CN111412342A - Pipeline detection robot and pipeline detection method - Google Patents
Pipeline detection robot and pipeline detection method Download PDFInfo
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- CN111412342A CN111412342A CN201910015987.7A CN201910015987A CN111412342A CN 111412342 A CN111412342 A CN 111412342A CN 201910015987 A CN201910015987 A CN 201910015987A CN 111412342 A CN111412342 A CN 111412342A
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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- 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
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Abstract
The invention relates to a pipeline detection robot and a pipeline detection method, the pipeline detection robot comprises: a vehicle body; the driving mechanism is arranged on the vehicle body and used for driving the vehicle body; and the camera shooting mechanism is arranged on the vehicle body and comprises a first camera shooting device, a plurality of second camera shooting devices and a cloud platform, wherein the first camera shooting device is arranged at the end part of the cloud platform, and the second camera shooting devices are arranged at the periphery of the cloud platform and are uniformly distributed on the circumference of the cloud platform as the center. A pipeline detection method comprises the following steps: placing a pipeline detection robot in a pipeline to be detected; the pipeline detection robot is controlled to move and shoot at the same time, the first camera shooting device shoots images in front of the pipeline when the pipeline detection robot moves, and the plurality of second camera shooting devices shoot images of all visual angles of the inner wall of the pipeline; and processing the image to judge the state of the pipeline damage and the gap. The pipeline robot and the pipeline detection method can carry out shooting detection in the pipeline in all directions, and improve efficiency and accuracy.
Description
Technical Field
The invention relates to the technical field of pipeline detection, in particular to a pipeline detection robot and a pipeline detection method.
Background
The pipeline inspection robot can carry out endoscopic inspection of urban drainage pipelines, and after the robot enters the drainage pipelines, the robot shoots and transmits image data to a control computer through camera equipment on the robot, so that an operator is assisted in judging the conditions of cracking and corrosion of the pipelines and the quality of welding seams. At present, most of camera equipment on a detection robot has a single visual angle, the camera equipment faces the extension direction of the pipeline axis, and images of the side wall of the pipeline are not clear in the process of shooting while the robot moves along the pipeline axis; when finding a certain wall and possibly having the defect, the robot stops to march, and artifical remote control camera equipment angle of adjustment is shot to some position of alignment wall or is scanned the circumference wall of here around a week in this position, can only realize local high definition and shoot, and needs artificial remote control to realize the alignment, and it is long consuming time, inefficiency.
Disclosure of Invention
In view of the above, it is necessary to provide a pipeline inspection robot and a pipeline inspection method for solving the problem that the robot cannot perform all-around imaging inspection of the inside of a pipeline.
A pipeline inspection robot comprising:
a vehicle body;
the driving mechanism is arranged on the vehicle body and used for driving the vehicle body; and
the camera shooting mechanism is arranged on the vehicle body and comprises a first camera shooting device, a plurality of second camera shooting devices and a cloud platform, wherein the first camera shooting device is arranged at the end part of the cloud platform, and the second camera shooting devices are arranged at the periphery of the cloud platform and are circumferentially and uniformly distributed as the center.
Foretell pipeline inspection robot is equipped with first camera equipment and a plurality of second camera equipment, and when pipeline inspection robot moved, can shoot dead ahead and the interior image of circumference of pipeline simultaneously, and all-round, many visual angles carry out the interior shooting of pipeline and detect, improve pipeline inspection shooting efficiency and quality, structural design is reasonable.
In one embodiment, the holder includes a fixing portion and a connecting portion, the connecting portion is rotatably connected to the fixing portion, so that the connecting portion can rotate relative to the fixing portion, a rotation axis is parallel to an extending direction of the pipeline, and the first and second image capturing devices are both located on the connecting portion.
In one embodiment, the connecting portion partially protrudes out of the end portion of the vehicle body, and the first camera device and the second camera device are both disposed on the connecting portion partially protruding out of the end portion of the vehicle body to prevent a shooting angle from being blocked.
In one embodiment, the number of the second shooting devices is equal to or greater than three, the visual angles of the adjacent second shooting devices are mutually overlapped, and the overlapped visual angles of all the second shooting devices can cover the inner wall of the whole pipeline.
In one embodiment, the vehicle body lifting device further comprises a lifting mechanism, and the top end and the bottom end of the lifting mechanism are respectively connected with the holder and the vehicle body.
In one embodiment, the lifting mechanism comprises a first supporting rod and a second supporting rod which are hinged to each other, the bottom end of the first supporting rod and the top end of the second supporting rod are located on the same side and are fixedly connected with the vehicle body and the camera shooting mechanism respectively, and the top end of the first supporting rod and the bottom end of the second supporting rod are located on the same side and are connected with the camera shooting mechanism and the vehicle body in a sliding mode respectively.
