CN114719121A - Pipeline robot detection system integrating movement and suspension and method - Google Patents

Pipeline robot detection system integrating movement and suspension and method Download PDF

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Publication number
CN114719121A
CN114719121A CN202210482679.7A CN202210482679A CN114719121A CN 114719121 A CN114719121 A CN 114719121A CN 202210482679 A CN202210482679 A CN 202210482679A CN 114719121 A CN114719121 A CN 114719121A
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China
Prior art keywords
robot
rov
pipeline
pipe wall
distance
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CN202210482679.7A
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CN114719121B (en
Inventor
邹大鹏
陈少伟
吴磊
陈宣烽
许汉权
林帆
杨佳威
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Guangdong University of Technology
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Guangdong University of Technology
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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
    • 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
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The application relates to the technical field of pipeline detection, in particular to a pipeline robot detection system and method integrating movement and suspension, which comprises the following steps: the pipeline robot carries an ROV robot to move forward to a specified detection area along a magnetic strip preset in a pipeline, and after the pipeline robot reaches a target area, the ROV robot is awakened by the pipeline robot and starts to float after receiving an instruction; the method comprises the steps that the distance between an ROV robot and a pipe wall is obtained in real time, when the ROV robot is close to the pipe wall and the distance reaches a preset standard value, the ROV robot stops floating upwards, and a suspension state is kept; the ROV robot is used for detecting around the pipe wall and transmitting the detected pipe wall condition to the pipeline robot; after the pipeline in the range is detected, stopping detection, and recovering the ROV by the pipeline robot to enable the ROV to return to the pipeline robot; the invention can solve the problem of low detection efficiency of the defects of the inner wall of the pipeline.

Description

Pipeline robot detection system and method integrating movement and suspension
Technical Field
The invention relates to the technical field of pipeline detection, in particular to a pipeline robot detection system and method integrating movement and suspension.
Background
The hydraulic engineering is an important project in the current society, and has important significance for solving natural disasters such as flood control and the like in China, improving the life of people in China by regulating water quantity and promoting the development of economic production. With the increase of long-distance water delivery, water distribution and water supply projects, large-size, high-flow-rate and long-distance water delivery pipelines are largely used for large-scale cross-basin water conservancy projects. The large hydraulic engineering plays a vital role in developing economic construction of water-deficient areas, but the detection of long-distance water pipelines becomes a problem to be solved urgently.
The long-distance and large-size water pipeline needs to be detected under the condition of water, but due to the severe and dangerous underwater environment, the diving depth of people is limited, and the problems of strong subjectivity, low efficiency and the like exist in the process of identifying the pipeline image defects and attachments in a manual mode; and because the pipeline environment is special, can not avoid including noise information or receiving its interference in the sensor information collection, for example inhomogeneous light leads to the pipeline image that the camera was gathered to include a large amount of noise points, and the intraductal rivers of confined can lead to a large amount of scattering of laser, and the accuracy is not high, so no matter the pipeline information that the sensor based on vision or optics gathered all contains a lot of noises, and is not very clear.
Disclosure of Invention
In view of the above-mentioned defects, the present invention provides a system and a method for detecting a pipeline robot integrating movement and suspension, which can solve the problem of low efficiency of detecting defects on the inner wall of a pipeline.
In order to achieve the purpose, the invention adopts the following technical scheme:
a pipeline robot detection system integrating movement and suspension comprises a pipeline robot and an ROV robot, wherein the ROV robot is arranged on the pipeline robot;
the pipeline robot comprises a robot frame, a traveling device, a power supply device, a control device and a traction device, wherein the traveling device, the power supply device, the control device and the traction device are all arranged on the robot frame;
the control device is used for controlling the action of the pipeline robot, and is in signal connection with the travelling device, the power supply device and the traction device;
the traveling device is arranged at the bottom of the robot frame and is used for driving the pipeline robot to travel;
the power supply device is used for supplying power to the pipeline robot, and is electrically connected with the advancing device, the control device and the traction device;
the traction device is used for connecting the pipeline robot and the ROV robot;
the ROV robot comprises an ROV frame, an ROV control system, a driving device, a detection device and a distance acquisition device;
the ROV control system, the driving device, the detection device and the distance acquisition device are all arranged on the ROV frame;
the ROV control system is used for controlling the action of the ROV robot; the ROV control system is in signal connection with the driving device, the detection device and the distance acquisition device;
the driving device is used for enabling the ROV robot to finish the actions of floating, advancing, reversing and the like;
the detection device is used for detecting the condition of the inner wall of the pipeline;
the distance acquisition device is used for detecting the distance between the ROV robot and the inner wall of the pipeline.
Preferably, the travelling device comprises a crawler belt and a first propeller, the crawler belt is arranged at the bottom of the robot frame and is used for travelling of the pipeline robot, the first propeller is used for controlling the crawler belt, and the control device is in signal connection with the first propeller;
the two crawler belts are arranged along the advancing direction of the pipeline robot and are respectively arranged on the left side and the right side of the robot frame, and a magnetic stripe recognizer is arranged between the two crawler belts and is used for being matched with a magnetic stripe in a pipeline;
the traction device comprises a cable, a motor and a caster, wherein the upper surface of the pipeline robot is provided with a fixer, the cable is wound on the fixer, and the motor is used for controlling the fixer to rotate so as to change the length of the released cable; the caster is used to guide the cable.
