direction switching of one period is completed, and one-time integral steering of the universal wheel is achieved.
The lengths of the three sections of the joint components from the connection of the main body shell to the connection of the tail end of the joint components with the driven universal wheel are 540mm, 600mm and 640mm respectively, every two sections of the joint components are combined through the joint shaft and the joint torque motor, and the joint torque motor is controlled to hold the pipe wall tightly.
After the driving universal wheel finishes steering, the driving motor controls the driving universal wheel to drive forwards, and at the moment, the driven universal wheel is adjusted along with the movement of the driving universal wheel.
Further, when there is a defect intersecting the current field, deflection occurs when current flows to the defect, the current density decreases, and the magnetic field distribution changes.
When the current field is orthogonal to the defect, the distribution change of the magnetic field reaches an extreme value, and the defect detection, positioning and qualification are realized.
The image acquisition device detects the surface condition of the pipeline in a visible light range, identifies visible defects and provides information for decision making of the motion control module.
Compared with the prior art, the invention has the beneficial effects that:
(1) The utility model provides a metal pipeline extratubal quality testing robot, through having designed a neotype initiative universal wheel device, can control metal pipeline extratubal quality testing robot is at perpendicular to pipeline axis direction and along the direction switching of two directions of axis direction and march, and the pipe wall is held tightly to torque motor through joint department, controls the motion that realizes the robot in the lump through initiative universal wheel and driven universal wheel.
(2) The robot for detecting the quality of the metal pipeline outside the pipe is combined with the bionic structure, and is provided with an elastic electric brush excitation signal emission probe, a magnetic flux sensing probe and an image acquisition device, so that the electromagnetic detection means and the visible light detection means are utilized, and the detection of internal hidden defects and surface visible defects is realized.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of a side view of the pipe embracing device and an internal structure of a main body part during normal pipe embracing operation;
FIG. 2 is a top view of the present invention in normal pipe embracing operation;
FIG. 3 is a schematic diagram of the relationship between the top view structure and the arrangement position of the main equipment in the unfolded state of the present invention;
FIG. 4 is a structural diagram of an electromagnetic detection system of the present invention;
FIG. 5 is an electromagnetic detection system operational flow diagram of the present invention;
FIG. 6 is a flow chart of the operation of the motion control module and the image processing module of the present invention;
FIG. 7 and FIG. 8 are the structures of the present invention at the maximum pipe diameter and the minimum pipe diameter, respectively;
FIG. 9 is a block diagram of the active caster module of the present invention;
fig. 10 is a side view of fig. 9.
FIG. 11 is a schematic diagram of the active caster module of the present invention during steering determination.
In the figure, 1-joint shaft, 2-main body shell, 3-motion control module, 4-signal amplification and post-processing module, 5-image processing module, 6-image acquisition device, 7-driving universal wheel module, 8-joint torque motor, 9-joint component, 10-gear box, 11-rotating shaft, 12-first rotating gear, 13-rotating motor, 14-driving motor, 15-second rotating gear, 16-first driving transmission spur gear, 17-second driving transmission spur gear, 18-wheel shaft, 19-transmission bevel gear, 20-driving wheel (in universal wheel form), 21-laser detector, 22-laser reflector, 23-power supply and signal excitation source module and driven universal wheel 24.