In one embodiment, the vehicle body comprises a control system, the control system comprises a sensing module, the sensing module comprises an image sensor, an inclination angle sensor and a position sensor, the image sensor is connected with the camera shooting mechanism and used for acquiring image information, the inclination angle sensor is connected with the vehicle body and used for measuring the inclination angle of the vehicle body, and the position sensor is arranged in the vehicle body and used for monitoring the position of the vehicle body in real time.
In one embodiment, the control system further comprises a remote operation end, the remote operation end is electrically connected with the sensing module and comprises an operation keyboard and a display screen, the display screen is used for displaying images, inclination angles and position information, and the operation keyboard is used for remote control.
A pipeline inspection method, comprising:
placing a pipeline detection robot in a pipeline to be detected;
controlling the pipeline detection robot to move along the axis of the pipeline and shoot at the same time, wherein a front image is shot by utilizing first camera equipment when the pipeline detection robot moves, and images of each visual angle of the inner wall of the pipeline are shot by utilizing a plurality of second camera equipment;
and the second camera shooting device shoots images of all visual angles of the inner wall of the pipeline, cuts off overlapped parts, splices the images and displays the images on a display screen of the remote operation end.
And processing the image to judge the state of the pipeline damage and the gap.
According to the pipeline detection method, the pipeline robot can shoot images or videos in the pipeline while moving in the pipeline, the images shot by the first camera equipment and the second camera equipment can be unfolded or displayed on the display screen in a three-dimensional mode after being processed, an operator can quickly identify the pipeline damage and the gap state, and the detection efficiency and accuracy are improved.
In one embodiment, the images of the various viewing angles are spliced after the overlapped parts are cut off, and can be displayed on a display screen of a remote operation end.
Drawings
FIG. 1 is an isometric view of an embodiment of a pipeline inspection robot;
fig. 2 is a front view of the image pickup mechanism in fig. 1 and a view angle distribution diagram of a plurality of second image pickup apparatuses;
fig. 3 is a block diagram of a control system of the pipe inspecting robot shown in fig. 1.
Detailed Description
The following further describes the pipeline inspection robot and the pipeline inspection method with reference to the drawings and the specific embodiments.
Referring to fig. 1, a pipeline robot 10 according to an embodiment includes a vehicle body 100, a driving mechanism, a lifting mechanism 300, a camera mechanism 400, and wheels 500.
The driving mechanism includes a first driving member (not shown in the drawings), a second driving member 200 and a third driving member (not shown in the drawings), the first driving member is disposed in the vehicle body 100 for driving the vehicle body 100 to move along the pipeline axis in the pipeline, the second driving member 200 is connected with the lifting mechanism 300 for driving the lifting mechanism 300 to lift, the lifting direction of the lifting mechanism 300 is perpendicular to the extending direction of the pipeline axis, and the third driving member is connected with the camera mechanism 400 for adjusting the camera mechanism 400. Specifically, the driving mechanism is a servo motor or a stepping motor. In the present embodiment, the pipe is a straight cylindrical shape, the pipe axis extends in the lateral direction, and the elevating mechanism 300 is vertically elevated. In other embodiments, the pipeline may be bent, and the lifting mechanism 300 may further include a steering device to better meet the pipeline requirement.