Preferably, the driving device comprises a second propeller, a directional propeller and a lifting propeller, the axial direction of the lifting propeller is consistent with the vertical movement direction of the ROV robot, and a certain included angle is formed between the axial direction of the directional propeller and the axial direction of the lifting propeller; and the power direction of the second propeller is consistent with the advancing direction of the ROV robot.
Preferably, the distance acquisition device includes four distance sensors arranged at the top of the ROV robot, the detection device includes a visual sensor and an ultrasonic probe, the visual sensor and the ultrasonic probe are both arranged at the top of the ROV robot, the visual sensor is used for measuring the shapes and the areas of the pipe wall attachments and the pipe wall defects, and the ultrasonic probe is used for measuring the thicknesses of the pipe wall attachments and the pipe wall defects.
Preferably, the power supply device comprises a telescopic electric cylinder, a charging column and a communication disc, a movable groove is formed in the robot frame along the vertical direction, the movable groove is communicated with the bottom of the robot frame, the telescopic electric cylinder and the charging column are both arranged in the movable groove along the vertical direction, the upper end of the telescopic electric cylinder is fixedly connected with the robot frame, the output end of the telescopic electric cylinder is connected with the upper surface of the charging column, and the telescopic electric cylinder is used for pushing the charging column out of the robot frame so as to enable the charging column to be connected with a charging base arranged on the ground of a pipeline; the communication disc is used for signal transmission between the pipeline robot and a detection person outside the pipeline, and the detection result is transmitted to the detection person through the communication disc; the communication disc has a charging function; the robot frame, the power supply device and the charging base are all waterproof.
A pipeline robot detection method integrating movement and suspension comprises the following steps:
step A1: the pipeline robot carries an ROV robot and moves to a charging base arranged in the pipeline through a magnetic stripe, the pipeline robot is in butt joint with the charging base, the position and the area to be detected of the pipeline robot are obtained by the charging base, after the pipeline robot is disconnected with the charging base, the pipeline robot moves forward to a specified detection area along the preset magnetic stripe in the pipeline, and when the pipeline robot reaches a target area, the pipeline robot stops moving forward;
step A2: after the pipeline robot enters a target area, the pipeline robot awakens the ROV robot, and the ROV robot informs the pipeline robot of working conditions and preparation states;
step A3: the pipeline robot receives the information of the ROV robot, judges that the ROV robot can float, informs that the ROV robot can start floating, and starts floating after receiving the instruction;
step A4: the method comprises the steps that the distance between an ROV robot and a pipe wall is obtained in real time, when the ROV robot is close to the pipe wall and the distance reaches a preset standard value, the ROV robot stops floating upwards, and a suspension state is kept;
step A5: the ROV robot winds the pipe wall for detection, the detected pipe wall condition is transmitted to the pipeline robot, and the pipeline robot stores the pipe wall condition;
step A6: after the pipeline in the range is detected, stopping detection, and recovering the ROV by the pipeline robot to enable the ROV to return to the pipeline robot;
step A7: continuing to the next zone of the pipeline, steps A1-A5 are performed.
Preferably, in step a3, the pipeline robot receives the information of the ROV robot, determines that the ROV robot can float, and informs that the ROV robot can start floating, and the ROV robot starts floating after receiving the instruction, including: the pipeline robot judges whether the ROV robot can float up or not according to the working condition and the preparation state of the ROV robot, if the pipeline robot judges that the ROV robot can float up, the pipeline robot detects a working signal of the ROV robot, if the ROV robot is in the working state, the pipeline robot transmits a signal capable of starting the floating up to the ROV robot, and the ROV robot starts a driving device to float up; if the pipeline robot judges that the pipeline robot cannot start floating, the pipeline robot returns to the charging base to report errors and goes to a nearest emergency exit or stays in place to wait for rescue of workers.
Preferably, in step a4, the distance between the ROV robot and the pipe wall is obtained in real time, and when the ROV robot is close to the pipe wall and the distance reaches a preset standard value, the ROV robot stops floating, and the ROV robot keeps a suspension state, including: the distance acquisition device detects the distance between the ROV robot and the pipe wall and feeds the distance value back to the ROV control system, the ROV control system generates a control signal and sends the control signal to the driving device, and the driving device adjusts the positions of the ROV robot and the inner wall of the pipe in real time.
Preferably, in step a5, the ROV robot performs inspection around the pipe wall, including: the second propeller is when promoting the ROV robot and move forward, and the direction screw changes the angle of ROV robot's orbit, and the lift screw starts according to the feedback apart from collection system, and when the distance grow, the lift screw control ROV robot rises or descends, makes ROV robot press close to the pipe wall, and when ROV robot and pipe wall distance were too little, then the pipe wall was kept away from to the lift screw control ROV robot.
