CN117419239A - Pipeline detection robot with recognition function - Google Patents
Pipeline detection robot with recognition function Download PDFInfo
- Publication number
- CN117419239A CN117419239A CN202311355126.6A CN202311355126A CN117419239A CN 117419239 A CN117419239 A CN 117419239A CN 202311355126 A CN202311355126 A CN 202311355126A CN 117419239 A CN117419239 A CN 117419239A
- Authority
- CN
- China
- Prior art keywords
- receiving
- image
- electronic system
- identification
- sound
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 36
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 32
- 238000004140 cleaning Methods 0.000 claims abstract description 23
- 230000003287 optical effect Effects 0.000 claims abstract description 15
- 230000001681 protective effect Effects 0.000 claims abstract description 13
- 230000000007 visual effect Effects 0.000 claims abstract description 8
- 230000001360 synchronised effect Effects 0.000 claims description 24
- 238000007689 inspection Methods 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 11
- 238000005070 sampling Methods 0.000 claims description 9
- 238000003491 array Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 5
- 238000005452 bending Methods 0.000 claims description 4
- 238000012372 quality testing Methods 0.000 claims description 4
- 238000011166 aliquoting Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 239000002344 surface layer Substances 0.000 abstract description 8
- 238000012795 verification Methods 0.000 abstract 1
- 239000012535 impurity Substances 0.000 description 4
- 239000002245 particle Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000008399 tap water Substances 0.000 description 3
- 235000020679 tap water Nutrition 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000010410 layer Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Classifications
-
- 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
- F16L55/36—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained jet driven
-
- 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
-
- 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
-
- 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
- F16L55/48—Indicating the position of the pig or mole in the pipe or conduit
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
- F17D5/06—Preventing, monitoring, or locating loss using electric or acoustic means
-
- 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
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention relates to the technical field of pipeline detection robots, in particular to a pipeline detection robot with an identification function, which comprises a main body shell, wherein an adjustable protective cover is arranged on the main body shell, a noise sensor and a water quality detection sensor are respectively arranged on the protective cover, and a cleaning component is arranged on the surface layer of the protective cover; the tube wall can be acoustically scanned by an extension consisting of the annular transmitting transducer, the annular receiving transducer and the electronic controller. The whole robot is powered by a vector propeller, the acoustic detection part detects sound and feeds back the sound in time, the sound is taken as a main body of recognition work through a working machine, and the recognition information is displayed in an image form by matching with the contents of acoustic images, visual optical images, mutual image verification and on-line recognition principle.
Description
Technical Field
The invention relates to the technical field of pipeline detection robots, in particular to a pipeline detection robot with an identification function.
Background
Tap water pipelines are widely used as an effective means of transporting domestic water. In order to increase the life of the tap water pipe and prevent accidents such as leakage, effective detection and maintenance of the pipe are required. Under the condition that the manual detection mode has a plurality of defects, the pipeline detection robot is used as effective pipeline detection equipment and is increasingly applied.
The existing pipeline detection robot does not adopt acousto-optic equipment and acoustic equipment to detect water-filled pipelines such as tap water pipelines in three dimensions, has the characteristics of small diameter and more rising, falling and turning in urban water supply pipelines, and has the advantages that due to the consideration of cost, butterfly valves are more in use, and the functions of over-bending and obstacle avoidance are indispensable; the problems of water leakage, corrosion and abrasion of the pipeline can not be found and repaired timely, the resolution ratio and the positioning accuracy are low in the existing detection process, the detection effect is influenced by the fact that particle impurities in water are easy to shelter in the detection process, and a pipeline detection robot with an identification function is needed to solve the problems.
Disclosure of Invention
The invention aims to provide a pipeline detection robot with an identification function, so as to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a pipeline inspection robot with recognition function, includes main body shell, main body shell bottom fixed mounting has the connector, the connector bottom is circumference and distributes in the vector propeller, install the umbrella shaped plate on the vector propeller, install adjustable protection casing on the main body shell, install noise sensor and water quality testing sensor in the protection casing respectively, install optical camera in the protection casing, clean subassembly is installed on the protection casing top layer.