Detailed Description
A robot for detecting the quality of a metal pipeline outside a pipe comprises a main body module, a joint module and a driving universal wheel module;
the main body module comprises a main body shell 2, a motion control module 3 for controlling and driving a joint torque motor and a driving universal wheel is arranged in the main body shell 2, a power supply and signal excitation source module 23, a signal amplification and post-processing module 4 and an image processing module 5 are arranged in the main body shell 2, an image acquisition device 6 is arranged below the image processing module 5, a magnetic flux sensing probe is arranged below the signal amplification and post-processing module, and a driving universal wheel module 7 is arranged below the main body shell 2;
the joint module comprises a joint shaft 1, and the joint shaft 1 and a joint torque motor 8 are coaxially arranged and used for driving a joint to generate torque to hold a pipeline tightly;
the active universal wheel module comprises: the laser detection device comprises a gear box 10, wherein the gear box 10 is fixed with a revolving shaft 11, a rotating motor 13 drives a first rotating gear 12, the first rotating gear 12 drives a second rotating gear 15, the second rotating gear 15 drives the revolving shaft 11 to rotate, a laser reflector 22 is fixed on the edge of the gear box, and the laser reflector 22 is used for reflecting signals emitted by a laser detector 21; the driving motor 14 drives a transmission bevel gear 19, the transmission bevel gear 19 drives a first driving transmission spur gear 16 connected with another bevel gear, the first driving transmission spur gear 16 drives a second driving transmission spur gear 17, the second driving transmission spur gear 17 drives a wheel shaft 18, and the wheel shaft 18 drives a driving wheel 20 to complete driving;
the joint shaft 1 is connected with a front joint component 9 and a rear joint component 9 which are connected with the joint shaft; 4 elastic electric brush excitation signal emission probes are arranged on the joint component, 2 of the opposite angles form a group, projection connecting lines on the pipeline form an orthogonality, and the magnetic flux sensing probe of the main body module is positioned at an intersection point; when the device works, a signal generating device generates a group of sine waves, the waveform is changed into two paths, one path of sine waves is directly output to a pair of emitting electrodes in a high-frequency pulse mode through chopping, the other path of sine waves firstly carries out 180-degree phase shift on the original waveform to enable the original waveform to lag a half cycle, and then the original waveform is output to the other pair of emitting electrodes in the same mode; at the moment, a continuously changing current field is formed in the pipe wall, according to the operation, a vector of the current field macroscopically rotates at a constant speed under the magnetic flux sensing probe, the magnetic flux is measured through the sampling and post-processing module of the sensing probe, the amplification and the filtering, the magnetic induction distribution of the current point position in a sine period is reconstructed by combining the pose information transmitted by the motion control module, and visual data are obtained for analysis: when a defect intersected with the current field exists, the current deflects when flowing to the defect, the current density is reduced, and the magnetic field is changed; when the current field is orthogonal to the defects, the change reaches an extreme value, so that the detection is realized and the defects are positioned and qualified;
the motion control part carries out real-time feedback closed-loop control on the advancing pose situation according to the absolute value encoders on the driving wheels, and sends real-time pose information to the signal amplification and post-processing module, and the signal amplification and post-processing module obtains the point position measured by the current magnetic flux sensor according to the real-time pose information;
the image recognition module shoots pictures and recognizes the pictures before the robot travels each time, when the situation that a flange plate and the like cannot pass is detected, the robot returns to the normal state to save electric quantity, and sends a signal to a background to wait for manual processing; when the condition of low unevenness which influences the travelling of the universal wheel but can pass is detected, the universal wheel is controlled to rotate to enable the universal wheel to travel to other positions when the universal wheel passes the position; when abnormal appearance (damage, crack, rust, etc.) is detected, the abnormal appearance is stored locally or uploaded according to the situation, and the abnormal appearance is normal when the abnormal appearance is not detected.
The laser reflectors 22 are arranged at intervals of 90 degrees, when the laser detector 21 receives a reflected laser signal, the gear box 10 rotates 90 degrees, direction switching of one period is completed, and one-time integral steering of the universal wheel is achieved.
The lengths of the joint components 9 and three sections are 540mm, 600mm and 640mm respectively from the connection of the main body shell 2 to the connection of the tail end with the driven universal wheel 24, every two sections of the joint components 9 are combined through the joint shaft 1 and the joint torque motor 8, and the pipe wall is tightly held through controlling the joint torque motor 8.
Further, the diameter of the common pipeline suitable for the metal pipeline out-of-pipe quality inspection robot is between 15.7 inches (400 mm) and 30 inches (762 mm), and the robot can generally cover long straight pipelines with medium and small diameters.
And after the steering of the driving wheel 20 is completed, the driving motor 14 controls the driving wheel 20 to drive forwards, and at the moment, the driven universal wheel adjusts along with the movement of the driving wheel 20.
Further, when there is a defect intersecting the current field, the current flowing to the defect is deflected, the current density decreases, and the magnetic field distribution changes.
When the current field is orthogonal to the defect, the distribution change of the magnetic field reaches an extreme value, and the defect detection, positioning and qualification are realized.
The image acquisition device detects the surface condition of the pipeline in a visible light range, identifies visible defects and provides information for decision making of the motion control module.