The technical scheme comprises the following beneficial effects:
in this embodiment, the pipeline robot travels inside the pipeline with the ROV robot, and stops traveling after the pipeline robot travels to the target area. A control device of the pipeline robot sends a floating signal to an ROV control system, and the ROV robot starts a driving device to wait floating; the pipeline robot starts a traction device, the traction device is used for connecting the pipeline robot and the ROV robot, and the ROV robot starts to float up under the power provided by the driving device.
At the in-process of ROV robot come-up, gather the distance of ROV robot and pipeline inner wall in real time apart from collection device, when ROV robot come-up to predetermineeing the position, stop the come-up, later begin to detect: the ROV robot carries out spiral adherence detour under drive arrangement's effect, is detected the pipeline inner wall by detection device simultaneously, and the ROV robot transmits the pipe wall information that detects to the pipeline robot.
The pipeline robot advances along the pipeline, and the ROV robot detects the pipe wall in a section length region along the pipe wall, detects the back that finishes, and draw gear retrieves the ROV robot to pipeline robot top, and the pipeline robot carries the ROV robot to go to next check point, detects the pipeline region of each check point, has the advantage of automatic and high accuracy detection pipeline.
Drawings
FIG. 1 is a schematic view of the inspection process of the inspection apparatus for a pipeline robot according to the present invention;
FIG. 2 is a schematic view of the overall structure of the pipeline robot detecting device of the present invention;
FIG. 3 is a front view of the pipe robot detecting device of the present invention;
FIG. 4 is a schematic diagram of the pipe robot control of the present invention;
FIG. 5 is a cross-sectional view of the power supply of the present invention;
FIG. 6 is a plan view of the pipeline robot detecting device of the present invention;
FIG. 7 is a schematic structural view of a traction device according to an embodiment of the present invention;
fig. 8 is a schematic structural view of an ROV robot of the present invention;
fig. 9 is a top view of the ROV robot of the present invention;
fig. 10 is a schematic view of ultrasonic thickness measurement according to the present invention.
Wherein: 1. a pipeline robot; 101. a first waterproof case; 102. a second waterproof case; 103. a magnetic stripe recognizer; 11. a robot frame; 111. a movable groove; 12. a traveling device; 121. a crawler belt; 122. a first propeller; 13. a power supply device; 131. a communication disc; 132. a telescopic electric cylinder; 133. a charging post; 14. a control device; 15. a traction device; 151. a cable; 152. a motor; 153. a caster wheel; 154. a holder; 2. an ROV robot; 21. an ROV frame; 22. an ROV control system; 23. a drive device; 231. a second propeller; 232. a directional propeller; 233. lifting the propeller; 24. a detection device; 241. a vision sensor; 242. an ultrasonic probe; 25. a distance acquisition device; 251. a first distance sensor; 252. a second distance sensor; 253. a third distance sensor; 254. a fourth distance sensor; 3. a charging base.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial.
In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
A moving and suspending type pipeline robot detection system and method according to an embodiment of the present invention will be described with reference to fig. 1 to 10:
a pipeline robot detection system integrating movement and suspension comprises a pipeline robot 1 and an ROV robot 2, wherein the ROV robot 2 is arranged on the pipeline robot 1;
the pipeline robot 1 comprises a robot frame 11, a traveling device 12, a power supply device 13, a control device 14 and a traction device 15, wherein the traveling device 12, the power supply device 13, the control device 14 and the traction device 15 are all arranged on the robot frame 11;
the control device 14 is used for controlling the action of the pipeline robot 1, and the control device 14 is in signal connection with the traveling device 12, the power supply device 13 and the traction device 15;
the traveling device 12 is disposed at the bottom of the robot frame 11 and is used for driving the pipeline robot 1 to travel;
the power supply device 13 is used for supplying power to the pipeline robot 1, and the power supply device 13 is electrically connected with the traveling device 12, the control device 14 and the traction device 15;
the traction device 15 is used for connecting the pipeline robot 1 and the ROV robot 2;
the ROV robot 2 comprises an ROV frame 21, an ROV control system 22, a driving device 23, a detection device 24 and a distance acquisition device 25;
the ROV control system 22, the driving device 23, the detecting device 24 and the distance collecting device 25 are all arranged on the ROV frame 21;
the ROV control system 22 is used for controlling the actions of the ROV robot 2; the ROV control system 22 is in signal connection with the driving device 23, the detection device 24 and the distance acquisition device 25;
the driving device 23 is used for enabling the ROV robot 2 to complete actions such as floating, advancing, reversing and the like;
the detection device 24 is used for detecting the condition of the inner wall of the pipeline;
the distance acquisition device 25 is used for detecting the distance between the ROV robot 2 and the inner wall of the pipeline.
Specifically, although a long-distance and large-diameter water pipe must be inspected under the condition that water is present in the pipe, the underwater pipe robot 1 becomes an important underwater work tool because of the danger of a severe underwater environment and the limited depth of diving for people.
