WO2019100507A1 - Système de robot d'inspection de tuyau - Google Patents

Système de robot d'inspection de tuyau Download PDF

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Publication number
WO2019100507A1
WO2019100507A1 PCT/CN2017/118051 CN2017118051W WO2019100507A1 WO 2019100507 A1 WO2019100507 A1 WO 2019100507A1 CN 2017118051 W CN2017118051 W CN 2017118051W WO 2019100507 A1 WO2019100507 A1 WO 2019100507A1
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WO
WIPO (PCT)
Prior art keywords
power
power line
robot
pipeline
power supply
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Application number
PCT/CN2017/118051
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English (en)
Chinese (zh)
Inventor
刘旭辉
代毅
刘耀森
梁创霖
李世才
Original Assignee
深圳市博铭维智能科技有限公司
Priority date (The priority date 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 date listed.)
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Application filed by 深圳市博铭维智能科技有限公司 filed Critical 深圳市博铭维智能科技有限公司
Publication of WO2019100507A1 publication Critical patent/WO2019100507A1/fr

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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
    • 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

Definitions

  • the present invention belongs to the field of pipeline inspection robots, and more particularly to a pipeline inspection robot system.
  • Pipeline detection robots are mainly used in special pipelines where the inspection personnel cannot reach or have high risk to the inspection personnel.
  • the substitute inspection personnel complete the detection of the environmental data of the special pipeline occasion, for example, complete the image, temperature and humidity.
  • the detection of environmental data such as gas component content and geographic information, and storing the environmental data obtained by the detection to the near-end terminal device, so as to facilitate calling and generating reports required by various industries.
  • the existing pipeline detection robot system generally detects the pipeline environment by the power carrier technology to realize the communication between the remote robot and the near-end system to reach the long-distance multi-core transmission.
  • the pipeline detection data detected by the remote robot is transmitted to the near-end cable car by power carrier technology.
  • all the pipeline detection data is collected at the remote end through the network transmission module (such as a switch) and then transmitted to the near end through the system main power line, and at the near end through the switch access distribution to achieve communication. Therefore, the existing pipeline inspection robot system can be referred to as a switch mode detection system.
  • the existing pipeline inspection robot system has technical problems of complicated equipment lines, poor system stability, and unfavorable expansion of multiple detection equipments.
  • the existing pipeline inspection robot system has a technical problem that the equipment line is complicated, the system stability is poor, and it is not conducive to expanding a plurality of detection devices.
  • An object of the present invention is to provide a pipeline inspection robot system, which aims to solve the technical problems that the existing pipeline inspection robot system has complicated equipment lines, poor system stability, and is disadvantageous for expanding a plurality of detection devices.
  • the present invention provides a pipeline inspection robot system, including a first power line, a second power line, a user terminal, a cable car, a remote robot, and one a detecting device, the cable car, the remote robot, and the one detecting device each include a power carrier communication system, the cable car further includes a power supply system and a network module; and the remote robot further includes power Isolate the communication module and the power system;
  • the power carrier communication system includes a power carrier core board and a control board, and the power carrier core board includes a power carrier transmission end, an Ethernet interface,
  • a serial port and a power interface are all connected to the control board;
  • the power supply system is connected to the first power line to provide first power, the power system is connected to the second power line to provide second power; the power isolation communication module is connected to the first power line and the first Between the two power lines, to block the first power and the second power;
  • the cable car is connected to the first power line through a power carrier transmission end of its power carrier core board, and controls the network module to connect to the user terminal through a control panel thereof;
  • the remote robot connects the first power line through a power carrier transmission end of its power carrier core board
  • the 1-detection devices connect the second power line through power carrier transmission ends of their respective power carrier core boards.
  • the power supply system includes a battery power supply system and a utility power supply system;
  • the battery power supply system and the utility power supply system each include a switching controller
  • the switching controller is connected to the user terminal through a network module of a control panel of the cable car to receive a control command issued by the user terminal for simultaneous power supply or alternative power supply, thereby controlling the battery power supply system and the utility power
  • the power supply system is powered at the same time or alternatively powered.