Referring to fig. 1, the lifting mechanism 300 is located above the vehicle body 100, and the bottom end and the top end of the lifting mechanism 300 are respectively connected to the vehicle body 100 and the camera 400. Specifically, the lifting mechanism 300 includes a first strut 310 and a second strut 320 hinged to each other, the vehicle body 100 is provided with the base 110, rod portions of the first strut 310 and the second strut 320 are hinged to form an X shape, bottom ends of the first strut 310 and the second strut 320 are located on the same side and are respectively fixedly connected to the base 110 and the camera mechanism 400, and top ends of the first strut 310 and the second strut 320 are located on the same side and are respectively slidably connected to the camera mechanism 400 and the base 110, so that the top end of the first strut 310 and the bottom end of the second strut 320 can slide along the extending direction of the pipeline, and thus the lifting mechanism 300 can be lifted vertically. In this embodiment, the base 110 is provided with a lead screw assembly to drive the top end of the first support rod 310 and the bottom end of the second support rod 320 to slide, specifically, the lead screw assembly includes a lead screw 111 and a lead screw nut (not shown in the figure), the lead screw nut is sleeved on the lead screw 111 and is in transmission connection with the lead screw 111, two sides of the lead screw nut are respectively connected with the top end of the first support rod 310 and the bottom end of the second support rod 320, the lead screw 111 is connected with the second driving member 200 to enable the second driving member 200 to drive the lead screw 111 to rotate, and simultaneously drive the lead screw nut to move along the axis of the pipeline, and drive the top end of the first support rod 310 and the bottom end of the second support rod 320 to slide, thereby achieving the longitudinal lifting of the. Further, in order to prevent the top end of the first support rod 310 and the bottom end of the second support rod 320 from deviating in direction when sliding, a first slide rail 401 matched with the top end of the first support rod 310 is arranged on the camera shooting mechanism 400, a second slide rail 112 matched with the bottom end of the second support rod 320 is arranged on the base 110, and the first slide rail 401, the second slide rail 112 and the lead screw 111 are all arranged in parallel. In other embodiments, the first support rod 310 and the second support rod 320 may also be not hinged to form an X shape, they may be arranged in parallel, and the bottom end and the top end of the first support rod 310 and the second support rod 320 are respectively movably connected with the base 110 and the camera mechanism 400, so as to realize the longitudinal lifting of the lifting mechanism 300.
Referring to fig. 1, the camera 400 is located above the vehicle body 100 and connected to the lifting mechanism 300, and the lifting mechanism can drive the camera 400 to lift. Specifically, the image capturing mechanism 400 includes a first image capturing apparatus 410, a plurality of second image capturing apparatuses 420, and a pan/tilt head 430, the pan/tilt head 430 includes a fixing portion 431 and a connecting portion 432, the fixing portion 431 is connected to the elevating mechanism 300, the connecting portion 432 is movably connected to the fixing portion 431 and is capable of rotating 360 degrees with respect to the fixing portion 431, and the rotation axis is parallel to the pipeline axis. In the present embodiment, a third driving element (not shown in the drawings) is disposed in the fixing portion 431, the third driving element includes a motor and a motor shaft (not shown in the drawings), the connecting portion 432 is connected to the motor shaft, and the motor is driven to rotate the connecting portion 432 relative to the fixing portion 431. In other embodiments, the connecting portion 432 may be rotatably connected to the fixing portion 431 by a bearing or a hinge. Further, in order to facilitate the second image pickup apparatuses 420 to be arranged circumferentially and uniformly, in the present embodiment, the connection portions 432 are provided in a cylindrical shape. In other embodiments, the connecting portion 432 may also have a prism shape, a cone shape, or other irregular shapes. Further, in order to prevent the vehicle body 100 from blocking the photographing view angle, the connection part 432 is partially protruded out of the end part of the vehicle body 100, and the first and second photographing apparatuses 410 and 420 are provided on the connection part 432 partially protruded out of the end part of the vehicle body 100.
In order to capture the image of the inner wall 440 of the duct in all directions, the number of the second camera devices 420 is equal to or greater than three, the viewing angles of the adjacent second camera devices 420 overlap each other, and the entire inner wall of the duct can be covered by the overlapping of the viewing angles of all the second camera devices 420. Specifically, referring to fig. 2, the second image capturing devices 420 are disposed on the periphery of the connecting portion 432 and are circumferentially and uniformly distributed around the first image capturing device 410, and since images captured by the second image capturing devices 420 need to be spliced in a later period, images acquired by adjacent second image capturing devices 420 need to be in seamless butt joint or can be overlapped, so that the situation that the judgment of the state of the pipeline inner wall 440, such as damage and crack, is affected due to an image splicing blank or dead angle is avoided. For example, if the number of the second image capturing apparatuses 420 is six, the angle of view of each second image capturing apparatus 420 is at least 60 degrees, and referring to fig. 2, the angle of view a of each second image capturing apparatus 420 may be selected to be at least greater than 75 degrees, so that there is an image capturing overlap area b (a shadow overlap in the figure) between the adjacent second image capturing apparatuses 420.
In order to obtain a better shooting effect, in the present embodiment, the first camera device 410 and the second camera device 420 are both zoom cameras, and the visible distance of the first camera device 410 is equal to or greater than 3 meters, and the visible distance of the second camera device 420 is equal to or greater than 0.2 meters.