In the present embodiment, the pipeline robot 1 travels inside the pipeline with the ROV robot 2, and stops traveling after the pipeline robot 1 travels to the target area. The control device 14 of the pipeline robot 1 sends a floating signal to the ROV control system 22, and the ROV robot 2 starts the driving device 23 to wait floating; the pipeline robot 1 starts the traction device 15, the traction device 15 is used for connecting the pipeline robot 1 and the ROV robot 2, and the ROV robot 2 starts to float up under the power provided by the driving device 23.
At the in-process of 2 come-ups of ROV robot, gather the distance of ROV robot 2 and pipeline inner wall in real time apart from collection device 25, when 2 come-ups of ROV robot to predetermineeing the position, stop the come-up, later begin to detect: the ROV robot 2 performs spiral wall-adhering circumambulation under the action of the driving device 23, the detection device 24 detects the inner wall of the pipeline, and the ROV robot 2 transmits the detected information of the pipeline wall to the pipeline robot 1.
Pipeline robot 1 advances forward along the pipeline, and ROV robot 2 detects the pipe wall in a section length region along the pipe wall, and the back that finishes of detection, draw gear 15 retrieve ROV robot 2 to pipeline robot 1 top, and pipeline robot 1 carries ROV robot 2 to go to next check point, detects the pipeline region of each check point, has the advantage of automatic and high accuracy detection pipeline.
Further, the power supply device 13 includes a telescopic electric cylinder 132, a charging post 133 and a communication disc 131, a movable groove 111 is arranged in the robot frame 11 along the vertical direction, the movable groove 111 is communicated with the bottom of the robot frame 11, the telescopic electric cylinder 132 and the charging post 133 are both arranged in the movable groove 111 along the vertical direction, the upper end of the telescopic electric cylinder 132 is fixedly connected with the robot frame 11, the output end of the telescopic electric cylinder 132 is connected with the upper surface of the charging post 133, the telescopic electric cylinder 132 is used for pushing the charging post 133 out of the robot frame 11, so that the charging post 133 is connected with the charging base 3 arranged on the pipeline ground; the communication disc 131 is used for signal transmission between the pipeline robot 1 and a detection person outside the pipeline, and the detection result is transmitted to the detection person through the communication disc 131; the communication board 131 has a charging function; the robot frame 11, the power supply device 13 and the charging base 3 are all waterproof.
Specifically, the telescopic electric cylinder 132, the charging post 133 and the communication disc 131 are all started after the pipeline robot 1 reaches the charging base 3 through the magnetic stripe branch, after the pipeline robot 1 reaches the position of the charging base 3, the control device 14 of the pipeline robot 1 starts the telescopic electric cylinder 132 to extend out of the charging post 133 to be in butt joint with the charging base 3, and after the butt joint is completed, the communication disc 131 starts to perform charging and information interaction to acquire detection information of the current area and perform position positioning; the detection result in the pipeline is stored in the memory card of the pipeline robot 1, and the detection information is transmitted to the detection personnel through the communication disc 131 after the pipeline robot 1 is connected with the charging base 3 through the charging post 133. The pipeline robot 1 performs signal transmission with a worker outside the pipeline through the communication disk 131, and can transmit a signal and detected image information in real time.
Preferably, the traveling device 12 includes an endless track 121 provided at the bottom of the robot frame 11, and a first propeller 122, the endless track 121 is used for traveling of the robot 1, the first propeller 122 is used for controlling the endless track 121, and the control device 14 is in signal connection with the first propeller 122;
the two crawler belts 121 are arranged along the advancing direction of the pipeline robot 1, the two crawler belts 121 are respectively arranged on the left side and the right side of the robot frame 11, and a magnetic strip identifier 103 is arranged between the two crawler belts 121 and is used for being matched with a magnetic strip in a pipeline;
the traction device 15 comprises a cable 151, a motor 152 and a caster 153, the upper surface of the pipeline robot 1 is provided with a holder 154, the cable 151 is wound on the holder 154, and the motor 152 is used for controlling the holder 154 to rotate, so that the length of the released cable 151 is changed; the caster 153 is used to guide the cable 151.
Specifically, a magnetic strip is laid on the ground in the pipeline in advance, the magnetic strip recognizer 103 recognizes the magnetic strip, and the control device 14 controls the traveling device 12 to travel along the magnetic strip in the pipeline. The first thruster 122 powers the caterpillar 121, and the robot 1 moves through the caterpillar 121.
Specifically, the ROV control system 22 is configured to control the movement and detection of the ROV robot 2, and a connection port connected to the cable 151 is provided at the bottom thereof for performing energy supply and communication. The cable 151 connects the control device 14 and the ROV control system 22, and the motor 152 can control the recovery and release of the cable 151, and the cable 151 provides power for the ROV robot 2 and performs data transmission between the control device 14 and the ROV control system 22, and the cable 151 also serves as a traction line of the ROV robot 2.
Pipeline robot 1 includes first waterproof case 101, and in controlling means 14 located first waterproof case 101, the top of two tracks 121 was located to first waterproof case 101, and the upper surface of first waterproof case 101 is equipped with second waterproof case 102, and cable 151, motor 152 and truckle 153 are all located in second waterproof case 102. In this embodiment, the holder 154 is cylindrical, the cable 151 is wound around the cylindrical surface thereof, the motor 152 is controlled by the control device 14, the motor 152 can adjust the releasing length of the cable 151 or recover the cable 151 when rotating, and the caster 153 is used for guiding the cable 151 and changing the direction of the cable 151.