  • the cable car and the remote robot further comprise a boost anti-interference module and a buck anti-interference module;
  • the boosting anti-interference module is connected between the first power line and the power supply system to perform boosting and interference filtering on the first power;
  • step-down anti-interference module is connected between the first power line and the power system to perform step-down and interference filtering on the first power.
  • the boost anti-interference module includes a DC booster and a first filter
  • the buck anti-interference module includes a DC buck system.
  • the output end of the first filter is connected to the first power line, the input end of the first filter is connected to the output end of the DC booster, and the input end of the DC booster is connected The power supply end of the power supply system;
  • an input end of the second filter is connected to the first power line, an output end of the first filter is connected to an input end of a DC buck, and an output end of the DC booster is connected The power receiving end of the power system.
  • the remote robot further includes a peripheral extender;
  • the peripheral extender includes a power line interface and a peripheral interface ;
  • peripheral device when the peripheral device is connected to the peripheral interface, and the power line interface is connected to the first power line, the peripheral device is implanted into the pipeline detecting robot system.
  • the remote robot further includes a travel motor, a temperature sensor, and an attitude module;
  • the robot motion instruction sequentially passes through the cable car, the first power line, the second power line, and the remote end a power carrier core board of the robot up to a control board of the remote robot;
  • control board of the remote robot receives the robot motion instruction, controls the walking motor to drive the remote robot to walk, and/or controls the attitude module to drive the remote robot to perform preset detection Gesture, and/or controlling the remote robot to perform body temperature detection through its temperature sensor to obtain body temperature data of the remote robot. ⁇ 0 2019/100507 ⁇ (:17 ⁇ 2017/118051
  • the one detecting device includes a pan/tilt; the pan/tilt includes a camera, a view driving motor, and a position sensor. And air pressure temperature sensor;
  • the PTZ action command sequentially passes through the cable car, the first power line, the second power line, and the cloud a power carrier core board of the station up to the control board of the pan/tilt;
  • control panel of the pan/tilt is connected to the pan/tilt motion instruction, and the angle-of-view driving motor is controlled to drive the camera to perform pipeline image capturing at different shooting angles to acquire pipeline image data, and/or to control the
  • the position sensor performs pipe position detection to obtain pipe position data, and/or controls the air pressure temperature sensor to perform pipe air pressure temperature detection to obtain pipe air pressure temperature data.
  • the one detecting device includes a lifting frame;
  • the lifting frame includes a camera, a lifting drive motor, a light source, Position sensor and air pressure temperature sensor;
  • the lifting frame operation command sequentially passes through the cable car, the first power line, the second power line, and the lifting a power carrier core board of the rack up to the control board of the lift frame;
  • control board of the lifting frame is connected to the lifting frame operation command, controls the light source to emit light, and controls the lifting and lowering driving motor to drive the camera to perform pipeline image capturing at different shooting heights to obtain pipeline image data. And/or controlling the position sensor to perform pipe position detection to obtain pipe position data, and/or controlling the air pressure temperature sensor to perform pipe air pressure temperature detection to obtain pipe air pressure temperature data
  • the first power line and the second power line are two-core power lines.
  • the pipeline inspection robot system obtained by the above achievable solution has a simple system circuit, good system stability, and is advantageous for expanding a plurality of detection devices.
  • the cable car, the remote robot and the one detecting device are implanted with a power carrier communication system including a power carrier core board and a control board, so that the power line can be connected through the power carrier transmission end of the respective power carrier core board. It constitutes a pipeline inspection robot system, which not only has a simple system circuit, but also has good system stability and is advantageous for expanding a plurality of detection devices.
  • the power isolation communication module isolates the pipeline detection robot system into a two-level power supply communication system that is separately powered by the first power line and the second power line, and effectively reduces the power transmission pair. Communication interference improves the stability of the pipeline inspection robot system.
  • the pipeline detection robot system obtained by the second achievable solution, the dual power supply system composed of the battery power supply system and the utility power supply system not only improves the flexibility of the system power supply, but also the switching power supply controller Connected to the user terminal to facilitate user terminal selection control.