Furthermore, the power supply and signal excitation source module generates two groups of sine-changed excitation pulse signals with a phase difference of 180 degrees, and the excitation pulse signals are transmitted to the metal pipeline through the elastic electric brush excitation signal emission probe, so that periodic current rotating at a constant speed is formed in the pipe wall.
Furthermore, the magnetic flux sensing probe samples the magnetic flux of the magnetic field excited by the magnetic flux sensing probe synchronously with the pulse signal, and the signal amplification and post-processing module performs signal amplification, filtering and other processing on the sampled signal.
Further, the signal amplification and post-processing module sorts the sampling data and reconstructs the magnetic induction distribution when the power supply and signal excitation source module completes a sine cycle.
Further, when there is no defect, the induced current flows uniformly, and the magnetic field distribution is uniform without disturbance.
Claims (7)
1. A robot for detecting the quality of a metal pipeline outside a pipe is characterized in that: the device comprises a main body module, a joint module and a driving universal wheel module;
the main body module comprises a main body shell (2), a motion control module (3) for controlling and driving a joint torque motor and a driving universal wheel is arranged in the main body shell (2), a power supply and signal excitation source module, a signal amplification and post-processing module and an image processing module (5) are arranged in the main body shell (2), an image acquisition device (6) is arranged below the image processing module (5), a magnetic flux sensing probe is arranged below the signal amplification and post-processing module, and a driving universal wheel module (7) is arranged below the main body shell (2);
the joint module comprises a joint shaft (1), and the joint shaft (1) and a joint torque motor (8) are coaxially arranged and used for driving a joint to generate torque to hold a pipeline tightly;
the active universal wheel module includes: the laser detection device comprises a gear box (10), wherein the gear box (10) is fixed with a rotating shaft (11), a rotating motor (13) drives a first rotating gear (12), the first rotating gear (12) drives a second rotating gear (15), the second rotating gear (15) drives the rotating shaft (11) to rotate, a laser reflector (22) is fixed on the edge of the gear box, and the laser reflector (22) is used for reflecting signals emitted by a laser detector (21); a driving motor (14) drives a transmission bevel gear (19), the transmission bevel gear (19) drives a first drive transmission spur gear (16) connected with another bevel gear, the first drive transmission spur gear (16) drives a second drive transmission spur gear (17), the second drive transmission spur gear (17) drives a wheel shaft (18), and the wheel shaft (18) drives a driving wheel (20) to complete driving;
the joint shaft (1) is connected with a front joint component and a rear joint component (9) which are connected with the joint shaft; 4 elastic electric brush excitation signal emission probes are installed on the joint component, 2 of opposite angles form a group, projection connecting lines on the pipeline form an orthogonality, and the magnetic flux sensing probe of the main body module is positioned at an intersection point; when the device works, a signal generating device generates a group of sine waves, the waveform is changed into two paths, one path of sine waves is directly output to a pair of emitting electrodes in a high-frequency pulse mode through chopping, the other path of sine waves firstly carries out 180-degree phase shift on the original waveform to enable the original waveform to lag a half cycle, and then the original waveform is output to the other pair of emitting electrodes in the same mode; at the moment, a continuously changing current field is formed in the pipe wall, according to the operation, a vector of the current field macroscopically rotates at a constant speed under the magnetic flux sensing probe, the magnetic flux is measured through the sampling and post-processing module of the sensing probe, the amplification and the filtering, the magnetic induction distribution of the current point position in a sine period is reconstructed by combining the pose information transmitted by the motion control module, and visual data are obtained for analysis: when a defect intersected with the current field exists, the current deflects when flowing to the defect, the current density is reduced, and the magnetic field is changed; when the current field is orthogonal to the defects, the change reaches an extreme value, so that the detection is realized and the defects are positioned and qualified;
the motion control part carries out real-time feedback closed-loop control on the advancing pose condition according to the absolute value encoder on each driving wheel and sends real-time pose information to the signal amplification and post-processing module, and the signal amplification and post-processing module obtains the point position measured by the current magnetic flux sensor according to the real-time pose information;
the image recognition module carries out picture shooting and image recognition before the robot advances every time, when the situation that a flange plate and the like cannot pass is detected, the robot returns to the right state to save electric quantity, and sends a signal to a background to wait for manual processing; when the situation that the universal wheel is influenced to move but can pass through a short concave-convex situation is detected, the universal wheel is controlled to rotate to enable the universal wheel to move to other positions when the universal wheel passes through the position; when abnormal appearance is detected, the image is stored locally or uploaded according to the situation, and the image normally travels if no abnormal appearance exists.
