Pipeline inner bore quality detection mini-sized mobile robot and control method therefor

Abstract

The invention discloses a pipeline inner bore quality detection mini-sized mobile robot and belongs to the field of automation equipment. The pipeline inner bore quality detection mini-sized mobile robot comprises a rotation scanning module, a centring guide module, a driving walk module and a measurement control module that are mounted coaxially. The rotation scanning module is used for detecting geometric parameters of an inner bore via a pair of range finding sensors mounted symmetrically in a diameter direction, and surface quality of the inner bore can be detected via a visual sensor mounted at a center. The centring guide module can be used for uniformly adjusting radial positions of three guiding wheels symmetrically arranged in a circumferential direction so as to enable a gap between the robot and the inner bore to be synchronously eliminated. When driving the mobile robot to move, the driving walk module is used for position detection and positioning control via a range finding sensor. The invention also discloses a control method for the mini-sized mobile robot to conduct quality detection in the pipeline inner bore.

Description

technical field [0001] The invention relates to a pipeline inner hole detection device, in particular to a micro mobile robot used for pipeline inner hole quality detection and a control method thereof, belonging to the field of automatic measurement. Background technique [0002] As a device for transporting gas, liquid and fluid with solid particles, pipelines are widely used in many aspects of industrial production and social life, such as tailings discharge and slurry transportation in the mining industry, as well as crude oil transportation in the petrochemical industry, chemical raw materials and the transportation of waste gas and waste water, etc. In order to improve the service life of the pipeline, prevent the occurrence of leakage accidents, or prevent the occurrence of clogging problems, the pipeline must be regularly inspected and maintained during use, and faults or hidden dangers are found in time, and repaired and eliminated. [0003] At present, most pipeli...

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Problems solved by technology

[0005] The pipeline inner diameter measuring robot can move through the opening and closing of the rear wheel bracket, and can be applied to pipelines with a large range of inner diameter variation, but the robot still has the following deficiencies in pipeline detection: (1), due to the ball screw mechanism, worm gear The size of the mechanism and the front and rear wheel support mechanism are relatively large, which can only be used for pipes with large inner hole diameters, and cannot be used for thin straight (diameter less than 100mm) pipes with a large length-to-diameter ratio (the ratio of length to diameter is greater than 10); ( 2) Due to the low centering accuracy of the front and rear wheel support mechanisms, and the coaxiality of the ball screw mechanism and the probe rotation mechanism is difficult to ensure, the detection accuracy of the pipe inner hole diameter of the pipeline robot is low, and the centering error is limited. (3) The structure of the pipeline robot can only be used for the detection of the diameter of the inner hole of the pipeline, and cannot be used for the detection of the roundness, cylindricity and surface quality of the inner hole of the pipeline. It has a single function and low detection efficiency , does not have the intelligent processing ability of a large amount of measurement data

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