  • the boost anti-interference module can effectively isolate the signal interference between the first power line and the power supply system, and the anti-interference module can Effectively isolates signal interference between the first power line and the power system, thereby improving the stability of the pipe inspection robot system.
  • the peripheral expander can enhance the compatibility of the pipeline inspection robot system, thereby enriching the function of the pipeline inspection robot system to cope with a complicated detection environment.
  • the pipeline inspection robot system obtained by the above achievable solution has a simple system circuit, good system stability, and is advantageous for expanding a plurality of detection devices.
  • the cable car, the remote robot and the lN detecting devices are embedded with the power carrier communication system including the power carrier core board and the control board, so that the power line can be connected through the power carrier transmission end of the respective power carrier core board to constitute
  • the pipeline inspection robot system not only has a simple system circuit, but also has good system stability and is advantageous for expanding a plurality of detection devices.
  • the power isolation communication module isolates the pipeline detection robot system into a two-level power supply communication system that is separately powered by the first power line and the second power line, and effectively reduces the interference of the power transmission to the communication, and improves the stability of the pipeline detection robot system.
  • FIG. 1 is a schematic structural diagram of a pipeline inspection robot system according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural diagram of a power carrier communication system
  • FIG. 3 is a schematic structural diagram of a pipeline inspection robot system according to an embodiment of the present invention. ⁇ 0 2019/100507 ? €1 ⁇ 2017/118051 Inventive embodiment
  • the embodiment of the present invention provides a pipeline detection robot system. See Figure 1-3 for details:
  • FIG. 1 shows an architecture of a pipeline inspection robot system provided by an embodiment of the present invention.
  • FIG. 2 shows the architecture of a power carrier communication system.
  • FIG. 3 illustrates an architecture of a pipeline inspection robot system provided by an embodiment of the present invention.
  • a pipeline detection robot system includes a first power line, a second power line, a user terminal, a cable car, a remote robot, and one detecting device, a cable car, a remote robot, and
  • Each of the 1-detection devices includes a power carrier communication system, the cable car further includes a power supply system and a network module, and the remote robot further includes a power-isolated communication module and a power supply system.
  • the power carrier communication system includes a power carrier core board and a control board, and the power carrier core board includes a power carrier transmission end, an Ethernet interface,
  • Serial port and power interface Ethernet interface, multiple 0 10 ports
  • the transparent serial port and power connector are connected to the control board.
  • the power supply system is connected to the first power line to provide the first power
  • the power system is connected to the second power line to provide the second power.
  • the power isolating communication module is connected between the first power line and the second power line to block the first power and the second power.
  • the first power line and the second power line may each be a two-core power line.
  • the cable car connects the first power line through the power carrier transmission end of its power carrier core board, and controls the network module to connect to the user terminal through its control board.
  • the remote robot connects the first power line through the power carrier transmission end of its power carrier core board.
  • the detecting devices connect the second power lines through the power carrier transmission ends of their respective power carrier core boards. ⁇ 0 2019/100507 ⁇ (:17 ⁇ 2017/118051
  • the power carrier core board can be used for power transmission and carrier processing.
  • the step-down process can be performed when power transmission is performed.
  • the taken power can be stepped down for use by the remote robot's control board.
  • performing carrier processing includes modulation and demodulation processing on a carrier.
  • the control instruction carrier needs to be demodulated to obtain the demodulated control instruction, and then It is transmitted to the remote robot's control panel through a transparent serial port for control.
  • control board can be used to write a corresponding detection control program according to different detection requirements to control the corresponding control object.
  • a control program implementing a preset function can be written in the control board of the remote robot to control the remote robot motion.
  • the remote robot includes a traveling motor, a temperature sensor, a posture module and other functional modules.
  • the robot motion command sequentially passes through the cable car, the first power line, the second power line, and the power carrier core board of the remote robot to the control board of the remote robot.
  • the remote robot's control panel receives a robot motion command, controls the travel motor to drive the remote robot to walk, and/or controls the attitude module to drive the remote robot to make a preset detection gesture, and/or controls the remote robot to pass its temperature.