Referring to fig. 1, the wheel 500 is detachably disposed on both sides of the vehicle body 100, and a plurality of anti-slip grooves 510 are disposed on the surface of the wheel 500 to prevent the vehicle body 100 from slipping in the duct. In the present embodiment, the distance between the two wheels 500 located on both sides of the vehicle body 100 is not adjustable. In other embodiments, a diameter-variable device may be additionally disposed between the wheels 500 on both sides, so that the distance between the two wheels 500 on both sides of the vehicle body 100 may be adjusted, thereby meeting the requirements of different pipe diameters. In the present embodiment, the wheel 500 is made of rubber, and the vehicle body 100 is made of aluminum alloy or stainless steel. In other embodiments, the wheel 500 may be made of synthetic fiber, and the body 100 may be made of nanofiber. Further, a distance measuring device (not shown in the drawings) is connected to the vehicle body 100, so that when the vehicle body 100 is placed in the pipe to be detected, an operator can conveniently control the vehicle body 100 on the ground, and the distance of the vehicle body 100 moving in the pipe relative to the starting point can be measured. In particular, the rangefinder is a cable winch.
Referring to fig. 3, the pipeline inspection robot 10 further includes a control system 600, and the control system 600 includes a circuit board 610, a processor 620, a driving control module 630, a sensing module 640, an acquisition module 650, a transmission module 660, and a remote operation end 670, which are electrically connected to each other.
The circuit board 610 is provided with a processor 620, the processor 620 is connected with a driving control module 630, the driving control module 630 is connected with the driving mechanism 200 for controlling the movement of the vehicle body 100, the lifting of the lifting mechanism 300 and the rotation of the camera mechanism 400, the sensing module 640 comprises an image sensor, an inclination angle sensor and a position sensor, the image sensor is connected with the camera mechanism 400 for acquiring image information, the inclination angle sensor is arranged in the vehicle body 100 for measuring the inclination angle of the vehicle body 100 during movement, and the position sensor is arranged in the vehicle body 100 for monitoring the position of the vehicle body 100 in real time. The processor 620 is connected with the acquisition module 650, and the sensing module 640 sends the acquired image, the acquired inclination angle and the acquired position information to the processor 620, and then the acquired image, the acquired inclination angle and the acquired position information are sequentially sent to the acquisition module 650, the transmission module 660 and the remote operation terminal 670 through the processor 620. Specifically, the transmission module 660 is in wireless or wired communication transmission, the remote operation end 670 includes an operation keyboard and a display screen, and images, inclination angles and position information can be displayed on the display screen, and remote control can be performed through the operation keyboard.
The pipeline inspection method 20 of an embodiment includes the steps of:
the pipeline inspection robot 10 is placed in a pipeline to be inspected, and for convenience of operation, the pipeline to be inspected is placed in the pipeline from a shaft hoist by using a hoisting device (not shown in the figure), and the lifting mechanism 300 is controlled to lift through the remote operation end 670 according to the diameter of the pipeline, so that the first camera 410 in the camera mechanism 400 is located at the axis of the pipeline;
controlling the pipeline inspection robot 10 to shoot while advancing along the pipeline axis, wherein a first camera device 410 is used for shooting images or videos right ahead during advancing, a plurality of second camera devices 420 are used for shooting images or videos at various visual angles of the inner wall 440 of the pipeline, and specifically, the driving control module 630 is controlled by the remote operation end 670 so that the vehicle body 100 shoots while advancing along the pipeline axis;
and processing the images at the right front and each visual angle to judge the state of the damaged pipeline and the gap. Specifically, images captured by the first camera device 410 and the plurality of second camera devices 420 are transmitted to the remote operation end 670 through the sensing module 640, the processor 620, the acquisition module 650, and the transmission module 660, and images captured by the plurality of second camera devices 420 are spliced after overlapping portions are cut off, so that the images can be displayed on a display screen of the remote operation end 670. Images at various visual angles shot by the first camera device 410 and the second camera devices 420 can be unfolded or displayed on a display screen in a three-dimensional mode after being subjected to distortion correction, cutting and splicing, specific positions and angles are displayed on the unfolded images, and operators can quickly recognize pipeline damage and gap positions.
In the pipeline detection method 20, the pipeline robot 10 shoots the images or videos in the pipeline while moving in the pipeline, and transmits the images to the remote control end 670 through the control system 600, the images shot by the first camera device 410 and the plurality of second camera devices 420 can be unfolded or displayed on a display screen in a three-dimensional manner after being subjected to distortion correction, cutting and splicing, and specific positions and angles are displayed on the unfolded images, so that an operator can quickly identify the pipeline damage and the gap positions, and the detection efficiency and accuracy are improved.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A pipeline inspection robot, comprising:
a vehicle body;
the driving mechanism is arranged on the vehicle body and used for driving the vehicle body; and
the camera shooting mechanism is arranged on the vehicle body and comprises a first camera shooting device, a plurality of second camera shooting devices and a cloud platform, wherein the first camera shooting device is arranged at the end part of the cloud platform, and the second camera shooting devices are arranged at the periphery of the cloud platform and are circumferentially and uniformly distributed as the center.
