CN218368233U - Marine petroleum pipeline inspection robot - Google Patents
Marine petroleum pipeline inspection robot Download PDFInfo
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- CN218368233U CN218368233U CN202222256531.XU CN202222256531U CN218368233U CN 218368233 U CN218368233 U CN 218368233U CN 202222256531 U CN202222256531 U CN 202222256531U CN 218368233 U CN218368233 U CN 218368233U
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Abstract
The utility model relates to an underwater robot technical field especially relates to a marine petroleum pipeline inspection robot, and the discernment efficiency that aims at solving current marine petroleum pipeline detection method is not high, and the leak source discernment is inaccurate, easily takes place the problem of false retrieval and hourglass inspection. The ocean petroleum pipeline inspection robot carries out linear processing on images through an openmv camera and transmits the processed information to a main control board, and the main control board finishes the correction of angles in the working process by controlling and adjusting a horizontal propeller and a vertical propeller so as to enable the robot to move along a petroleum pipeline all the time; the leakage point of the submarine pipeline is identified through the IMX179 camera, signals are transmitted to the main control board through the Jetson Nano, the main control board controls the alarm lamp to flicker through the relay module, the underwater image detection through the double cameras guarantees the stable tracking, and the identification efficiency and accuracy of the leakage point of the marine petroleum pipeline are improved.
Description
Technical Field
The utility model relates to an underwater robot technical field especially relates to an ocean petroleum pipeline inspection robot.
Background
Ocean pipeline transportation is an important way for submarine oil and gas transportation, and the normal operation of the ocean pipeline transportation has important significance for national economic development and social stability. Due to the influence of factors such as dirt in water, adhesion of marine organisms and the like, the submarine pipeline is easy to generate defects and damages, so that the submarine pipeline needs to be periodically detected and repaired, and major safety accidents are avoided.
The detection and maintenance are difficult because the marine pipeline is underwater, the manual work cannot effectively detect the damaged position of the pipeline because of factors such as underwater pressure intensity and the like, and the effective data cannot be obtained.
SUMMERY OF THE UTILITY MODEL
The utility model provides an ocean petroleum pipeline inspection robot to the discernment efficiency of solving current ocean petroleum pipeline detection method is not high, and the leak source discernment is inaccurate, easily takes place the problem of false retrieval and hourglass inspection.
In order to realize above-mentioned purpose, the utility model provides a marine petroleum pipeline patrols and examines robot, including mechanical module, circuit control module and visual design module, circuit control module installs on mechanical module, and mechanical module includes the baffle, and visual design module includes IMX179 camera, jetson Nano and openmv, openmv passes through the fix with screw in the front end lower part of baffle, and IMX179 camera passes through the front end upper portion of fix with screw at the baffle, and Jetson Nano passes through the upper end rear side of fix with screw at the baffle.
In the above marine oil pipeline inspection robot, the IMX179 camera is optionally fixed to the partition at an inclination.
In foretell marine oil pipeline inspection robot, optionally, mechanical module still includes the cardboard, the propeller support, perpendicular propeller, horizontal thruster, the capsule, counter weight and capsule support, the propeller support passes through the fix with screw in the both sides of capsule, the propeller support sets up six, horizontal thruster sets up four, perpendicular propeller sets up two, horizontal thruster fixes on the propeller support that is located the four corners of capsule, perpendicular propeller fixes on the propeller support that is located the middle part of capsule, the inside at the capsule is fixed through the cardboard to the baffle, the lower extreme at the baffle is fixed to the counter weight, the lower extreme fixed mounting capsule support of capsule.
In foretell marine oil pipeline patrols and examines robot, optionally, the circuit control module includes voltage stabilizing module, the warning light, the main control board, rotary switch, the relay module, the model aeroplane and model ship battery, inertial navigation sensor and depth sensor, the main control board passes through the fix with screw on the upper portion of baffle, inertial navigation sensor passes through the fix with screw in the lower part of baffle, the depth sensor passes through the fix with screw in the lower part of baffle, the relay module passes through the fix with screw in the lower part of baffle, the warning light passes through the fix with screw on the upper portion of baffle, the model aeroplane and model ship battery passes through the magic and pastes the lower part of fixing at the baffle, voltage stabilizing module passes through the fix with screw in the upper portion of baffle, install two rotary switch on the sealed cabin.