As a preferable technical scheme of the invention, the cleaning component is provided with the micro motor, the output end of the micro motor is provided with the main shaft, the main shaft is fixedly provided with the first rotating teeth, the first rotating teeth are meshed with the second rotating teeth, the second rotating teeth are fixedly provided with the first threaded rod, the bottom ends of the second rotating teeth are meshed with the third rotating teeth, and the bottom ends of the third rotating teeth are fixedly provided with the second threaded rod.
As the preferable technical scheme of the invention, a first thread slider is connected to the first threaded rod in a threaded manner, one end of the first thread slider is connected to the first sliding rod in a sliding manner, a second thread slider is connected to the second threaded rod in a threaded manner, and one end of the second thread slider is connected to the second sliding rod in a sliding manner.
As a preferable technical scheme of the invention, the first thread sliding block is fixedly provided with a first cleaning rod, and the second thread sliding block is fixedly provided with a second cleaning rod.
As the preferable technical scheme of the invention, a slot is formed in the protective cover, and an LED illuminating lamp is arranged at the bottom end of the slot.
The preferable technical scheme of the invention comprises the following steps:
(1) Receiving array (spiral line)
The device consists of a plurality of spiral receiving arrays to form an array, the acoustic wave is received, then the conversion from acoustic energy to electric signals is completed by utilizing the piezoelectric effect, and the device has sharp angle resolution capability in a complex array form formed by a plurality of array elements, so that the device has higher angle resolution and better directivity;
(2) Receiving electronic system (high sampling rate multichannel)
The system comprises a multichannel receiving and collecting board, a core board, a bottom board and the like, wherein analog signals transmitted by a receiving array are converted into electric signals, and the electric signals are filtered, amplified and combined in a multichannel mode and then uploaded to an upper computer through an Ethernet switch;
(3) Synchronous controller
The high-precision synchronous control electronic system outputs multiple paths of RS485 level signals, and synchronous control of signals of all channels in the receiving electronic system is completed, so that the high-precision synchronous control electronic system is a powerful guarantee for improving the positioning precision of the system under the condition that data uploaded by all channels are in the same time system;
(4) Upper computer
The upper computer runs data acquisition software to finish receiving and storing data uploaded by the electronic system, and stores the data into a file with a specified format;
(5) Ethernet exchanger
The Ethernet exchanger completes the system data exchange function, and is communicated with an upper computer, a high sampling rate multichannel receiving electronic system and a high precision synchronous control electronic system aliquoting system through a gigabit Ethernet, and the transmitted data types comprise instructions, parameters and original echo data;
(6) Identification unit
The working machine is used as a main body of the identification work, and the identification information is displayed in an image form by matching with the contents of an acoustic image, a visual optical image, an image mutual certificate and an on-line identification principle. The acoustic image generates an image according to the time and the intensity of the received echo, the sonar sends out a trigger pulse to propagate in water, the acoustic image is reflected when the acoustic image encounters an obstacle, the longer the time of the received echo is, the longer the distance between a target object and the sonar is, and the distance between the target object and the sonar is judged; the stronger the received signal, the better the surface reflection characteristic of the object is indicated; the optical visual image is collected by the optical camera arranged at the first section, the collection mode is presented in a picture mode, the picture is decomposed into a plurality of small pixels, the image features are extracted and analyzed, and then the image features are compared with the image features in the known database, so that the purposes of identification, classification and discrimination are achieved, and the content in the picture is identified.