When the pipeline robot 1 receives the signal that the ROV robot 2 starts to float, the control device 14 controls the motor 152 to release the cable 151, so that the ROV robot 2 can float off the pipeline robot 1 by the driving device 23.
Preferably, the driving device 23 includes a second thruster 231, a directional propeller 232 and a lifting propeller 233, an axial direction of the lifting propeller 233 is consistent with a vertical movement direction of the ROV robot 2, and an axial direction of the directional propeller 232 and an axial direction of the lifting propeller 233 form an included angle; the power direction of the second thruster 231 coincides with the forward direction of the ROV robot 2.
Specifically, the lifting propeller 233 is used for controlling the ROV robot 2 to ascend or descend in the vertical direction, the second thruster 231 is used for propelling the ROV robot 2 forward, and the directional propeller 232 is used for changing the angle of the running track of the ROV robot 2, so that the ROV robot 2 is close to the inner wall of the pipeline for spiral detection.
The power that ROV robot 2 carries out spiral around pipeline detection is the combined action of direction screw 232 and second propeller 231, and direction screw 232 and second propeller 231 adjust ROV robot 2's motion state in real time, in order to guarantee that the distance between distance collection system 25 and the pipe wall is within safety range, and simultaneously, lift screw 233 also starts according to the feedback of distance collection system 25, as the distance grow, lift screw 233 just controls ROV robot 2 and rises or descends, make ROV robot 2 more press close to the pipe wall, it is too little when ROV robot 2 and pipe wall distance, then lift screw 233 control ROV robot 2 keeps away from the pipe wall.
The process of the ROV robot 2 for spiral pipe winding detection is completed by the cooperative operation among the lifting propeller 233, the directional propeller 232 and the second propeller 231, and the detection process needs to be matched with the advancing of the pipeline robot 1.
Further, the pipeline robot 1 keeps going forward at a constant speed as the ROV robot 2, and the pipeline robot 1 is to be in front of the ROV robot 2 to prevent the ROV robot 2 from winding during the spiral detection, and the cable 151 motor 152 also keeps rotating at a constant speed to be engaged with the ROV robot 2.
Preferably, the distance collecting device 25 includes four distance sensors disposed at the top of the ROV robot 2, the detecting device 24 includes a visual sensor 241 and an ultrasonic probe 242, the visual sensor 241 and the ultrasonic probe 242 are both disposed at the top of the ROV robot 2, the visual sensor 241 is used for measuring the shape and area of the pipe wall attachments and the pipe wall defects, and the ultrasonic probe 242 is used for measuring the thickness of the pipe wall attachments and the pipe wall defects.
Specifically, the four distance sensors are distributed at different positions of the ROV robot 2 to measure the distance values between the ROV robot 2 and the inner wall of the pipeline, and are respectively a first distance sensor 251, a second distance sensor 252, a third distance sensor 253 and a fourth distance sensor 254, the second distance sensor 252 is arranged at the front side of the ROV robot 2, the first distance sensor 251 is arranged at the tail of the ROV robot 2, and the fourth distance sensor 254 and the third distance sensor 253 are respectively arranged at the left side and the right side of the ROV robot 2. The distance acquisition device 25 feeds the distance value back to the ROV control system 22, so that the ROV control system 22 generates a control signal and sends the control signal to the driving device 23, the driving device 23 can adjust the positions of the ROV robot 2 and the inner wall of the pipeline in real time, the ROV robot 2 is prevented from being too close to the pipeline, and the probability of collision between the ROV robot 2 and the pipeline is reduced. After the ROV robot 2 determines the distance from the pipe wall, the pipe wall condition is detected by the detecting device 24, and the detected data is transmitted to the pipeline robot 1 through the cable 151.
Specifically, the volume of the pipe wall attachment can be calculated according to the measured thickness and area of the pipe wall attachment, or the defect size can be calculated according to the detected defect thickness and defect shape of the inner wall of the pipeline.
The system adopts a straight probe longitudinal wave pulse reflection method in an ultrasonic detection method, and detects by utilizing the principle that ultrasonic pulse waves are incident to interfaces of two different media and are reflected. The principle of the ultrasonic thickness measurement technology in the pipeline is shown in figure 10.
After the ultrasonic probe 242 perpendicular to the pipe wall sends a set of ultrasonic pulses to the pipe wall, the ultrasonic probe 242 first receives echoes (front waves) reflected by the inner wall of the pipe or the surface layer of the attachment, and then receives echoes (defect waves or bottom waves) reflected by the outer wall (defect) of the pipe or the bottom layer of the attachment. The distance a from the ultrasonic probe 242 to the inner wall of the pipe or the surface layer of the attachment and the thickness T of the pipe wall or the attachment can be determined by the time of the front wave and the time difference between the front wave and the defect wave (or bottom wave), respectively. Namely:
A＝vftf/2
T＝vstb/2
in the formula, tfTime of the first reflected echo (front wave); t is tbAs the time difference between the second reflected echo (bottom wave or defect wave) and the front wave；vfIs the speed of sound of the ultrasonic waves in the medium; v. ofsIs the speed of sound of the ultrasonic waves in the pipe or the attachment.