2. The robot for detecting the outside of the quality pipe of the metal pipeline as claimed in claim 1, wherein: the laser reflectors (22) are arranged at intervals of 90 degrees, when the laser detector (21) receives a reflected laser signal, the gear box (10) rotates 90 degrees, direction switching of one period is completed, and one-time integral steering of the universal wheel is achieved.
3. The robot for detecting the outside of the quality pipe of the metal pipeline as claimed in claim 1, wherein: the joint components (9) are 540mm, 600mm and 640mm in length from the connection of the main body shell (2) to the connection of the tail end with the driven universal wheel (24), every two joint components (9) are combined through the joint shaft (1) and the joint torque motor (8), and the pipe wall is tightly held through the joint torque motor (8) under control.
4. The robot for detecting the outside of the quality pipe of the metal pipeline as claimed in claim 1, wherein: after the driving wheel (20) turns, the driving motor (14) controls the driving wheel (20) to drive forwards, and at the moment, the driven universal wheel is adjusted along with the movement of the driving wheel (20).
5. The robot for detecting the outside of the quality pipe of the metal pipeline as claimed in claim 1, wherein: further, when there is a defect intersecting the current field, the current flowing to the defect is deflected, the current density decreases, and the magnetic field distribution changes.
6. The robot for detecting the outside of the quality pipe of the metal pipeline as claimed in claim 1, wherein: when the current field is orthogonal to the defect, the distribution change of the magnetic field reaches an extreme value, and the defect detection, positioning and qualification are realized.
7. The robot for detecting the outside of the quality pipe of the metal pipeline as claimed in claim 1, wherein: the image acquisition device detects the surface condition of the pipeline in a visible light range, identifies visible defects and provides information for decision making of the motion control module.
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| CN202211700729.0A CN115946097B (en) | 2022-12-29 | 2022-12-29 | Outer detection robot of metal pipeline quality pipe |
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| CN202211700729.0A CN115946097B (en) | 2022-12-29 | 2022-12-29 | Outer detection robot of metal pipeline quality pipe |
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| US20190219541A1 (en) * | 2017-12-11 | 2019-07-18 | Exxam Systems, LLC | Planar array pipeline inspection tool |
| CN111219564A (en) * | 2020-03-04 | 2020-06-02 | 西南石油大学 | Detection system and detection method of variable-diameter walking type natural gas pipeline detection robot |
| US20220341533A1 (en) * | 2019-09-16 | 2022-10-27 | Autonomous Clean Water Appliance (Acwa) Robotics | Conduit-exploring robot comprising a bearing module |
| CN115355394A (en) * | 2022-08-24 | 2022-11-18 | 东北大学 | Pipeline detection robot based on spiral scanning and detection method thereof |
-
2022
- 2022-12-29 CN CN202211700729.0A patent/CN115946097B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10239281A (en) * | 1997-02-25 | 1998-09-11 | Nkk Corp | Magnetic flaw detection device with seamless pipe and its manufacture |
| CN105372263A (en) * | 2015-12-14 | 2016-03-02 | 昆明理工大学 | Eddy current heating type pipeline defect infrared imaging testing device and test method |
| CN107389782A (en) * | 2017-06-29 | 2017-11-24 | 清华大学 | Spiral nonmagnetic matrix high accuracy imaging detection device for the detection of pipeline tiny flaw |
| US20190219541A1 (en) * | 2017-12-11 | 2019-07-18 | Exxam Systems, LLC | Planar array pipeline inspection tool |
| CN108037134A (en) * | 2017-12-29 | 2018-05-15 | 深圳市智能机器人研究院 | A kind of nuclear power plant BONNA pipe detection system and methods |
| US20220341533A1 (en) * | 2019-09-16 | 2022-10-27 | Autonomous Clean Water Appliance (Acwa) Robotics | Conduit-exploring robot comprising a bearing module |
| CN111219564A (en) * | 2020-03-04 | 2020-06-02 | 西南石油大学 | Detection system and detection method of variable-diameter walking type natural gas pipeline detection robot |
| CN115355394A (en) * | 2022-08-24 | 2022-11-18 | 东北大学 | Pipeline detection robot based on spiral scanning and detection method thereof |
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