The specific operation flow steps are as follows:
s1, device installation and interconnection
Each receiving array in the spiral receiving array is arranged on the position of a platform in a distributed manner, the receiving array surface is placed under water, and a high-sampling-rate multichannel receiving electronic system, a high-precision synchronous control electronic system, an upper computer, an Ethernet switch and the like are arranged on the platform, such as a cabin or a deck;
s2, accurate measurement of the position of the receiving array
The positioning solution has higher requirement on the accuracy of the installation position of the receiving arrays, and after the origin of the coordinate system is determined, the three-dimensional coordinates of each receiving array need to be accurately measured and recorded as a priori condition of the subsequent positioning solution;
s3 measuring the sound velocity profile
The sound velocity has different values under different hydrologic conditions, such as depth, temperature, salinity and the like, has images on the sound velocity values, and the change of the propagation velocity of the sound velocity in water determines the bending condition of sound rays in water, which has great influence on positioning calculation, therefore, the sound velocity profile needs to be measured as a priori condition of subsequent positioning calculation;
s4, configuring operation parameters
The method comprises the steps of configuring operation parameters according to an operation scene, wherein the main parameters comprise: parameters such as working frequency, signal pulse width, sampling frequency, signal power and the like, and the operation is based on information such as the approximate distance of a known target, the turbidity degree of a water body and the like;
s5, system starting operation
A starting instruction is issued, and the system starts operation;
s6, real-time signal acquisition and positioning calculation
When the method is used, the receiving electronic system continuously collects sound wave signals and uploads the sound wave signals to the upper computer, the upper computer stores the sound wave signals into a file in a specified format in a data stream form after finishing data receiving, and the sound wave signals are displayed in an image form by matching with the identification unit, and signal processing, positioning and resolving are performed by utilizing the position information, sound velocity profile information and the like of a preset receiving array, so that the target position is tracked in real time;
s7, stopping system operation
After the operation is finished, the operation is stopped, the power is cut off, the receiving array is retracted, the data file is archived, and backup is carried out if necessary.
Compared with the prior art, the invention has the following beneficial effects:
(1) The pipeline detection robot guard shield can be adjusted and connected to the outer surface of the main body shell, and the first cleaning rod on the first threaded rod and the second cleaning rod on the second threaded rod are driven to clean the grooved surface layer of the guard shield through the rotation of the micro motor, so that particle impurities are effectively prevented from blocking the surface layer of the guard shield to influence detection, and better detection can be facilitated; the noise sensor that sets up can hear the sound in the pipeline, judges from the sharp degree of sound whether there is the leak source in the pipeline, and the water quality testing sensor that sets up detects water quality.
(2) The invention relates to a pipeline detection robot with an identification function, which improves resolution ratio by adopting a high-frequency signal, further improves positioning accuracy, realizes high-precision synchronous reception among multiple channels by adopting a high-precision synchronous control technology, improves angular resolution ratio by adopting a spiral line receiving transducer, reduces system volume, and can obtain vortex beam characteristics with angular momentum by using a spiral line mode for arrangement, wherein the vortex beam has obvious advantages, can obviously improve resolution ratio, reduce array volume, further reduce array cost and signal processing cost, and is displayed in an image form by taking a working machine as a main body of identification work and matching with the contents of an acoustic image, a visual optical image, an image mutual identification and an on-line identification principle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a pipe inspection robot with an identification function according to an embodiment of the present invention;
fig. 2 is a bottom view of a pipe inspection robot with an identification function according to an embodiment of the present invention;
fig. 3 is a front view of a pipe inspection robot with an identification function according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a pipeline inspection robot cleaning assembly with identification function according to an embodiment of the present invention;
FIG. 5 is an enlarged schematic view of the structure of FIG. 4A in accordance with the present invention;
FIG. 6 is a block diagram of a pipeline inspection robot system with identification functionality in accordance with an embodiment of the present invention;
FIG. 7 is a flow chart of a pipeline inspection robot with identification function in accordance with an embodiment of the present invention;
fig. 8 is a schematic structural view of a second portion extension of a pipeline inspection robot shield with identification function according to an embodiment of the present invention.
Reference numerals:
1. a main body housing; 2. a protective cover; 3. a connector; 4. an umbrella-shaped plate; 5. a vector propeller; 6. a cleaning assembly; 7. slotting; 9. a noise sensor; 10. an LED illuminating lamp; 11. a water quality detection sensor; 12. a first slide bar; 13. a first thread slide; 14. a first cleaning lever; 15. a micro motor; 16. a main shaft; 17. a first rotating tooth; 18. a second rotating tooth; 19. a third rotating tooth; 20. a first threaded rod; 21. a second threaded rod; 22. a second thread slide; 23. a second cleaning lever; 24. a second slide bar; 25. an extension; 26. an annular transmitting transducer; 27. an annular receiving transducer; 28. an electronic controller; 29. an optical camera.