The utility model provides an ocean petroleum pipeline inspection robot, carry out linear processing and transmit the information after handling to the main control board through openmv's own camera to the image, the main control board accomplishes the correction to the angle in the course of the work through control adjustment horizontal propeller and vertical propeller, and then makes this robot move along the petroleum pipeline all the time; the leakage point of the submarine pipeline is identified through the IMX179 camera, signals are transmitted to the main control board through the Jetson Nano, the main control board controls the alarm lamp to flicker through the relay module, and stable tracing is guaranteed through underwater image detection with the double cameras, so that the identification efficiency and accuracy of the leakage point of the marine petroleum pipeline are improved; through the distance of degree of depth sensor control pipeline and underwater robot all the time, ensure that discernment is stable efficient goes on, through the adjustment to counter weight and inertial navigation sensor in the operation process, keep underwater robot balanced all the time when underwater work, whole underwater robot is through mutually supporting of each module, guarantees to seek the high efficiency of tracing and discernment and goes on to the completion is to the real-time supervision of ocean petroleum pipeline leak source.
The structure of the present invention and other objects and advantages thereof will be more clearly understood from the following description of the preferred embodiments taken in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic view of the overall structure of an inspection robot for marine petroleum pipelines according to an embodiment of the present invention;
fig. 2 is a schematic top view of the marine petroleum pipeline inspection robot according to the embodiment of the present invention;
fig. 3 is a schematic view of a bottom view structure of the marine petroleum pipeline inspection robot according to the embodiment of the present invention;
fig. 4 is a schematic side sectional view of the marine petroleum pipeline inspection robot according to an embodiment of the present invention.
Description of the reference numerals:
i, a mechanical module; II, a circuit control module; III, a visual design module; 1-a voltage stabilization module; 2-warning lights; 3, a main control board; 4-IMX179 camera; 5-clamping plate; 6-propeller support; 7-Jetson Nano; 8-a rotary switch; 9-a relay module; 10-vertical thruster; 11-a horizontal thruster; 12-a model airplane battery; 13-openmv; 14-inertial navigation sensors; 15-sealing the cabin; 16-a separator; 17-a counterweight; 18-a depth sensor; 19-sealed cabin support.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the drawings in the preferred embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1-4, the utility model provides an ocean petroleum pipeline inspection robot, including mechanical module I, circuit control module II and visual design module III, circuit control module II is installed on mechanical module I, mechanical module I includes baffle 16, visual design module III includes IMX179 camera 4, jetson Nano7 and openmv13, openmv13 passes through the front end lower part of fix with screw at baffle 16, IMX179 camera 4 passes through the front end upper portion of fix with screw at baffle 16 son, jetson Nano7 passes through the upper end rear side of fix with screw at baffle 16.
The mechanical module I provides an installation space for the circuit control module II and the visual design module III, and the circuit control module II receives and processes a control signal and image information of the visual design module III; the Jetson Nano7 is connected with the IMX179 camera 4 through a USB interface, and openmv13 and the Jetson Nano7 are both electrically connected with the main control board 3 of the circuit control module II.
openmv13 is a programmable camera, the built-in algorithm is rich, the operation power consumption is low, the real-time effect is good when the tracing is carried out, the operation efficiency is high, openmv13 carries out linear processing on the image through the camera carried by the openmv13, the processed information is transmitted to the main control board 3 through a serial port, the main control board 3 finishes the correction of the angle in the working process by controlling and adjusting the horizontal propeller 11 and the vertical propeller 10 of the mechanical module I, and further the underwater robot moves along the petroleum pipeline all the time;
jetson Nano7 provides an NVIDIA container and a complete Linux software development environment, all dependencies can be packaged in any environment for deployment, the deployment speed is high, the overall performance is high, the power consumption is low, abundant IO interfaces are provided, the operation speed is high, and the underwater identification per second can reach about 23 frames; jetson Nano7 transmits the image recognition result of IMX179 camera 4 for main control board 3 through the serial ports, and simultaneously main control board 3 transmits information for warning light 2 of circuit control module II and then controls its scintillation through the serial ports, meets the different colours of attachment warning light scintillation of different grade type to this realization is to the monitoring of petroleum pipeline different type leak source, adopts the method of two camera coupling, realizes the high-efficient operation of pursuit and discernment.
Further, the IMX179 camera 4 is fixed to the partition 16 with an inclination.
Note that the IMX179 camera 4 is fixed to the partition 16 with an inclination so as to widen the field of view and improve the recognition efficiency.