After the ROV robot 2 determines the distance from the pipe wall, the condition of the pipe wall is detected by two visual sensors 241 and an ultrasonic probe 242, and the detected data is transmitted to the pipeline robot 1 through the cable 151.
Specifically, the ROV robot 2 transmits the real-time detected pipe wall data and image back to the pipeline robot 1, and stores the data and image in the memory card of the pipeline robot 1. After the ROV robot 2 finishes the detection according to the target distance, it automatically stops the spiral wall-adhering detour, and stops the detection of the ultrasonic probe 242 and the vision sensor 241, detects the working signal of the pipeline robot 1, and if the pipeline robot 1 is working, transmits a signal that the detection has been finished to the pipeline robot 1. The pipeline robot 1 receives the information that the ROV robot 2 has finished detecting, stops data reception, and simultaneously stops the forward movement of the pipeline robot 1, and lets the cable 151 motor 152 run in reverse, and the pipeline robot 1 detects the operating signal of the ROV robot 2, and if the ROV robot 2 is operating, the pipeline robot 1 transmits a signal for returning to the ROV robot 2. The ROV robot 2 receives the information that the pipeline robot 1 performs the return flight, starts to descend, and successfully lands on the pipeline robot 1 according to the signal marked on the pipeline robot 1 and the traction of the cable 151 motor 152, and the ROV robot 2 detects the operation signal of the pipeline robot 1, and transmits the signal that the landing is completed to the pipeline robot 1 if the pipeline robot 1 is operating.
Pipeline robot 1 receives the signal that ROV robot 2 landed and finishes, whether begin to judge pipeline robot 1 and ROV robot 2 states normal, if the state is normal, start pipeline robot 1, along the preceding next check point of presetting magnetic stripe, the back is accomplished in the detection of whole check points, reach next pipeline export, wait for the staff to retrieve, if judge that the state is abnormal, directly go to nearest charging base 3 and report the mistake, wait for the staff rescue.
A pipeline robot detection method integrating movement and suspension comprises the following steps:
step A1: the pipeline robot 1 carries an ROV robot 2 and goes to a charging base 3 arranged in a pipeline through a magnetic strip, the pipeline robot 1 is in butt joint with the charging base 3, the pipeline robot 1 obtains a position and an area to be detected through the charging base 3, after the pipeline robot 1 is disconnected with the charging base 3, the pipeline robot 1 goes forward to a specified detection area along the magnetic strip preset in the pipeline, and when the pipeline robot reaches a target area, the pipeline robot stops going forward;
step A2: after the pipeline robot 1 enters a target area, the pipeline robot 1 wakes up the ROV robot 2, and the ROV robot 2 informs the pipeline robot 1 of working conditions and preparation states;
step A3: the pipeline robot 1 receives the information of the ROV robot 2, judges that the ROV robot 2 can float, informs that the ROV robot 2 can start floating, and starts floating after receiving the instruction;
step A4: the method comprises the steps that the distance between an ROV robot 2 and a pipe wall is obtained in real time, when the ROV robot 2 is close to the pipe wall and the distance reaches a preset standard value, the ROV robot 2 stops floating upwards, and the suspension state is kept;
step A5: the ROV robot 2 is used for detecting around the pipe wall, transmitting the detected pipe wall condition to the pipeline robot 1 and storing the pipe wall condition by the pipeline robot 1;
step A6: after the pipeline in the range is detected, stopping detection, and recovering the ROV robot 2 by the pipeline robot 1 to enable the ROV robot 2 to return to the pipeline robot 1;
step A7: continuing to the next zone of the pipeline, steps A1-A5 are performed.
Preferably, in step a3, the method in which the pipeline robot 1 receives the information of the ROV robot 2, determines that the ROV robot 2 can float, and informs that the ROV robot 2 can start floating, and the ROV robot 2 starts floating after receiving the instruction includes: the pipeline robot 1 judges whether the pipeline robot can float according to the working condition and the preparation state of the ROV robot 2, if the pipeline robot 1 judges that the pipeline robot can float, the pipeline robot 1 detects a working signal of the ROV robot 2, if the ROV robot 2 is in the working state, the pipeline robot 1 transmits a signal capable of starting the floating to the ROV robot 2, and the ROV robot 2 starts the driving device 23 to float; if the pipeline robot 1 judges that the floating cannot be started, the pipeline robot returns to the charging base 3 to report errors and goes to a nearest emergency exit or stays in place to wait for rescue of workers.
Preferably, in step a4, the distance between the ROV robot 2 and the pipe wall is obtained in real time, and when the ROV robot 2 is close to the pipe wall and the distance reaches a preset standard value, the ROV robot 2 stops floating, and the suspension state is maintained, including: the distance acquisition device 25 detects the distance between the ROV robot 2 and the pipe wall and feeds the distance value back to the ROV control system 22, the ROV control system 22 generates a control signal and sends the control signal to the driving device 23, and the driving device 23 adjusts the positions of the ROV robot 2 and the inner wall of the pipeline in real time.
Preferably, in step a5, the ROV robot 2 performs detection around the pipe wall, including: the second propeller 231 pushes the ROV robot 2 to move forward, the direction propeller 232 changes the angle of the running track of the ROV robot 2, the lifting propeller 233 is started according to the feedback of the distance acquisition device 25, when the distance is increased, the lifting propeller 233 controls the ROV robot 2 to ascend or descend to enable the ROV robot 2 to be close to the pipe wall, and when the distance between the ROV robot 2 and the pipe wall is too small, the lifting propeller 233 controls the ROV robot 2 to be far away from the pipe wall.
Other configurations and operations of a mobile and suspension type pipeline robot detection system and method according to embodiments of the present invention are known to those skilled in the art and will not be described in detail herein.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above.
The above description of the embodiments of the present invention is provided for the purpose of illustrating the technical lines and features of the present invention and is provided for the purpose of enabling those skilled in the art to understand the contents of the present invention and to implement the present invention, but the present invention is not limited to the above specific embodiments. It is intended that all such changes and modifications as fall within the scope of the appended claims be embraced therein.

Claims (9)

1. The utility model provides a collection removes and floated pipeline robot detecting system which characterized in that: the ROV robot is arranged on the pipeline robot;
the pipeline robot comprises a robot frame, a traveling device, a power supply device, a control device and a traction device, wherein the traveling device, the power supply device, the control device and the traction device are all arranged on the robot frame;
the control device is used for controlling the action of the pipeline robot, and is in signal connection with the travelling device, the power supply device and the traction device;
the traveling device is arranged at the bottom of the robot frame and is used for driving the pipeline robot to travel;
the power supply device is used for supplying power to the pipeline robot, and is electrically connected with the advancing device, the control device and the traction device;
the traction device is used for connecting the pipeline robot and the ROV robot;
the ROV robot comprises an ROV frame, an ROV control system, a driving device, a detection device and a distance acquisition device;
the ROV control system, the driving device, the detection device and the distance acquisition device are all arranged on the ROV frame;
the ROV control system is used for controlling the action of the ROV robot; the ROV control system is in signal connection with the driving device, the detection device and the distance acquisition device;
the driving device is used for enabling the ROV robot to finish the actions of floating, advancing, reversing and the like;
the detection device is used for detecting the condition of the inner wall of the pipeline;
the distance acquisition device is used for detecting the distance between the ROV robot and the inner wall of the pipeline.
2. The system for detecting a pipe robot integrating movement and suspension according to claim 1, wherein: the traveling device comprises a crawler belt and a first propeller, the crawler belt is arranged at the bottom of the robot frame and is used for traveling of the pipeline robot, the first propeller is used for controlling the crawler belt, and the control device is in signal connection with the first propeller;
the two crawler belts are arranged along the advancing direction of the pipeline robot and are respectively arranged on the left side and the right side of the robot frame, and a magnetic stripe recognizer is arranged between the two crawler belts and is used for being matched with a magnetic stripe in a pipeline;
the traction device comprises a cable, a motor and a caster, wherein the upper surface of the pipeline robot is provided with a fixer, the cable is wound on the fixer, and the motor is used for controlling the fixer to rotate so as to change the length of the released cable; the caster is used to guide the cable.
3. The system for detecting a pipe robot integrating movement and suspension according to claim 1, wherein: the driving device comprises a second propeller, a directional propeller and a lifting propeller, the axial direction of the lifting propeller is consistent with the vertical movement direction of the ROV robot, and a certain included angle is formed between the axial direction of the directional propeller and the axial direction of the lifting propeller; and the power direction of the second propeller is consistent with the advancing direction of the ROV robot.
4. The system for detecting a pipeline robot integrating movement and suspension as claimed in claim 1, wherein: the distance acquisition device comprises four distance sensors arranged at the top of the ROV robot, the detection device comprises a visual sensor and an ultrasonic probe, the visual sensor and the ultrasonic probe are both arranged at the top of the ROV robot, the visual sensor is used for measuring the shapes and the areas of pipe wall attachments and pipe wall defects, and the ultrasonic probe is used for measuring the thicknesses of the pipe wall attachments and the pipe wall defects.
5. The system for detecting a pipe robot integrating movement and suspension according to claim 1, wherein: the power supply device comprises a telescopic electric cylinder, a charging column and a communication disc, a movable groove is formed in the robot frame along the vertical direction, the movable groove is communicated with the bottom of the robot frame, the telescopic electric cylinder and the charging column are both arranged in the movable groove along the vertical direction, the upper end of the telescopic electric cylinder is fixedly connected with the robot frame, the output end of the telescopic electric cylinder is connected with the upper surface of the charging column, and the telescopic electric cylinder is used for pushing the charging column out of the robot frame to enable the charging column to be connected with a charging base arranged on the ground of a pipeline; the communication disc is used for signal transmission between the pipeline robot and a detection person outside the pipeline, and the detection result is transmitted to the detection person through the communication disc; the communication disc has a charging function; the robot frame, the power supply device and the charging base are all waterproof.