Detailed Description
The invention is further described below with reference to the accompanying drawings and detailed description:
referring to fig. 1-8, a pipeline detection robot with an identification function according to an embodiment of the invention includes a main body housing 1, a connector 3 is fixedly installed at the bottom end of the main body housing 1, the bottom end of the connector 3 is circumferentially distributed on a vector propeller 5, an umbrella-shaped plate 4 is installed on the vector propeller 5, an adjustable protection cover 2 is installed on the main body housing 1, a noise sensor 9 and a water quality detection sensor 11 are respectively installed in the protection cover 2, an optical camera 29 is installed in the protection cover 2, and a cleaning component 6 is installed on the surface layer of the protection cover 2.
The vector propeller 5 is a propeller module consisting of three hub propellers, a single propeller with a universal joint is arranged, and the direction of the propeller module can be regulated in other forms, such as a water spraying propeller, the noise sensor 9 can hear the sound in the pipeline, the sharpness of the sound can be used for judging whether leakage points exist in the pipeline, and the water quality detection sensor 11 can be used for detecting the water quality.
In this embodiment, the cleaning assembly 6 is provided with the micro motor 15, the output end of the micro motor 15 is provided with the main shaft 16, the main shaft 16 is fixedly provided with the first rotating tooth 17, the first rotating tooth 17 is meshed with the second rotating tooth 18, the second rotating tooth 18 is fixedly provided with the first threaded rod 20, the bottom end of the second rotating tooth 18 is meshed with the third rotating tooth 19, the bottom end of the third rotating tooth 19 is fixedly provided with the second threaded rod 21, the first threaded rod 20 is in threaded connection with the first threaded slider 13, one end of the first threaded slider 13 is in sliding connection with the first sliding rod 12, the second threaded rod 21 is in threaded connection with the second threaded slider 22, one end of the second threaded slider 22 is in sliding connection with the second sliding rod 24, the first threaded slider 13 is fixedly provided with the first cleaning rod 14, and the second threaded slider 22 is fixedly provided with the second cleaning rod 23.
The cleaning assembly 6 is arranged to drive the first cleaning rod 14 on the first threaded rod 20 and the second cleaning rod 23 on the second threaded rod 21 through the micro motor 15 to clean the grooved surface layer of the protective cover 2, so that particle impurities are effectively prevented from blocking the surface layer of the protective cover to influence detection.
In this embodiment, a slot 7 is formed in the protective cover 2, and an LED lighting lamp 10 is mounted at the bottom end of the slot 7.
Wherein, the setting of fluting 7 can hide the clean pole, plays the effect of protection to the clean pole.
In this embodiment, the protection cover 2 is provided with an extension part 25, and the extension part 25 is respectively composed of an annular transmitting transducer 26, an annular receiving transducer 26 and an electronic controller 27.
The extended part 25 composed of the annular transmitting transducer 26, the annular receiving transducer 26 and the electronic controller 2 can realize the function of sonar detection, and is convenient for carrying out omnibearing scanning on the pipe wall.