  • the sensor performs body temperature detection to obtain body temperature data of the remote robot.
  • the traveling motor, the temperature sensor and the attitude module are only the conventional functional modules of the remote robot. According to the specific detection requirements of the pipeline environment, other functional modules can also be set and correspondingly controlled.
  • a control program implementing a preset function can be written in the control panel of the pan/tilt included in the 1- detecting device to control the pan-tilt action.
  • the gimbal includes a camera, a view drive motor, a position sensor, a pneumatic temperature sensor, and other functional modules.
  • the pan-tilt action command sequentially passes through the cable car, the first power line, the second power line, and the power carrier core board of the pan-tilt to the control board of the pan-tilt. ⁇ 0 2019/100507 ⁇ (:17 ⁇ 2017/118051
  • the control panel of the pan/tilt is connected to the pan/tilt motion command, and the control angle driving motor drives the camera to perform pipeline image capturing with different shooting angles to acquire pipeline image data, and/or controls the position sensor to perform pipeline position detection to obtain the pipeline position.
  • Data, and/or control air pressure temperature sensor for pipeline air pressure temperature detection to obtain pipeline air pressure temperature data is connected to the pan/tilt motion command, and the control angle driving motor drives the camera to perform pipeline image capturing with different shooting angles to acquire pipeline image data, and/or controls the position sensor to perform pipeline position detection to obtain the pipeline position.
  • Data, and/or control air pressure temperature sensor for pipeline air pressure temperature detection to obtain pipeline air pressure temperature data is connected to the pan/tilt motion command, and the control angle driving motor drives the camera to perform pipeline image capturing with different shooting angles to acquire pipeline image data, and/or controls the position sensor to perform pipeline position detection to obtain the pipeline position.
  • Data, and/or control air pressure temperature sensor for pipeline air pressure temperature detection to obtain pipeline air pressure temperature data is connected to
  • the camera, the angle-of-view driving motor, the position sensor and the air pressure temperature sensor are only conventional function modules of the pan/tilt. According to the specific detection requirements of the pipeline environment, other functional modules can also be set and correspondingly controlled.
  • a control program for realizing a preset function can be written in a control panel of a crane included in one of the detecting devices to control the lifting frame action.
  • the lifting frame comprises a camera, a lifting drive motor, a light source, a position sensor, a pneumatic temperature sensor and other functional modules.
  • the lifting frame motion command sequentially passes through the cable car, the first power line, the second power line, and the power carrier core board of the lifting frame to the control board of the lifting frame.
  • the control panel of the lifting frame is connected to the lifting frame motion command, controls the light source to emit light and controls the lifting driving motor to drive the camera to shoot the pipeline image at different shooting heights to obtain pipeline image data, and/or control the position sensor for pipeline position detection.
  • the air pressure temperature sensor to perform pipe air pressure temperature detection to obtain pipe air pressure temperature data.
  • the camera, the lifting drive motor, the light source, the position sensor and the air pressure temperature sensor are only conventional function modules of the lifting frame, and according to the specific detection requirements of the pipeline environment, other functional modules can also be set and correspondingly controlled. .
  • the transparent serial port and the Ethernet interface, the plurality of ports, and the power interface enable the control board to communicate with the power carrier transmission board in parallel without interfering with each other.
  • the transparent serial port can be used to transmit a control command issued by the user terminal and pipeline environment data detected by the detecting device in the transmission pipeline detecting robot system.
  • the transparent serial port can communicate with the power carrier transmission board according to the specific control needs, and the control board supporting different control functions does not need to be collected to the switch first, and then distributed by the switch, thereby simplifying the transmission route. ⁇ 0 2019/100507 ⁇ (:17 ⁇ 2017/118051
  • an Ethernet interface can be used for network connection communication.
  • the 0 10 ports of the plurality of 0 10 ports refer to ordinary input and output ports.
  • the power interface can be used for power transmission.
