CN115946097B - Outer detection robot of metal pipeline quality pipe - Google Patents
Outer detection robot of metal pipeline quality pipe Download PDFInfo
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- CN115946097B CN115946097B CN202211700729.0A CN202211700729A CN115946097B CN 115946097 B CN115946097 B CN 115946097B CN 202211700729 A CN202211700729 A CN 202211700729A CN 115946097 B CN115946097 B CN 115946097B
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Abstract
The invention discloses a metal pipeline quality pipe external detection robot which comprises a main body module, a joint module and an active universal wheel module, wherein the main body module is connected with the joint module; the main body module comprises a main body shell, wherein a motion control module, a power supply and signal excitation source module, a signal amplifying 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 an active universal wheel are arranged below the main body shell; the joint shaft of the joint module and the joint torque motor are coaxially arranged, the driving joint generates torque to hold the pipeline tightly, and 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. The invention can carry out precise detection and data feedback on the metal pipeline with the medium and small pipe diameters by adopting the bionic structure, and has stronger practical significance.
Description
Technical Field
The invention relates to the field of pipeline quality detection, in particular to a robot.
Background
Along with the daily life demands of people, a large number of pipeline systems are applied to long-distance oil and gas transportation, but in recent years, environmental problems and safety problems caused by pipeline leakage are frequent, and higher requirements are put on the safety of pipeline transportation, so that the detection of pipeline quality is particularly important. The cost of manpower and material resources consumed by manual detection is high, and certain potential safety hazards exist.
The existing outside-pipe flaw detection robots in the market are suitable for pipelines with larger pipe diameters, and the implementation cost is high.
Disclosure of Invention
The invention aims to provide a metal pipeline quality tube external detection robot which combines an image and an electromagnetic means, can be self-adaptive to the quality detection work of metal tubes with different tube diameters by applying a bionic arthropod structure, and realizes low-cost high-adaptability precision pipeline detection.
The technical scheme adopted for solving the technical problems is as follows:
an outer detection robot of metal pipeline quality buret, characterized by: the device comprises a main body module, a joint module and an active universal wheel module;
the main body module comprises a main body shell, a motion control module is arranged in the main body shell and used for controlling a driving joint torque motor and an active universal wheel, a power supply and signal excitation source module, a signal amplifying 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 amplifying and post-processing module, and the active universal wheel module is arranged below the main body shell;
the joint module comprises a joint shaft, wherein the joint shaft and the joint torque motor are coaxially arranged and used for driving the joint to generate torque to hold the pipeline;
the active caster module includes: the gear box is fixed with the rotating shaft, the rotating motor drives the first rotating gear, the first rotating gear drives the second rotating gear, the second rotating gear drives the rotating shaft to rotate, a laser reflector is fixed on the edge of the gear box, and the laser reflector is used for reflecting signals emitted by the laser detector; the driving motor drives the 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 finish driving;
the joint shaft is connected with a front joint member and a rear joint member which are connected with the joint shaft; 4 elastic brush excitation signal transmitting probes are arranged on the joint component, 2 opposite angles are in a group, projection connecting lines on the pipeline form orthogonality, and the magnetic flux sensing probes of the main body module are positioned at the intersection points; when the device works, the signal generating device generates a group of sine waves, the waveform is divided into two paths, one path of sine waves is directly output to a pair of emitters in a high-frequency pulse mode through chopping, the other path of sine waves firstly shifts the phase of the original waveform by 180 degrees, so that the original waveform lags by half a period, and the sine waves are output to the other pair of emitters in the same mode; at this time, a continuously changing current field is formed in the pipe wall, according to the operation, under the magnetic flux sensing probe, the vector of the current field macroscopically equivalently rotates at a constant speed, the magnetic flux is measured through sampling of the sensing probe, amplification and filtering of a post-processing module, and the pose information transmitted by the motion control module is combined, so that the magnetic induction distribution of the current point in a sine period is reconstructed, and visual data are obtained for analysis: when a defect crossing the current field exists, deflection occurs when the current flows to the defect, the current density is reduced, and the magnetic field is changed; when the current field is orthogonal to the defect, the change reaches an extreme value, thereby realizing detection and defect positioning and characterization;
the motion control part performs real-time feedback closed-loop control on the travelling pose condition according to absolute value encoders on the driving wheels, and sends real-time pose information to the signal amplifying and post-processing module, and the signal amplifying 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 images before the robot advances each time, and when the situation that the flange plate and the like cannot pass is detected, the robot is corrected to save electric quantity and sends a signal to the background to wait for manual processing; when the condition of low concave-convex which influences the running of the universal wheel but can pass through the universal wheel is detected, the robot is controlled to rotate when the universal wheel passes through the position so that the universal wheel can run at other positions; when abnormal appearance (breakage, crack, rust, etc.) is detected, the abnormal appearance is stored locally or uploaded, and the vehicle normally travels without abnormality.