In this embodiment, the method includes:
(1) Receiving array (spiral line)
The device consists of a plurality of spiral receiving arrays to form an array, the acoustic wave is received, then the conversion from acoustic energy to electric signals is completed by utilizing the piezoelectric effect, and the device has sharp angle resolution capability in a complex array form formed by a plurality of array elements, so that the device has higher angle resolution and better directivity;
(2) Receiving electronic system (high sampling rate multichannel)
The system comprises a multichannel receiving and collecting board, a core board, a bottom board and the like, wherein analog signals transmitted by a receiving array are converted into electric signals, and the electric signals are filtered, amplified and combined in a multichannel mode and then uploaded to an upper computer through an Ethernet switch;
(3) Synchronous controller
The high-precision synchronous control electronic system outputs multiple paths of RS485 level signals, and synchronous control of signals of all channels in the receiving electronic system is completed, so that the high-precision synchronous control electronic system is a powerful guarantee for improving the positioning precision of the system under the condition that data uploaded by all channels are in the same time system;
(4) Upper computer
The upper computer runs data acquisition software to finish receiving and storing data uploaded by the electronic system, and stores the data into a file with a specified format;
(5) Ethernet exchanger
The Ethernet exchanger completes the system data exchange function, and is communicated with an upper computer, a high sampling rate multichannel receiving electronic system and a high precision synchronous control electronic system aliquoting system through a gigabit Ethernet, and the transmitted data types comprise instructions, parameters and original echo data;
(6) Identification unit
The working machine is used as a main body of the identification work, and the identification information is displayed in an image form by matching with the contents of an acoustic image, a visual optical image, an image mutual certificate and an on-line identification principle. The acoustic image generates an image according to the time and the intensity of the received echo, the sonar sends out a trigger pulse to propagate in water, the acoustic image is reflected when the acoustic image encounters an obstacle, the longer the time of the received echo is, the longer the distance between a target object and the sonar is, and the distance between the target object and the sonar is judged; the stronger the received signal, the better the surface reflection characteristic of the object is indicated; the optical visual image is collected by the optical camera arranged at the first section, the collection mode is presented in a picture mode, the picture is decomposed into a plurality of small pixels, the image features are extracted and analyzed, and then the image features are compared with the image features in the known database, so that the purposes of identification, classification and discrimination are achieved, and the content in the picture is identified.
The specific operation flow steps are as follows:
s1, device installation and interconnection
Each receiving array in the spiral receiving array is arranged on the position of a platform in a distributed manner, the receiving array surface is placed under water, and a high-sampling-rate multichannel receiving electronic system, a high-precision synchronous control electronic system, an upper computer, an Ethernet switch and the like are arranged on the platform, such as a cabin or a deck;
s2, accurate measurement of the position of the receiving array
The positioning solution has higher requirement on the accuracy of the installation position of the receiving arrays, and after the origin of the coordinate system is determined, the three-dimensional coordinates of each receiving array need to be accurately measured and recorded as a priori condition of the subsequent positioning solution;
s3 measuring the sound velocity profile
The sound velocity has different values under different hydrologic conditions, such as depth, temperature, salinity and the like, has images on the sound velocity values, and the change of the propagation velocity of the sound velocity in water determines the bending condition of sound rays in water, which has great influence on positioning calculation, therefore, the sound velocity profile needs to be measured as a priori condition of subsequent positioning calculation;
s4, configuring operation parameters
The method comprises the steps of configuring operation parameters according to an operation scene, wherein the main parameters comprise: parameters such as working frequency, signal pulse width, sampling frequency, signal power and the like, and the operation is based on information such as the approximate distance of a known target, the turbidity degree of a water body and the like;
s5, system starting operation
A starting instruction is issued, and the system starts operation;
s6, real-time signal acquisition and positioning calculation
When the method is used, the receiving electronic system continuously collects sound wave signals and uploads the sound wave signals to the upper computer, the upper computer stores the sound wave signals into a file in a specified format in a data stream form after finishing data receiving, and the sound wave signals are displayed in an image form by matching with the identification unit, and signal processing, positioning and resolving are performed by utilizing the position information, sound velocity profile information and the like of a preset receiving array, so that the target position is tracked in real time;
s7, stopping system operation
After the operation is finished, the operation is stopped, the power is cut off, the receiving array is retracted, the data file is archived, and backup is carried out if necessary.