6. A pipeline robot detection method integrating movement and suspension is characterized in that: the method comprises the following steps:
step A1: the pipeline robot carries an ROV robot and moves to a charging base arranged in the pipeline through a magnetic stripe, the pipeline robot is in butt joint with the charging base, the position and the area to be detected of the pipeline robot are obtained by the charging base, after the pipeline robot is disconnected with the charging base, the pipeline robot moves forward to a specified detection area along the preset magnetic stripe in the pipeline, and when the pipeline robot reaches a target area, the pipeline robot stops moving forward;
step A2: after the pipeline robot enters a target area, the pipeline robot awakens the ROV robot, and the ROV robot informs the pipeline robot of working conditions and preparation states;
step A3: the pipeline robot receives the information of the ROV robot, judges that the ROV robot can float, informs that the ROV robot can start floating, and starts floating after receiving the instruction;
step A4: the method comprises the steps that the distance between an ROV robot and a pipe wall is obtained in real time, when the ROV robot is close to the pipe wall and the distance reaches a preset standard value, the ROV robot stops floating upwards, and a suspension state is kept;
step A5: the ROV robot is used for detecting around the pipe wall, transmitting the detected pipe wall condition to the pipeline robot and storing the pipe wall condition by the pipeline robot;
step A6: after the pipeline in the range is detected, stopping detection, and recovering the ROV by the pipeline robot to enable the ROV to return to the pipeline robot;
step A7: continuing to the next zone of the pipeline, steps A1-A5 are performed.
7. The method for detecting a pipe robot integrating mobility and suspension according to claim 6, wherein: in step a3, the pipeline robot receives the information of the ROV robot, determines that the ROV robot can float, and informs that the ROV robot can start floating, and the ROV robot starts floating after receiving the instruction, including: the pipeline robot judges whether the ROV robot can float up or not according to the working condition and the preparation state of the ROV robot, if the pipeline robot judges that the ROV robot can float up, the pipeline robot detects a working signal of the ROV robot, if the ROV robot is in the working state, the pipeline robot transmits a signal capable of starting the floating up to the ROV robot, and the ROV robot starts a driving device to float up; and if the pipeline robot judges that the floating cannot be started, returning to the charging base to report errors, and going to a nearest emergency exit or staying in situ to wait for rescue of workers.
8. The method for detecting a pipe robot integrating mobility and suspension according to claim 6, wherein: in step a4, obtain the distance between ROV robot and the pipe wall in real time, when ROV robot pressed close to the pipe wall and the distance reached preset standard value, ROV robot stopped the come-up, kept the suspended state, include: the distance acquisition device detects the distance between the ROV robot and the pipe wall and feeds the distance value back to the ROV control system, the ROV control system generates a control signal and sends the control signal to the driving device, and the driving device adjusts the positions of the ROV robot and the inner wall of the pipe in real time.
9. The method for detecting a pipe robot integrating mobility and suspension according to claim 6, wherein: in step a5, the ROV robot performs inspection around the pipe wall, including: the second propeller pushes the ROV robot to move forwards, the direction propeller changes the angle of the running track of the ROV robot, the lifting propeller is started according to the feedback of the distance acquisition device, when the distance is increased, the lifting propeller controls the ROV robot to ascend or descend to enable the ROV robot to be close to the pipe wall, and when the ROV robot is too small in distance with the pipe wall, the lifting propeller controls the ROV robot to be far away from the pipe wall.
CN202210482679.7A 2022-05-05 2022-05-05 Pipeline robot detection system and method integrating movement and suspension Active CN114719121B (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20200038126A (en) * 2018-10-02 2020-04-10 주식회사 숨비 Drone-bot apparatus for plant inspection
CN112377721A (en) * 2020-11-26 2021-02-19 宁波介量机器人技术有限公司 Split type pipeline operation robot
CN114135741A (en) * 2020-09-03 2022-03-04 张家港市光武智能科技有限公司 Airborne Rayleigh wave and lamb wave robot for detecting conditions of complex system in pipeline
CN114234018A (en) * 2021-12-20 2022-03-25 河北大唐国际王滩发电有限责任公司 Disconnect-type pipeline inspection robot
CN217130724U (en) * 2022-05-05 2022-08-05 广东工业大学 Pipeline detection system with remove and suspension function

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20200038126A (en) * 2018-10-02 2020-04-10 주식회사 숨비 Drone-bot apparatus for plant inspection
CN114135741A (en) * 2020-09-03 2022-03-04 张家港市光武智能科技有限公司 Airborne Rayleigh wave and lamb wave robot for detecting conditions of complex system in pipeline
CN112377721A (en) * 2020-11-26 2021-02-19 宁波介量机器人技术有限公司 Split type pipeline operation robot
CN114234018A (en) * 2021-12-20 2022-03-25 河北大唐国际王滩发电有限责任公司 Disconnect-type pipeline inspection robot
CN217130724U (en) * 2022-05-05 2022-08-05 广东工业大学 Pipeline detection system with remove and suspension function

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