  • the cable car, the remote robot, and the one detecting device are implanted with the power carrier communication system including the power carrier core board, the cable car, the remote robot, and the 1 ⁇
  • the detecting device is easy to take power and perform carrier communication through the power line (including the first power line and the second power line) of the respective power carrier core board, thereby effectively reducing the connection line of the pipeline detecting robot system and enhancing the pipeline detecting robot system. Stability, and can also expand multiple inspection equipment for pipeline inspection robot systems to meet different inspection requirements according to specific inspection needs.
  • the expansion of the pan/tilt or the lifting frame is performed to perform pipeline image collection.
  • the cable car, the remote robot, and the one detecting device are implanted with the power carrier communication system including the control board, the cable car, the remote robot, and one detecting device are easily passed through their respective The control panel controls the respective functional modules to perform related detection actions to meet different detection requirements.
  • a function program of the walking control can be written in the control panel of the remote robot to control the walking motor to drive the remote robot to walk.
  • the power isolation communication module isolates the pipeline detection robot system into a two-stage power supply communication system that is separately powered by the first power line and the second power line, thereby effectively reducing interference of the power transmission to the communication, and improving the pipeline Detect the stability of the robot system.
  • the user terminal is a control terminal and a pipeline environment data acquisition end.
  • the user terminal can communicate with the cable car after connecting the network module of the cable car through the network, or communicate with the robot or one detecting device after connecting the network module of the cable car through the network. among them,
  • the specific content of the communication may include issuing a control command or receiving pipe environment data.
  • the user terminal may be a handheld control tablet including host computer control software.
  • the network may be a wireless network or a wired Ethernet network.
  • the network module may set a wireless bridge or a wired Ethernet interface to connect to the wireless network or wired Ethernet.
  • the handheld control panel communicates over the wireless network or wired Ethernet connection cable car's wireless bridge or wired Ethernet interface.
  • Wireless bridges include, but are not limited to, 5.80 wireless bridges.
  • the upper computer control software of the handheld control panel issues a control command for controlling the cable take-up line, ⁇ 0 2019/100507 ⁇ (:17 ⁇ 2017/118051
  • the control command is transmitted to the control panel of the cable car.
  • the control panel of the cable car matches the control command to control the action of the cable car.
  • the control cable car action includes but It is not limited to controlling the operation of the cable car take-up system.
  • the upper computer control software of the handheld control panel sends a control command for controlling the lifting and lowering of the lifting frame, and the control command is transmitted to the power carrier core board of the cable car through the control panel of the cable car for carrier processing, and then transmitted. After the corresponding carrier processing is performed on the power carrier core board of the lifting frame, it is transmitted to the control board of the lifting frame, and the control board of the lifting frame matches and analyzes the control command to control the lifting frame action.
  • the host computer control software of the handheld control panel issues a control command to control one of the detecting devices to transmit the detected pipe environment data back to the user terminal.
  • the detecting device transmits the detected pipeline environment data to its power carrier core board for carrier modulation according to the control instruction to obtain the modulated pipeline environment data, and then transmits the data to the user terminal through the power line and the cable car.
  • pipeline environment data includes, but is not limited to, pipeline temperature data, pipeline humidity data, and pipeline image data.
  • one of the detecting devices may refer to a device that can be hooked to the second power line through its power carrier communication system, and is specifically designed by the user according to actual detection requirements.
  • X is a positive integer.
  • the power supply system includes a battery power supply system and a utility power supply system
  • the battery power supply system connects the first power line to provide the first power
  • the utility power supply system connects the first power line to provide the first power
  • the utility power supply system When the utility power supply system is connected to the mains, the utility power supply system provides the first power, and the battery power supply system stops providing the first power.
  • the dual power supply system composed of the battery power supply system and the utility power supply system improves the flexibility of the system power supply.
  • the mains power supply system gives priority to power supply. When the mains power supply system is inconvenient to use or a power failure occurs, it can be powered by the battery-powered system.
  • the cable car and the remote robot also include a boost anti-interference module and a buck anti-interference module, respectively.
  • the boosting anti-interference module is connected between the first power line and the power supply system to perform boosting and interference filtering on the first power.
  • the buck anti-interference module is connected between the first power line and the power system to step down and dry the first power Disturbance filtering.
  • the boost anti-interference module includes a DC booster and a first filter
  • the buck anti-interference module includes a DC buck system and a second filter.
  • the output end of the first filter is connected to the first power line, the input end of the first filter is connected to the output end of the DC booster, and the input end of the DC booster is connected to the power supply end of the power supply system.
  • the input end of the second filter is connected to the first power line, the output end of the second filter is connected to the input end of the DC buck, and the output end of the DC buck is connected to the power receiving end of the power system.
  • the boost anti-interference module can effectively isolate the signal interference between the first power line and the power supply system, and the buck anti-interference module can effectively isolate the signal interference between the first power line and the power system, thereby improving The pipeline detects the stability of the robot system.
  • the remote robot further includes a peripheral extender including a power line interface and a peripheral interface.
  • the peripheral When the peripheral is connected to the peripheral interface and the power line interface is connected to the first power line, the peripheral is implanted into the pipeline to detect the robot system.
  • peripheral extender can enhance the compatibility of the pipeline detection robot system, thereby enriching the function of the pipeline detection robot system to cope with a complicated detection environment.
  • the pipeline inspection robot system obtained in the above embodiment has a simple system circuit, good system stability, and is advantageous for expanding a plurality of detection devices.
  • the cable car, the remote robot and the 1-N detecting devices are embedded with the power carrier communication system including the power carrier core board and the control board, so that the power line can be connected through the power carrier transmission end of the respective power carrier core board.
  • the system wiring is simple, but also the system stability is good and it is advantageous to expand a plurality of detection devices.
  • the power isolation communication module isolates the pipeline detection robot system into a two-level power supply communication system that is separately powered by the first power line and the second power line, and effectively reduces the interference of the power transmission to the communication, and improves the stability of the pipeline detection robot system.
  • the pipeline inspection robot system obtained by the above achievable scheme has a simple system circuit, good system stability, and is advantageous for expanding a plurality of detection devices.
  • the cable car, the remote robot and the one detecting device are implanted with a power carrier communication system including a power carrier core board and a control board, so that the power line can be connected through the power carrier transmission end of the respective power carrier core board. It constitutes a pipeline inspection robot system, which not only has a simple system circuit, but also has good system stability and is advantageous for expanding a plurality of detection devices.
  • the power isolation communication module isolates the pipeline detection robot system into a two-level power supply communication system that is separately powered by the first power line and the second power line, and effectively reduces the interference of the power transmission to the communication, and improves the stability of the pipeline detection robot system.

Abstract

La présente invention concerne un système de robot d'inspection de tuyau comprenant un véhicule à câble, un robot à distance et de 1 à N dispositifs d'inspection pourvus respectivement d'un système de communication par courants porteurs en ligne intégré à l'intérieur de ces derniers. Le système de communication par courants porteurs en ligne comprend une carte d'âme de ligne d'alimentation et une carte de commande de telle sorte que le système de robot d'inspection de tuyau soit formé en connectant des bornes de communication par courants porteurs en ligne de chaque carte d'âme de communication par courants porteurs en ligne individuelle à une ligne d'alimentation. L'invention fournit un circuit de système simple, présente une stabilité de système supérieure et est facilement mise à l'échelle pour une utilisation avec de multiples dispositifs d'inspection. Un module de communication de division de puissance divise le système de robot d'inspection de tuyau en deux systèmes d'alimentation électrique et de communication ayant une puissance fournie de manière distincte par une première ligne d'alimentation et une seconde ligne d'alimentation et une communication partagée au moyen de la première ligne d'alimentation et de la seconde ligne d'alimentation, ce qui permet de réduire de manière efficace des interférences de communication provoquées par une transmission de puissance et d'améliorer la stabilité du système de robot d'inspection de tuyau.
PCT/CN2017/118051 2017-11-22 2017-12-22 Système de robot d'inspection de tuyau WO2019100507A1 (fr)

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CN201711173004.XA CN108953835A (zh) 2017-11-22 2017-11-22 一种管道检测机器人系统
CN201711173004.X 2017-11-22

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