In a specific application, the pipeline detection robot provided by the invention consists of the vector propeller 5, the acoustic detection part and the cleaning component 6, wherein the acoustic detection part is used for detecting sound, the vector propeller 5 is used for providing power for the pipeline robot, when light is dim, a light source is provided by the LED illuminating lamp 10 to facilitate detection, the protective cover 2 is connected to the outer surface of the main body shell 1, the micro motor 15 rotates to drive the first rotating teeth 17 on the main shaft 16, and the first rotating teeth 17 are respectively meshed with the second rotating teeth 18 and the third rotating teeth 19, so that the first threaded rod 20 and the second threaded rod 21 on the third rotating teeth 19 on the second rotating teeth 18 are driven to rotate, the grooved surface layer of the protective cover 2 is cleaned by the first cleaning rod 14 on the first rotating teeth 18 and the second cleaning rod 23 on the second threaded rod 21, and particle impurities are effectively prevented from being blocked on the surface layer of the protective cover to influence the detection, so that the detection can be better carried out; noise sensor 9 that sets up can hear the sound in the pipeline, judges from the sharp degree of sound whether there is the leak source in the pipeline, and the water quality testing sensor 11 that sets up detects quality of water, and the sonar of optional different frequencies is different as required, and detectable item has: the pipeline siltation condition, pipe wall cracks and whether the pipeline is suspended or not are detected, the resolution is improved by adopting high-frequency signals in the detection process, and the positioning accuracy is further improved, and the frequency of a traditional underwater positioning system is generally between 10kHz and 50kHz, so that the frequency is lower, and the resolution is lower. The system can adopt sound wave signals of 100 kHz-200 kHz, the frequency is improved by one order, the resolution ratio can be further improved by one order, high-precision synchronous receiving among multiple channels is realized by adopting a high-precision synchronous control technology, multipath synchronous signal output with the precision being better than 1us is realized by adopting a unified FPGA architecture, a high-consistency RS485 chip and other methods, the high-precision synchronous signal is a precondition for realizing high positioning precision, the angular resolution ratio is improved by adopting a spiral line receiving transducer, the system volume is reduced, the angular momentum in the beam characteristics of the traditional receiving array is zero after the traditional receiving array is formed by arranging multiple arrays, no vortex field exists at the moment, the vortex beam characteristics with the angular momentum can be obtained by arranging the array in a reasonable mode, the vortex beam brings obvious advantages, the resolution ratio can be remarkably improved, the array volume is reduced, and the array cost and the signal processing cost are further reduced.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms of "top", "bottom", "one side", "the other side", "front", "rear", "middle portion", "inner", "top", "bottom", etc., are directions or positional relationships based on the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be configured and operated in the specific direction, and thus should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; furthermore, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited to the above-described embodiment, but may be modified or substituted for some of the technical features described in the above-described embodiments by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. Pipeline inspection robot with recognition function, a serial communication port, including main body shell (1), main body shell (1) bottom fixed mounting has connector (3), connector (3) bottom is circumference and distributes in vector propeller (5), install umbrella shaped plate (4) on vector propeller (5), install adjustable protection casing (2) on main body shell (1), install noise sensor (9) and water quality testing sensor (11) in protection casing (2) respectively, install optical camera (29) in protection casing (2), clean subassembly (6) are installed on protection casing (2) top layer.
2. The pipeline inspection robot with the identification function according to claim 1, wherein the cleaning assembly (6) is provided with a micro motor (15), an output end of the micro motor (15) is provided with a main shaft (16), a first rotating tooth (17) is fixedly arranged on the main shaft (16), a second rotating tooth (18) is meshed on the first rotating tooth (17), a first threaded rod (20) is fixedly arranged on the second rotating tooth (18), a third rotating tooth (19) is meshed at the bottom end of the second rotating tooth (18), and a second threaded rod (21) is fixedly arranged at the bottom end of the third rotating tooth (19).
3. The pipeline inspection robot with the identification function according to claim 2, wherein a first threaded slider (13) is connected to the first threaded rod (20) in a threaded manner, one end of the first threaded slider (13) is connected to the first sliding rod (12) in a sliding manner, a second threaded slider (22) is connected to the second threaded rod (21) in a threaded manner, and one end of the second threaded slider (22) is connected to the second sliding rod (24) in a sliding manner.
