Pipeline detection robot based on multi-sensor information fusion and method

Abstract

The invention provides a pipeline detection robot based on multi-sensor information fusion and a method. The robot disclosed by the invention can actively adapt to wide-range pipe diameter change andpassively adapt to small-range pipeline deformation and has a large extent of bent pipe passing ability. Various sensors are carried, the defect of low credibility of a detection result of a single sensor is overcome, and pipeline inner wall corrosion, local deformation, weld joints, cracks and other defects can be detected more accurately.

Description

technical field [0001] The present disclosure relates to a pipeline detection robot and method based on multi-sensor information fusion. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] Pipeline transportation is a long-distance transport method of transporting liquid or / and gas materials using pipelines as a means of transportation. It is often used to transport petroleum, coal and chemical products from the production site to the market. It is a component of trunk transportation in the unified transportation network. part. It not only has the advantages of large transportation volume, continuous, rapid, economical, safe, reliable, stable, less investment, less land occupation, low cost, and automatic control. At the same time, it can save the transfer of water or land transportation, shorten the transportation cycle, reduce transportat...

AI Technical Summary

Problems solved by technology

Although the wheeled robot has the advantages of simple motion control process, the size of the wheeled robot is basically fixed, and it cannot be particularly well adapted to the inner diameter of the pipeline, and the pipeline often has inconsistent diameters due to the limitation of the laying environment or space. Changes occur, and there are also places that need to turn, causing the robot to get stuck or collide with the pipeline at the variable diameter and / or bends, and even cause damage to the pipeline during the inspection process, and the transported fluid will damage the pipeline. Corrosion, causing secondary damage

[0006] At the same time, at present, most of the pipeline detection robots based on multi-sensor information fusion at home and abroad use a single sensor to detect and can only detect straight pipes, but cannot detect curved pipes or the detection effect on curved pipes is not ideal, and for a wide range of pipe diameter changes, poor performance

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