Further, mechanical module I still includes cardboard 5, propeller support 6, vertical thruster 10, horizontal thruster 11, capsule 15, counter weight 17 and capsule support 19, propeller support 6 passes through the fix with screw in capsule 15's both sides, propeller support 6 sets up six, horizontal thruster 11 sets up four, vertical thruster 10 sets up two, horizontal thruster 11 is fixed on the propeller support 6 who is located capsule 15's four corners, vertical thruster 10 is fixed on the propeller support 6 who is located capsule 15's middle part, baffle 16 passes through cardboard 5 to be fixed in capsule 15's inside, the lower extreme at baffle 16 is fixed to counter weight 17, capsule 15's lower extreme fixed mounting capsule support 19.
The robot adopts a bionics principle, the mechanical module I simulates weever, and the arc-shaped head greatly reduces the advancing resistance, enhances the flexibility of the robot during working and improves the working efficiency; the vertical propellers 10 and the horizontal propellers 11 are electrically connected with the main control board 3, two horizontal propellers 11 are respectively arranged at two sides of the sealed cabin 15, and the number of the horizontal propellers is four, and the horizontal propellers are used for pushing the robot to move in the horizontal direction; the vertical thrusters 10 are respectively arranged on two sides of the sealed cabin 15, and are used for pushing the robot to float upwards, submerge downwards and control the posture; the counter weight 17 is fixed at the lower extreme of baffle 16, and the adjustment of the focus position of this robot can be realized to counter weight 17, and the focus effectively prevents this robot to take place the biasing and topples over in aqueous under its downside, and capsule support 19 passes through the downside of fix with screw in capsule 15 for support this underwater robot's overall structure, the steady gesture when guaranteeing the operation.
Further, the circuit control module II comprises a voltage stabilizing module 1, an alarm lamp 2, a main control board 3, a rotary switch 8, a relay module 9, a model airplane battery 12, an inertial navigation sensor 14 and a depth sensor 18, wherein the main control board 3 is fixed on the upper portion of a partition board 16 through screws, the inertial navigation sensor 14 is fixed on the lower portion of the partition board 16 through screws, the depth sensor 18 is fixed on the lower portion of the partition board 16 through screws, the relay module 9 is fixed on the lower portion of the partition board 16 through screws, the alarm lamp 2 is fixed on the upper portion of the partition board 16 through screws, the model airplane battery 12 is fixed on the lower portion of the partition board 16 through a magic tape, the voltage stabilizing module 1 is fixed on the upper portion of the partition board 16 through screws, and two rotary switches 8 are installed on a sealed cabin 15.
It should be noted that the relay module 9, the inertial navigation sensor 14, the depth sensor 18 and other modules are all electrically connected to the main control board 3, and the main control board 3 is mainly used for processing information from each module to complete real-time control of the robot; the inertial navigation sensor 14 is used for completing balance control when the robot moves; the water depth measurement resolution of the depth sensor 18 is up to 2mm, so that the distance between the robot and the petroleum pipeline is controlled, the identification effect is stable, and the identification efficiency is improved; the relay module 9 is used for completing the on-off control of the alarm lamp 2, and when different types of attachments are met, the alarm lamp 2 flickers in different colors; the model airplane battery 12 is provided with two modules, wherein one model airplane battery 12 is used for supplying power to other modules except the visual design module III; the voltage stabilizing module 1 is connected with another model airplane battery 12 to stabilize the voltage at 5V, so that power supply to the visual design module III is realized, and the independent and stable work of each module is ensured by adopting a mode that a camera and a main control board 3 supply power respectively; two rotary switches 8 are located outside the sealed cabin 15, and the two rotary switches 8 are respectively connected with the main control board 3 and the voltage stabilizing module 1.
When the robot works, the two rotary switches 8 are rotated, each part starts to supply power to work, the horizontal propeller 11 and the vertical propeller 10 rotate to push the underwater robot to start to move, when a camera of the openmv13 identifies a submarine pipeline, the tracking work starts, the openmv13 transmits an angle signal to the main control board 3 in real time, if deviation occurs in the tracking motion process of the robot along the submarine pipeline, the main control board 3 corrects the angle, and further corrects the propelling speed of each propeller, so that the robot always keeps going along the submarine pipeline; when IMX179 camera 4 discerns the leak source of submarine pipeline, jetson Nano7 will transmit the signal to main control board 3, main control board 3 passes through the scintillation of relay module 9 control warning light 2, meet the attachment of different grade type, warning light 2 scintillation different colours, depth sensor 18 controls the distance of pipeline and underwater robot all the time simultaneously, ensure that discernment is stable efficient goes on, through the adjustment to counter weight 17 and inertial navigation sensor 14 in the operation process, keep underwater robot balanced when underwater work all the time, whole underwater robot passes through mutually supporting of each module, guarantee that the high efficiency of pursuit and discernment goes on, thereby accomplish the real-time supervision to ocean petroleum pipeline leak source.