4. A pipeline inspection robot with an identification function according to claim 3, characterized in that the first thread slider (13) is fixedly provided with a first cleaning rod (14), and the second thread slider (22) is fixedly provided with a second cleaning rod (23).
5. The pipeline detection robot with the identification function according to claim 1, wherein a slot (7) is formed in the protective cover (2), and an LED illuminating lamp (10) is installed at the bottom end of the slot (7).
6. A pipeline inspection robot with an identification function according to claim 1, characterized in that an extension (25) is mounted on the protective cover (2), and the extension (25) is composed of an annular transmitting transducer (26), an annular receiving transducer (26) and an electronic controller (27) respectively.
7. The pulsed underwater acoustic signal multi-channel reception system of a pipeline inspection robot having an identification function according to claim 1, comprising:
(1) Receiving array (spiral line)
The device consists of a plurality of spiral receiving arrays to form an array, the acoustic wave is received, then the conversion from acoustic energy to electric signals is completed by utilizing the piezoelectric effect, and the device has sharp angle resolution capability in a complex array form formed by a plurality of array elements, so that the device has higher angle resolution and better directivity;
(2) Receiving electronic system (high sampling rate multichannel)
The system comprises a multichannel receiving and collecting board, a core board, a bottom board and the like, wherein analog signals transmitted by a receiving array are converted into electric signals, and the electric signals are filtered, amplified and combined in a multichannel mode and then uploaded to an upper computer through an Ethernet switch;
(3) Synchronous controller
The high-precision synchronous control electronic system outputs multiple paths of RS485 level signals, and synchronous control of signals of all channels in the receiving electronic system is completed, so that the high-precision synchronous control electronic system is a powerful guarantee for improving the positioning precision of the system under the condition that data uploaded by all channels are in the same time system;
(4) Upper computer
The upper computer runs data acquisition software to finish receiving and storing data uploaded by the electronic system, and stores the data into a file with a specified format;
(5) Ethernet exchanger
The Ethernet exchanger completes the system data exchange function, and is communicated with an upper computer, a high sampling rate multichannel receiving electronic system and a high precision synchronous control electronic system aliquoting system through a gigabit Ethernet, and the transmitted data types comprise instructions, parameters and original echo data;
(6) Identification unit
The working machine is used as a main body of the identification work, and the identification information is displayed in an image form by matching with the contents of an acoustic image, a visual optical image, an image mutual certificate and an on-line identification principle. The acoustic image generates an image according to the time and the intensity of the received echo, the sonar sends out a trigger pulse to propagate in water, the acoustic image is reflected when the acoustic image encounters an obstacle, the longer the time of the received echo is, the longer the distance between a target object and the sonar is, and the distance between the target object and the sonar is judged; the stronger the received signal, the better the surface reflection characteristic of the object is indicated; the optical visual image is collected by the optical camera arranged at the first section, the collection mode is presented in a picture mode, the picture is decomposed into a plurality of small pixels, the image features are extracted and analyzed, and then the image features are compared with the image features in the known database, so that the purposes of identification, classification and discrimination are achieved, and the content in the picture is identified.