The laser reflectors are arranged at intervals of 90 degrees, when the laser detector receives reflected laser signals, the gear box is turned 90 degrees, and one-cycle direction switching is completed, namely the universal wheel is integrally turned once.
The length of the joint components from the main body shell to the end of the joint components is 540mm, 600mm and 640mm, the length of each two joints is respectively 540mm, 600mm and 640mm, the joint shaft and the joint torque motor are combined, and the joint torque motor is controlled to tightly hold the pipe wall.
And after the steering is finished, the driving universal wheel is controlled by the driving motor to drive forwards, and at the moment, the driven universal wheel follows the movement of the driving universal wheel to adjust.
Further, when there is a defect crossing the current field, deflection occurs when the current flows to the defect, the current density decreases, and the magnetic field distribution changes.
When the current field is orthogonal with the defect, the distribution change of the magnetic field reaches an extremum, so that the defect is detected, positioned and qualitative.
The image acquisition device detects the surface condition of the pipeline in the visible light range, identifies visible defects and provides information for the decision of the motion control module.
Compared with the prior art, the invention has the beneficial effects that:
(1) The utility model provides a quality inspection robot outside metal pipeline pipe, has through having designed a novel initiative universal wheel device, can control the quality inspection robot outside metal pipeline pipe switches and marches in the direction of perpendicular to pipeline axis direction and along two directions of axis direction, holds the pipe wall tightly through the moment motor of joint department, realizes the motion of robot through initiative universal wheel and driven universal wheel control in the lump.
(2) The outer quality detection robot for the metal pipeline is characterized in that an elastic electric brush excitation signal transmitting probe, a magnetic flux sensing probe and an image acquisition device are arranged by combining the outer quality detection robot with the bionic structure, so that the detection of internal hidden defects and surface visible defects is realized by using electromagnetic detection means and visible light detection means.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a side view of the present invention and a schematic view of the internal structure of the main body portion during normal pipe holding operation;
FIG. 2 is a top view of the present invention in normal pipe-holding operation;
FIG. 3 is a schematic illustration of the top view structure of the present invention in an expanded state in relation to the primary device placement;
FIG. 4 is a schematic diagram of an electromagnetic detection system of the present invention;
FIG. 5 is a flowchart of the electromagnetic detection system of the present invention;
FIG. 6 is a workflow diagram of a motion control module and an image processing module of the present invention;
fig. 7 and 8 are structural diagrams of the present invention at the maximum pipe diameter and the minimum pipe diameter, respectively;
FIG. 9 is a block diagram of an active caster module of the present invention;
fig. 10 is a side view of fig. 9.
Fig. 11 is a schematic diagram of the steering determination of the active caster module of the present invention.
In the figure, a 1-joint shaft, a 2-main body shell, a 3-motion control module, a 4-signal amplification and post-processing module, a 5-image processing module, a 6-image acquisition device, a 7-driving universal wheel module, an 8-joint torque motor, a 9-joint component, a 10-gear box, an 11-rotary shaft, a 12-first rotary gear, a 13-rotary motor, a 14-driving motor, a 15-second rotary gear, a 16-first driving transmission spur gear, a 17-second driving transmission spur gear, a 18-wheel shaft, a 19-driving bevel gear, a 20-driving wheel (in the form of a universal wheel), a 21-laser detector, a 22-laser reflector, a 23-power supply and signal excitation source module and a driven universal wheel 24.
Detailed Description
The outer detection robot for the metal pipeline quality pipe comprises a main body module, a joint module and an active universal wheel module;
the main body module comprises a main body shell 2, a motion control module 3 is arranged in the main body shell 2 and used for controlling a driving joint torque motor and an active universal wheel, a power supply and signal excitation source module 23, a signal amplifying 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 amplifying and post-processing module, and an active universal wheel module 7 is arranged below the main body shell 2;
the joint module comprises a joint shaft 1, wherein 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;
the active caster module includes: the gear box 10 is fixed with the rotating shaft 11, the rotating motor 13 drives the first rotating gear 12, the first rotating gear 12 drives the second rotating gear 15, the second rotating gear 15 drives the rotating shaft 11 to rotate, the laser reflector 22 is fixed on the edge of the gear box, and the laser reflector 22 is used for reflecting signals emitted by the laser detector 21; the driving motor 14 drives the transmission bevel gear 19, the transmission bevel gear 19 drives a first driving transmission straight gear 16 connected with another bevel gear, the first driving transmission straight gear 16 drives a second driving transmission straight gear 17, the second driving transmission straight gear 17 drives a wheel shaft 18, and the wheel shaft 18 drives a driving wheel 20 to finish driving;
the joint shaft 1 is connected with a front joint member 9 and a rear joint member 9 which are connected with the joint shaft; 4 elastic brush excitation signal transmitting probes are arranged on the joint component, 2 opposite angles are in a group, projection connecting lines on the pipeline form orthogonality, and the magnetic flux sensing probes of the main body module are positioned at the intersection points; when the device works, the signal generating device generates a group of sine waves, the waveform is divided into two paths, one path of sine waves is directly output to a pair of emitters in a high-frequency pulse mode through chopping, the other path of sine waves firstly shifts the phase of the original waveform by 180 degrees, so that the original waveform lags by half a period, and the sine waves are output to the other pair of emitters in the same mode; at this time, a continuously changing current field is formed in the pipe wall, according to the operation, under the magnetic flux sensing probe, the vector of the current field macroscopically equivalently rotates at a constant speed, the magnetic flux is measured through sampling of the sensing probe, amplification and filtering of a post-processing module, and the pose information transmitted by the motion control module is combined, so that the magnetic induction distribution of the current point in a sine period is reconstructed, and visual data are obtained for analysis: when a defect crossing the current field exists, deflection occurs when the current flows to the defect, the current density is reduced, and the magnetic field is changed; when the current field is orthogonal to the defect, the change reaches an extreme value, thereby realizing detection and defect positioning and characterization;
the motion control part performs real-time feedback closed-loop control on the travelling pose condition according to absolute value encoders on the driving wheels, and sends real-time pose information to the signal amplifying and post-processing module, and the signal amplifying 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 images before the robot advances each time, and when the situation that the flange plate and the like cannot pass is detected, the robot is corrected to save electric quantity and sends a signal to the background to wait for manual processing; when the condition of low concave-convex which influences the running of the universal wheel but can pass through the universal wheel is detected, the robot is controlled to rotate when the universal wheel passes through the position so that the universal wheel can run at other positions; when abnormal appearance (breakage, crack, rust, etc.) is detected, the abnormal appearance is stored locally or uploaded, and the vehicle normally travels without abnormality.
The laser reflectors 22 are arranged at intervals of 90 degrees, when the laser detector 21 receives reflected laser signals, the gear box 10 is turned 90 degrees, and the direction switching of one period is completed, namely the universal wheel is integrally turned once.
The lengths of the joint members 9 and the three sections from the connection of the main body shell 2 to the end connection of the driven universal wheel 24 are respectively 540mm, 600mm and 640mm, each two sections of the joint members 9 are combined through the joint shaft 1 and the joint torque motor 8, and the joint torque motor 8 is controlled to hug the pipe wall tightly.
Further, the common pipeline diameter suitable for the metal pipeline external quality detection robot is between 15.7 inches (400 mm) and 30 inches (762 mm), and long and straight pipelines with small and medium diameters can be commonly covered.
After the steering is completed, the driving motor 14 controls the driving wheel 20 to drive forwards, and the driven universal wheel is adjusted along with the movement of the driving wheel 20.
Further, when there is a defect crossing the current field, deflection occurs when the current flows to the defect, the current density decreases, and the magnetic field distribution changes.
When the current field is orthogonal with the defect, the distribution change of the magnetic field reaches an extremum, so that the defect is detected, positioned and qualitative.
The image acquisition device detects the surface condition of the pipeline in the visible light range, identifies visible defects and provides information for the decision of the motion control module.
Further, the power supply and signal excitation source module generates two groups of sine-change excitation pulse signals with 180 degrees of phase difference, and the excitation signal transmitting probes of the elastic electric brushes transmit the excitation pulse signals to the metal pipeline, so that periodic current rotating at a constant speed is formed in the pipe wall.
Further, the magnetic flux sensing probe samples the magnetic flux of the magnetic field excited by the magnetic flux sensing probe in synchronization with the pulse signal, and the signal amplifying and post-processing module performs signal amplifying and filtering and other processes on the sampled signal.
Further, the signal amplifying and post-processing module sorts the sampled data and rebuilds the magnetic induction distribution when the power supply and the signal excitation source module complete a sine period.
Further, when no defect exists, induced current flows uniformly, and the magnetic field distribution is uniform and undisturbed.
Claims (6)
1. An outer detection robot of metal pipeline quality buret, characterized by: the device comprises a main body module, a joint module and an active universal wheel module;
the main body module comprises a main body shell (2), a motion control module (3) is arranged in the main body shell (2) and used for controlling a driving joint torque motor and an active universal wheel, 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 an active universal wheel module (7) is arranged below the main body shell (2);
the joint module comprises a joint shaft (1), wherein 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 caster module includes: the gear box (10), the gear box (10) is fixed with the rotary shaft (11), the rotary motor (13) drives the first rotary gear (12), the first rotary gear (12) drives the second rotary gear (15), the second rotary gear (15) drives the rotary 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 the laser detector (21); the driving motor (14) drives the transmission bevel gear (19), the transmission bevel gear (19) drives a first driving transmission straight gear (16) connected with the other bevel gear, the first driving transmission straight gear (16) drives a second driving transmission straight gear (17), the second driving transmission straight gear (17) drives the wheel shaft (18), and the wheel shaft (18) drives the driving wheel (20) to finish driving;
the joint shaft (1) is connected with a joint member (9); the lengths of the three joints of the joint members (9) are 540mm, 600mm and 640mm from the connection of the main body shell (2) to the end connection of the driven universal wheel (24), each two joints of the joint members (9) are combined through the joint shaft (1) and the joint torque motor (8), and the joint torque motor (8) is controlled to hug the pipe wall tightly; 4 elastic brush excitation signal transmitting probes are arranged on the joint component, 2 opposite angles are in a group, projection connecting lines on the pipeline form orthogonality, and the magnetic flux sensing probes of the main body module are positioned at the intersection points; when the device works, the signal generating device generates a group of sine waves, the waveform is divided into two paths, one path of sine waves is directly output to a pair of emitters in a high-frequency pulse mode through chopping, the other path of sine waves firstly shifts the phase of the original waveform by 180 degrees, so that the original waveform lags by half a period, and the sine waves are output to the other pair of emitters in the same mode; at this time, a continuously changing current field is formed in the pipe wall, according to the operation, under the magnetic flux sensing probe, the vector of the current field macroscopically equivalently rotates at a constant speed, the magnetic flux is measured through sampling of the sensing probe, amplification and filtering of a post-processing module, and the pose information transmitted by the motion control module is combined, so that the magnetic induction distribution of the current point in a sine period is reconstructed, and visual data are obtained for analysis: when a defect crossing the current field exists, deflection occurs when the current flows to the defect, the current density is reduced, and the magnetic field is changed; when the current field is orthogonal to the defect, the change reaches an extreme value, thereby realizing detection and defect positioning and characterization;
the motion control part performs real-time feedback closed-loop control on the travelling pose condition according to absolute value encoders on the driving wheels, and sends real-time pose information to the signal amplifying and post-processing module, and the signal amplifying 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 images before the robot advances each time, and when the situation that the flange plate and the like cannot pass is detected, the robot is corrected to save electric quantity and sends a signal to the background to wait for manual processing; when the condition of low concave-convex which influences the running of the universal wheel but can pass through the universal wheel is detected, the robot is controlled to rotate when the universal wheel passes through the position so that the universal wheel can run at other positions; when abnormal appearance is detected, the abnormal appearance is stored locally or uploaded pictures as required, and normal running is carried out if no abnormality exists.
2. The metal pipeline quality pipe external detection robot of claim 1, wherein: the laser reflectors (22) are arranged at intervals of 90 degrees, when the laser detector (21) receives reflected laser signals, the gear box (10) is turned 90 degrees, and one-cycle direction switching is completed, so that the universal wheel is integrally turned once.
3. The metal pipeline quality pipe external detection robot of claim 1, wherein: after the steering is finished, the driving motor (14) controls the driving wheel (20) to drive forwards, and at the moment, the driven universal wheels follow the movement of the driving wheel (20) to adjust.
4. The metal pipeline quality pipe external detection robot of claim 1, wherein: further, when there is a defect crossing the current field, deflection occurs when the current flows to the defect, the current density decreases, and the magnetic field distribution changes.
5. The metal pipeline quality pipe external detection robot of claim 1, wherein: when the current field is orthogonal with the defect, the distribution change of the magnetic field reaches an extremum, so that the defect is detected, positioned and qualitative.
6. The metal pipeline quality pipe external detection robot of claim 1, wherein: the image acquisition device detects the surface condition of the pipeline in the visible light range, identifies visible defects and provides information for the decision 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3309755B2 (en) * | 1997-02-25 | 2002-07-29 | 日本鋼管株式会社 | Seamless tube magnetic inspection apparatus and method |
| CN105372263B (en) * | 2015-12-14 | 2018-04-06 | 昆明理工大学 | A kind of current vortex heated type defect of pipeline infrared imaging detection means and detection method |
| CN107389782B (en) * | 2017-06-29 | 2021-04-27 | 清华大学 | Spiral magnetic matrix high-precision imaging detection device for detecting pipeline micro defects |
| US10816508B2 (en) * | 2017-12-11 | 2020-10-27 | Exxam Systems, LLC | Planar array pipeline inspection tool |
| CN108037134B (en) * | 2017-12-29 | 2020-07-21 | 深圳市智能机器人研究院 | Nuclear power plant BONNA pipeline detection system and method |
| FR3100857B1 (en) * | 2019-09-16 | 2021-12-31 | Autonomous Clean Water Appliance Acwa Robotics | Duct exploration robot including a support module |
| CN111219564B (en) * | 2020-03-04 | 2021-07-02 | 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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