The utility model provides an ocean petroleum pipeline inspection robot, through openmv13 from the camera of taking image carry on linear processing and transmit the information after handling to main control board 3, main control board 3 is through control adjustment horizontal propeller 11 and vertical propeller 10, accomplish the correction to the angle in the course of the work, and then make this robot move along the petroleum pipeline all the time; the leakage point of the submarine pipeline is identified through the IMX179 camera 4, the signal is transmitted to the main control board 3 through the Jetson Nano7, the main control board 3 controls the alarm lamp 2 to flicker through the relay module 9, and the stable tracing is ensured through the underwater image detection with the double cameras, so that the identification efficiency and the accuracy of the leakage point of the marine petroleum pipeline are improved; through the distance of depth sensor 18 control pipeline and underwater robot all the time, ensure that discernment is stable efficient goes on, through the adjustment to counter weight 17 and inertial navigation sensor 14 in the operation process, keep underwater robot balanced all the time when underwater work, whole underwater robot guarantees through mutually supporting of each module that the high efficiency of seeking mark and discernment goes on to the completion is to the real-time supervision of ocean petroleum pipeline leak source.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (4)
1. The ocean petroleum pipeline inspection robot is characterized by comprising a mechanical module, a circuit control module and a visual design module, wherein the circuit control module is installed on the mechanical module, the mechanical module comprises a partition plate, the visual design module comprises an IMX179 camera, a Jetson Nano and an openmv, the openmv is fixed to the lower portion of the front end of the partition plate through screws, the IMX179 camera is fixed to the upper portion of the front end of the partition plate through screws, and the Jetson Nano is fixed to the rear side of the upper end of the partition plate through screws.
2. The marine petroleum pipeline inspection robot according to claim 1, wherein the IMX179 camera is fixed at an angle to the partition.
3. The marine petroleum pipeline inspection robot according to claim 1 or 2, wherein the mechanical module further comprises a clamping plate, propeller supports, vertical propellers, horizontal propellers, sealed cabins, counterweights and sealed cabin supports, the propeller supports are fixed to two sides of the sealed cabin through screws, the propeller supports are six, the horizontal propellers are four, the vertical propellers are two, the horizontal propellers are fixed to the propeller supports located at four corners of the sealed cabin, the vertical propellers are fixed to the propeller supports located at the middle of the sealed cabin, the partition plates are fixed to the inside of the sealed cabin through the clamping plate, the counterweights are fixed to the lower ends of the partition plates, and the sealed cabin supports are fixedly mounted at the lower ends of the sealed cabin.
4. The marine petroleum pipeline inspection robot according to claim 3, wherein the circuit control module comprises a voltage stabilizing module, an alarm lamp, a main control board, a rotary switch, a relay module, an aircraft model battery, an inertial navigation sensor and a depth sensor, the main control board is fixed to the upper portion of the partition plate through screws, the inertial navigation sensor is fixed to the lower portion of the partition plate through screws, the depth sensor is fixed to the lower portion of the partition plate through screws, the relay module is fixed to the lower portion of the partition plate through screws, the alarm lamp is fixed to the upper portion of the partition plate through screws, the aircraft model battery is fixed to the lower portion of the partition plate through magic tapes, the voltage stabilizing module is fixed to the upper portion of the partition plate through screws, and the two rotary switches are installed on the sealed cabin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222256531.XU CN218368233U (en) | 2022-08-26 | 2022-08-26 | Marine petroleum pipeline inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222256531.XU CN218368233U (en) | 2022-08-26 | 2022-08-26 | Marine petroleum pipeline inspection robot |
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| CN218368233U true CN218368233U (en) | 2023-01-24 |
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| CN202222256531.XU Active CN218368233U (en) | 2022-08-26 | 2022-08-26 | Marine petroleum pipeline inspection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116750170A (en) * | 2023-08-24 | 2023-09-15 | 山东省科学院海洋仪器仪表研究所 | Underwater photogrammetry device |
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2022
- 2022-08-26 CN CN202222256531.XU patent/CN218368233U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116750170A (en) * | 2023-08-24 | 2023-09-15 | 山东省科学院海洋仪器仪表研究所 | Underwater photogrammetry device |
| CN116750170B (en) * | 2023-08-24 | 2023-11-14 | 山东省科学院海洋仪器仪表研究所 | Underwater photogrammetry device |
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