The specific operation flow steps are as follows:
s1, device installation and interconnection
Each receiving array in the spiral receiving array is arranged on the position of a platform in a distributed manner, the receiving array surface is placed under water, and a high-sampling-rate multichannel receiving electronic system, a high-precision synchronous control electronic system, an upper computer, an Ethernet switch and the like are arranged on the platform, such as a cabin or a deck;
s2, accurate measurement of the position of the receiving array
The positioning solution has higher requirement on the accuracy of the installation position of the receiving arrays, and after the origin of the coordinate system is determined, the three-dimensional coordinates of each receiving array need to be accurately measured and recorded as a priori condition of the subsequent positioning solution;
s3 measuring the sound velocity profile
The sound velocity has different values under different hydrologic conditions, such as depth, temperature, salinity and the like, has images on the sound velocity values, and the change of the propagation velocity of the sound velocity in water determines the bending condition of sound rays in water, which has great influence on positioning calculation, therefore, the sound velocity profile needs to be measured as a priori condition of subsequent positioning calculation;
s4, configuring operation parameters
The method comprises the steps of configuring operation parameters according to an operation scene, wherein the main parameters comprise: parameters such as working frequency, signal pulse width, sampling frequency, signal power and the like, and the operation is based on information such as the approximate distance of a known target, the turbidity degree of a water body and the like;
s5, system starting operation
A starting instruction is issued, and the system starts operation;
s6, real-time signal acquisition and positioning calculation
When the method is used, the receiving electronic system continuously collects sound wave signals and uploads the sound wave signals to the upper computer, the upper computer stores the sound wave signals into a file in a specified format in a data stream form after finishing data receiving, and the sound wave signals are displayed in an image form by matching with the identification unit, and signal processing, positioning and resolving are performed by utilizing the position information, sound velocity profile information and the like of a preset receiving array, so that the target position is tracked in real time;
s7, stopping system operation
After the operation is finished, the operation is stopped, the power is cut off, the receiving array is retracted, the data file is archived, and backup is carried out if necessary.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311355126.6A CN117419239A (en) | 2023-10-19 | 2023-10-19 | Pipeline detection robot with recognition function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311355126.6A CN117419239A (en) | 2023-10-19 | 2023-10-19 | Pipeline detection robot with recognition function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117419239A true CN117419239A (en) | 2024-01-19 |
Family
ID=89522189
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311355126.6A Pending CN117419239A (en) | 2023-10-19 | 2023-10-19 | Pipeline detection robot with recognition function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117419239A (en) |
-
2023
- 2023-10-19 CN CN202311355126.6A patent/CN117419239A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6957583B2 (en) | Ultrasonic array sensor, ultrasonic inspection instrument and ultrasonic inspection method | |
| CN106091961A (en) | High-rate laser inner diameter measurement system | |
| US20150177194A1 (en) | Dual Robot Detection Apparatus For Non-Damage Detection | |
| WO1992018862A1 (en) | Method and device for detecting flaw with ultrasonic wave | |
| CN2927051Y (en) | Ultrasonic phase-controlled array inspection imager for marine platform structure | |
| CN102494645B (en) | Core space dimension precision measurement apparatus based on ultrasound and method thereof | |
| CA3038334A1 (en) | Improved ultrasound inspection | |
| CN101192458A (en) | Pressure vessels top cover actuating device lower omega welding seam ultrasonic inspection method and device | |
| US9857311B2 (en) | Methods and systems for nondestructive testing with accurate position | |
| CN110849882A (en) | Equipment and method for identifying, positioning and detecting pipeline welding seam | |
| CN109008781A (en) | The control method and dust catcher of dust-extraction unit | |
| CN109342561B (en) | Curved surface weldment ultrasonic detection device and method | |
| CN102411029B (en) | Method for examining steel tube defects through ultrasonic interference imaging | |
| CN115561201B (en) | Terahertz evaluation device for structural integrity of thermal barrier coating and application method of terahertz evaluation device | |
| CN208488406U (en) | The automatic detection vehicle of integrated binocular vision imaging and leakage magnetic detection device | |
| CN109444170A (en) | A kind of novel pressure inner wall of the pipe visual defects detection system | |
| CN209370853U (en) | A kind of lateral Blind Test scanning means of combustion gas buried pipeline leakage | |
| CN203732507U (en) | Ultrasonic angle adjustment device for water immersion method ultrasonic testing | |
| CN104749257A (en) | Ultrasonic wave angle adjustment device in water immersion ultrasonic testing | |
| CN117419239A (en) | Pipeline detection robot with recognition function | |
| CN109211321B (en) | Automatic sewage detection device | |
| CN106353409A (en) | Device for automatically adjusting direction of detection probe in water immersion ultrasonic detection and adjusting method | |
| CN115419838A (en) | Underwater pipeline sonar detection system and method | |
| CN210221904U (en) | Water immersion ultrasonic automatic detection system for additive manufacturing part | |
| CN217125105U (en) | Underwater robot suitable for inspection operation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |