A pipeline inspection robot applicable to harsh environments

Abstract

The present invention discloses a pipeline inspection robot applicable to harsh environments, which includes a control system and a robot body wirelessly controlled by the control system. The robot body includes an active walking robot body that walks along the pipeline and a first detection head that is annular and sleeved outside the pipeline and is driven by the active walking robot body to move. The first detection head includes a fixed bracket and a first detection component arranged in the fixed bracket and in an annular shape. The inner wall of the first detection component is in close contact with the outer wall of the pipeline, and is triggered and started when passing through the concave or convex damaged parts on the outer wall of the pipeline, and transmits signals to the control system. The pipeline inspection robot applicable to harsh environments of the present invention has a simple structure, low power consumption, multiple inspection guarantees, and improves the inspection accuracy.

Description

Technical Field

[0001] The present invention belongs to the field of robots, and more specifically, relates to a pipeline inspection robot applicable to harsh environments. Background Art

[0002] With the development of technology, robots are widely used. As the urbanization scale in China is getting larger and larger, there are more and more pipelines related to electricity, communication, gas, water conservancy, sewage, industrial pipelines, etc. The pipeline layout environment is complex. In the prior art, pipeline inspection robots are mostly used for the management and fault monitoring of pipelines. However, in the prior art, there are problems such as complex structures, large self-weights and volumes of robots, high power consumption, and single inspection means in robot pipeline inspection, which lead to drawbacks in pipeline inspection management, and pipeline faults cannot be detected in time, affecting the normal operation of pipelines. Summary of the Invention

[0003] The purpose of the present invention is to provide a pipeline inspection robot applicable to harsh environments, which has a simple structure, low power consumption, multiple inspection guarantees, and improves the inspection accuracy.

[0004] A technical solution of the present invention for a pipeline inspection robot applicable to harsh environments includes a control system and a robot body wirelessly controlled by the control system. The robot body includes an active walking robot body walking along the pipeline and a first detection head in a ring shape sleeved outside the pipeline and driven to move by the active walking robot body. The first detection head includes a fixed bracket and a first detection component in a ring shape arranged inside the fixed bracket. The inner wall of the first detection component is in close contact with the outer wall of the pipeline, and is triggered to start when passing through the concave or convex damaged part on the outer wall of the pipeline, and transmits a signal to the control system.

[0005] Preferably, the first detection component includes an induction ring, an inner support ring arranged coaxially in a ring shape, and a pipeline damage sensor connected to the induction ring and triggered by the induction ring. The support rods in the axial direction are evenly arranged on the inner wall of the induction ring, pass through the inner support ring and extend to the outer wall of the pipeline. When the support rods pass through the concave or convex damaged part on the outer wall of the pipeline, they are relaxed or lifted to trigger the pipeline damage sensor by starting the induction ring.

[0006] Preferably, the induction ring includes an induction outer ring, an induction middle ring and an induction inner ring arranged coaxially. The outer wall of the induction outer ring is fixed to the fixed bracket, a first induction sheet is arranged on the inner wall of the induction outer ring, a second induction sheet and a third induction sheet are respectively arranged on the outer wall and the inner wall of the induction middle ring, and a fourth induction sheet is arranged on the outer wall of the induction inner ring;

[0007] A gap is left between the first induction sheet and the second induction sheet, the third induction sheet and the fourth induction sheet are in close contact, and the support rods are fixed on the inner wall of the induction inner ring;

[0008] The support rod connects the first induction sheet and the second induction sheet under the jacking of the convex part of the pipeline breakage and triggers the pipeline breakage sensor, and disconnects the third induction sheet and the fourth induction sheet under the relaxation of the concave part of the pipeline breakage and triggers the pipeline breakage sensor.

[0009] Preferably, the active walking robot body includes a walking mechanism and a second detection head. The walking mechanism walks along the pipeline and drives the first detection head and the second detection head to move.

[0010] Preferably, the walking mechanism includes walking wheels mounted on the pipeline. A rotating shaft passes through the walking wheels. The rotating shaft is connected to a main bracket through bearings. A servo motor and a rechargeable battery are installed on the main bracket. The servo motor drives the rotating shaft and the walking wheels to rotate through a transmission component to achieve walking. Both the second detection head and the first detection head are fixedly connected to the main bracket.

[0011] Preferably, the second detection head includes a detection box, and at least a camera, a high-definition camera, a temperature and humidity sensor, a gas sensor, a pressure sensor, and a spark sensor are arranged in the detection box.

[0012] Preferably, the first detection head and the second detection head form the main part of the information acquisition unit. The control system includes a central control system and a mobile control unit, a wireless communication unit, an information processing unit, a charging and power supply unit, a human-computer interaction unit, and an emergency alarm unit controlled by the central control system. The information acquisition unit transmits information signals to the central control system through the wireless communication unit. The central control system controls the walking of the active walking robot body through the mobile control unit, monitors the power of the rechargeable battery through the charging and power supply unit, and controls it to charge and replenish power in time.

[0013] The beneficial effects of the technical solution of the present invention, a pipeline inspection robot applicable to harsh environments, are:

[0014] 1. The first detection head tightly fastened outside the pipeline is used to detect the pipeline breakage part, with high detection accuracy, accurate detection, and elimination of detection blind spots.

[0015] 2. The first detection head and the second detection head are used to achieve double detection, improve the accuracy of inspection, and avoid the problem that the pipeline breakage is not found due to the presence of detection blind spots.

[0016] 3. This inspection robot has a simple structure, few components, small volume, light self-weight, little impact and pressure on the pipeline, low power consumption, long working time, fast charging, and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic structural diagram of a pipeline inspection robot according to the technical solution of the present invention,

[0018] Figure 2 isFigure 1 Right view,

[0019] Figure 3 which is a schematic diagram of the induction ring structure,

[0020] Figure 4 which is a sectional view structure diagram of the induction ring,

[0021] Figure 5 which is a working schematic diagram when the induction ring detects the pipeline breakage state,

[0022] Figure 6 which is a schematic diagram of the walking wheel structure,

[0023] Figure 7 which is a control schematic diagram of a pipeline inspection robot applicable to harsh environments according to the technical solution of the present invention. Specific embodiments

[0024] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention are given for the purpose of illustration and description, and are not exhaustive or limit the present invention to the disclosed form. Many modifications and variations are obvious to those of ordinary skill in the art. The embodiments are selected and described to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and design various embodiments with various modifications suitable for specific purposes.

[0025] In the prior art, pipeline inspection robots mainly walk along the pipeline, take pictures or videos of the pipeline during walking, and then transmit the breakthroughs to the control system. The control system performs image recognition and judgment on the obtained real-time photos to determine whether the pipeline is damaged. Such a method is difficult to detect some minor damages, cracks, etc., and there are also some blind spots due to the principle of the camera, resulting in a small inspection and monitoring effect and low accuracy.

[0026] Such as Figure 2 , a pipeline inspection robot applicable to harsh environments in the technical solution of the present invention includes a control system and a robot body wirelessly controlled by the control system. The robot body includes an active walking robot body 1 that walks along the pipeline and a first detection head 2 that is annular and sleeved outside the pipeline 100 and is driven to move by the active walking robot body 1. The first detection head 2 wraps the pipeline 100 to detect the damaged positions outside the pipeline without detection blind spots. The relationship damage sensor on the first detection head is triggered and activated by the concave or convex caused by the breakage and cracking of the damaged positions on the pipeline 100, and the signal is transmitted to the control system to achieve damage detection and alarm.

[0027] Such as Figure 3, the first detection head 2 includes a fixed bracket 21 and a first detection component arranged in the fixed bracket 21 and in a ring shape. The inner wall of the first detection component is in close contact with the outer wall of the pipeline 100, and is triggered and activated when passing through the concave or convex part damaged on the outer wall of the pipeline 100, and transmits a signal to the control system. The situations of pipeline damage mainly include cracking, bulging (convex) or concavity. And an inner concave will appear at the cracked part. Therefore, the inner concave and convex can be used here to summarize the characterization situations of pipeline damage, and the first detection component is used to detect the damaged position.

[0028] Such as Figure 4 and Figure 5 , the first detection component includes an induction ring 22, an inner support ring 23 arranged in a ring shape and coaxially, and a pipeline damage sensor connected to the induction ring 22 and triggered by the induction ring 22. The pipeline damage sensor here includes a power supply, a normally closed circuit, a normally open circuit and a signal processor. When the first detection component passes through the concave or convex part of the pipeline damage, the normally closed circuit or the normally open circuit is respectively triggered. Both the normally closed circuit and the normally open circuit are connected to the signal processor, and the signal processor transmits the signal to the control system. The control system receives the signal and makes a judgment, and alarms through the emergency alarm unit.

[0029] Such as Figure 3 , uniformly arranged on the inner wall of the induction ring 22 are support rods 24 along the axial direction. The support rods 24 pass through the inner support ring 23 and extend to the outer wall of the pipeline 100. When the support rods 24 pass through the concave (such as Figure 5 at A in Figure 5 ) or convex part (such as at B in

[0030] ) of the damaged part on the outer wall of the pipeline 100, they are relaxed or lifted to trigger the induction ring to activate the pipeline damage sensor. When the support rods 24 pass through the concave or convex part of the pipeline damage, the support rods 24 move along with the concave or external part, respectively trigger the normally closed circuit or the normally open circuit, and the signal processor transmits the signal to the control system. The control system receives the signal and makes a judgment, and alarms through the emergency alarm unit. Figure 4

[0031] As Figure 5 , under the jacking of the support rod 24 at the convex part (at point B) where the pipeline 100 is damaged, the first induction piece 2211 and the second induction piece 2221 are connected, and the pipeline breakage sensor is triggered. When the support rod 24 is relaxed at the concave part (at point A) where the pipeline 100 is damaged, the third induction piece 2222 and the fourth induction piece 2231 are disconnected, and the pipeline breakage sensor is triggered.

[0032] As Figure 2 , the active walking robot body 1 includes a walking mechanism and a second detection head 3. The walking mechanism walks along the pipeline 100 and drives the first detection head 2 and the second detection head 3 to move.

[0033] As Figure 1 and Figure 2 , the walking mechanism includes walking wheels 11 mounted on the pipeline 100. A rotating shaft 16 passes through the walking wheels 11, and the rotating shaft 16 is connected to a main support 12 through bearings. A servo motor 14 and a charging battery 15 are installed on the main support 12. The servo motor 14 drives the rotating shaft 16 and the walking wheels 11 to rotate through a transmission assembly 13 (such as a transmission belt, pulley or transmission gear, etc.) to achieve walking. The second detection head 3 and the first detection head 2 are both fixedly connected to the main support 12. The walking mechanism and the main frame 12 in this technical solution have simple structures, few components, small volume, light weight, small load and low power consumption, so that the robot inspection time is long, the number of charging times is reduced, and electric energy and costs are saved.

[0034] As Figure 2 , the second detection head 3 includes a detection box, and at least a camera, a high-definition camera, a temperature and humidity sensor, a gas sensor, a pressure sensor and a spark sensor are arranged in the detection box. The first detection head 2 and the second detection head 3 form the main part of the information acquisition unit. The information acquisition unit acquires the information of the pipeline 100 and sends the signal to the central control system through the wireless communication unit. The information processing unit of the central control system compares it with the original information in the database to judge whether there is an abnormal situation. The control system includes a central control system and a mobile control unit, a wireless communication unit, an information processing unit, a charging and power supply unit, a human-computer interaction unit, and an emergency alarm unit controlled by the central control system. The information acquisition unit transmits the information signal to the central control system through the wireless communication unit. The central control system controls the walking of the active walking robot body through the mobile control unit, monitors the power of the charging battery through the charging and power supply unit and controls it to charge and replenish the power in time.

[0035] Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art and related fields based on the embodiments in the present invention without creative efforts shall fall within the scope of protection of the present invention. Structures, devices, and operation methods not specifically described and explained in the present invention shall be implemented by conventional means in the art without special instructions and limitations.

Claims

1. A pipeline inspection robot applicable to harsh environments, comprising a control system and a robot body wirelessly controlled by the control system, characterized in that The robot body includes an active walking robot body that walks along the pipeline and a first detection head that is annular and sleeved on the outside of the pipeline and is driven to move by the active walking robot body. The first detection head includes a fixed bracket and a first annular detection component disposed within the fixed bracket. The inner wall of the first detection component is in close contact with the outer wall of the pipeline. The first detection component is triggered to start when it passes through a damaged concave or convex part on the outer wall of the pipeline and transmits a signal to the control system. The first detection assembly includes an annular and coaxially arranged induction ring, an inner support ring, and a pipeline damage sensor connected to the induction ring and triggered by the induction ring. Support rods are evenly distributed along the axial direction on the inner wall of the induction ring. The support rods pass through the inner support ring and extend to the outer wall of the pipeline. When the support rods pass through the damaged concave or convex part on the outer wall of the pipeline, they are relaxed or lifted to activate the induction ring and trigger the pipeline damage sensor. The induction ring includes a coaxially arranged induction outer ring, an induction middle ring and an induction inner ring. The outer wall of the induction outer ring is fixed to a fixed bracket. A first induction sheet is provided on the inner wall of the induction outer ring. A second induction sheet and a third induction sheet are provided on the outer wall and inner wall of the induction middle ring respectively. A fourth induction sheet is provided on the outer wall of the induction inner ring. There is a gap between the first induction plate and the second induction plate, the third induction plate and the fourth induction plate are in close contact, and the support rod is fixed to the inner wall of the induction inner ring; When the support rod is lifted at the convex portion of the damaged pipeline, the first and second sensing plates are connected and the pipeline damaged sensor is triggered. When the support rod is relaxed at the concave portion of the damaged pipeline, the third and fourth sensing plates are disconnected and the pipeline damaged sensor is triggered. The active walking robot body comprises a walking mechanism and a second detection head. The walking mechanism walks along the pipeline and drives the first detection head and the second detection head to move.

2. The pipeline inspection robot applicable to harsh environments according to claim 1, characterized in that, The walking mechanism includes a walking wheel mounted on the pipeline, a rotating shaft passing through the walking wheel, and the rotating shaft is connected to the main bracket through a bearing. A servo motor and a rechargeable battery are installed on the main bracket. The servo motor drives the rotating shaft and the walking wheel to rotate through the transmission assembly to achieve walking. The second detection head and the first detection head are both fixedly connected to the main bracket.

3. The pipeline inspection robot applicable to harsh environments according to claim 1, wherein, The second detection head includes a detection box, in which at least a camera, a high-definition camera, a temperature and humidity sensor, a gas sensor, a pressure sensor and a spark sensor are arranged.

4. The pipeline inspection robot applicable to harsh environments according to claim 3, characterized in that The first detection head and the second detection head constitute the main part of the information collection unit. The control system includes a central control system and a mobile control unit, a wireless communication unit, an information processing unit, a charging and power supply unit, a human-computer interaction unit, and an emergency alarm unit controlled by the central control system. The information collection unit transmits information signals to the central control system through the wireless communication unit. The central control system controls the walking of the active walking robot through the mobile control unit, and monitors the power of the rechargeable battery through the charging and power supply unit and controls it to charge and replenish the power in time.

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