2. The pipeline inspection robot of claim 1, wherein the cradle head includes a fixed portion and a connecting portion, the connecting portion being rotatably connected to the fixed portion such that the connecting portion is rotatable relative to the fixed portion and a rotation axis is parallel to a direction in which the pipeline extends, the first and second imaging devices being located on the connecting portion.
3. The pipeline inspection robot according to claim 2, wherein the connecting portion partially protrudes out of an end portion of the vehicle body, and the first and second image pickup devices are provided on the connecting portion partially protruding out of the end portion of the vehicle body to prevent a photographing angle from being blocked.
4. The pipeline inspection robot of claim 2, wherein the number of the second photographing devices is equal to or greater than three, the viewing angles of the adjacent second photographing devices are overlapped, and all the viewing angles of the second photographing devices can cover the whole inner wall of the pipeline after being overlapped.
5. The pipeline inspection robot of claim 1, further comprising a lifting mechanism, wherein the top end and the bottom end of the lifting mechanism are respectively connected with the cradle head and the vehicle body.
6. The pipeline inspection robot of claim 5, wherein the lifting mechanism comprises a first supporting rod and a second supporting rod hinged to each other, the bottom end of the first supporting rod and the top end of the second supporting rod are located on the same side and are fixedly connected with the vehicle body and the camera mechanism respectively, and the top end of the first supporting rod and the bottom end of the second supporting rod are located on the same side and are slidably connected with the camera mechanism and the vehicle body respectively.
7. The pipeline inspection robot of claim 1, further comprising a control system, wherein the control system comprises a sensing module, the sensing module comprises an image sensor, an inclination sensor and a position sensor, the image sensor is connected with the camera mechanism for acquiring image information, the inclination sensor is connected with the vehicle body for measuring an inclination angle of the vehicle body, and the position sensor is arranged in the vehicle body for monitoring a position of the vehicle body in real time.
8. The pipeline inspection robot of claim 7, wherein the control system further comprises a remote operation end electrically connected to the sensing module and including an operation keyboard and a display screen, the display screen being configured to display images, tilt angles and position information, the operation keyboard being configured to be remotely controlled.
9. A method of pipeline inspection, comprising:
placing a pipeline detection robot in a pipeline to be detected;
controlling the pipeline detection robot to move along the axis of the pipeline and shoot at the same time, wherein a front image is shot by utilizing first camera equipment when the pipeline detection robot moves, and images of each visual angle of the inner wall of the pipeline are shot by utilizing a plurality of second camera equipment;
and processing the image to judge the state of the pipeline damage and the gap.
10. The pipeline inspection method according to claim 9, wherein the images of the respective viewing angles are cut out of overlapping portions and then spliced so as to be displayed on a display screen of a remote operation terminal.
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| CN108627525A (en) * | 2018-04-12 | 2018-10-09 | 上海建工集团股份有限公司 | Inner wall of the pipe crack detection device and method |
| CN112944105A (en) * | 2021-01-28 | 2021-06-11 | 武汉中仪物联技术股份有限公司 | Intelligent pipeline defect detection method and system |
| CN113099174A (en) * | 2021-03-26 | 2021-07-09 | 武汉固德超前高新科技研发有限公司 | Multi-view camera and crawler with same |
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| CN112944105A (en) * | 2021-01-28 | 2021-06-11 | 武汉中仪物联技术股份有限公司 | Intelligent pipeline defect detection method and system |
| CN113099174A (en) * | 2021-03-26 | 2021-07-09 | 武汉固德超前高新科技研发有限公司 | Multi-view camera and crawler with same |
| CN113203000A (en) * | 2021-04-30 | 2021-08-03 | 杭州申昊科技股份有限公司 | Pipeline robot based on defect detection |
| CN114738593A (en) * | 2022-01-27 | 2022-07-12 | 中国铁建重工集团股份有限公司 | Pipeline robot walking and obstacle crossing device and pipeline robot |
| CN114857404A (en) * | 2022-03-17 | 2022-08-05 | 宁波明峰检验检测研究院股份有限公司 | Large-diameter pipeline internal quality detection walking device |
| CN114636049A (en) * | 2022-03-22 | 2022-06-17 | 重庆市特种设备检测研究院 | Buried gas pipeline overhauling, positioning and assisting device |
| CN114738595A (en) * | 2022-04-07 | 2022-07-12 | 东北大学 | Pipeline inspection robot and inspection method |
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