Intelligent soft robot for detecting interior wall defects in narrow space

Abstract

The invention provides an intelligent soft robot for detecting interior wall defects in a narrow space. The intelligent soft robot comprises an intelligent material layer A. An intelligent material layer B is arranged around the intelligent material layer A. A monitoring and signal processing system is built in the center of the upper surface of the intelligent material layer A, a micro-structural side of the intelligent material layer A is in contact with a liquid in a narrow pipeline, the intelligent material layer B sends stimulation emitted by an external driving source to implement remote drive thereto, and the monitoring and signal processing system performs online monitoring on the interior wall defects in the narrow space; defect images monitored by the monitoring and signal processing system are transmitted to a signal receiving and displaying system out of the narrow space through a data transmission unit to monitor the interior wall shape images in a moving process. The robot provided by the invention can be remotely operated in the narrow space to directly acquire the interior wall shape images in the narrow space, is high in monitoring accuracy, and has the advantages of being simple in structure, high in flexibility and good in compatibility in the narrow space and treating diseases in a noninvasive condition or a minimally invasive condition.

Description

technical field [0001] The invention belongs to the technical field of design and manufacture of micro-nano sensors, and in particular relates to an intelligent software robot for monitoring inner wall defects in narrow spaces. Background technique [0002] Narrow spaces such as narrow pipes, blood vessels in living organisms, etc. Among them, pipes are used as transport carriers for liquids in various industrial installations such as water supply, drainage, and long-distance oil transportation. In severe cases, leakage accidents will occur. At present, the commonly used monitoring methods for inner wall defects of pipelines include electromagnetic flaw detection and ultrasonic pulse technology. Electromagnetic flaw detection is easily disturbed by the liquid in the pipe. Ultrasonic flaw detection technology is to indirectly judge the crack size, shape and position according to the waveform by receiving the reflected ultrasonic signal. It belongs to indirect monitoring, whi...

AI Technical Summary

Problems solved by technology

At present, the commonly used monitoring methods for inner wall defects of pipelines include electromagnetic flaw detection and ultrasonic pulse technology. Electromagnetic flaw detection is easily disturbed by the liquid in the pipe. Ultrasonic flaw detection technology is to indirectly judge the crack size, shape and position according to the waveform by receiving the reflected ultrasonic signal. It belongs to indirect monitoring, which is highly dependent on technology, and it is difficult to guarantee the monitoring accuracy; the commonly used online monitoring methods in industry include ER resistance probe corrosion measurement, LPR linear polarization corrosion measurement, electrochemical noise technology and resistance corrosion monitoring sensor method They are all aimed at monitoring the corrosion of the inner wall defects of the pipeline, and cannot monitor other defects such as cracks. There are limitations in the application range, and the monitoring device has a complex structure, a large volume, a large number of system components, and the rigidity of the structure makes it suitable for the environment. The performance is poor, the movement in the narrow space is limited, and the narrow-scale channel cannot pass through; secondly, for the blood vessels in the body, the current inner wall defect monitoring is to insert the ultrasonic catheter into the patient's vein and move along the helical path, passing through the blood vessel. The inner wall emits pulse trains of ultrasonic energy, and analyzes the characteristics of plate-like deposits on the blood vessel wall according to the reflected signals, which is also an indirect monitoring, which is difficult to ensure the accuracy of monitoring and also brings trauma and pain to the human body.

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