Pipeline inspection robot and method of using the same

Abstract

The present invention relates to a pipeline detection robot and a method for using the same, comprising: an image acquisition cabin, in which a camera for collecting images of a pipe wall is installed; an ultrasonic cabin located on one side of the image acquisition cabin, in which an ultrasonic sensor is installed for emitting ultrasonic waves to the pipe wall and obtaining water acoustic wave signals reflected by the pipe wall; a connecting pipe connected between the image acquisition cabin and the ultrasonic cabin; and an umbrella-shaped arc plate sleeved on the image acquisition cabin, with the concave portion of the arc plate facing the ultrasonic cabin, and the water flow in the pipeline impacts the arc plate to push the arc plate and drive the image acquisition cabin and the ultrasonic cabin to move along the pipeline. The present invention effectively solves the problems of high cost and complex use of the detector, optimizes the structure and performance of the detection robot, has low cost, high detection efficiency, and is simple to install and operate, and is convenient for practical application and promotion.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline construction, and in particular to a pipeline detection robot and a use method thereof. Background Art

[0002] Pipeline inner wall inspection is an important step in pipeline maintenance. At present, high-resolution portable X-ray detectors are usually used. During the inspection process, the detector uses a CsI conversion screen to convert X-rays into visible light, and then uses an image collector to obtain digital images of the rays and camera images, and transmits them to the computer through the network to analyze the corrosion of the inner wall of the pipeline. However, this high-resolution portable X-ray pipeline corrosion detector is not only expensive, but also has complex optical system debugging, high technical requirements for construction personnel, and is not convenient for practical application and promotion. In addition, the detector needs to be installed with crawling mechanisms such as tracks, wheels, etc., so that the detector can move along the pipeline, but this crawling method requires the liquid in the pipeline to be emptied, which is more troublesome and causes a greater impact. Summary of the invention

[0003] The purpose of the present invention is to overcome the defects of the prior art and provide a pipeline inspection robot and a method of using the same, which solves the problems of high cost and complicated use of the detector, optimizes the structure and performance of the inspection robot, has low cost, efficient inspection, and is simple to install and operate, and is convenient for practical application and promotion.

[0004] The technical solution to achieve the above purpose is:

[0005] The present invention provides a pipeline detection robot, comprising:

[0006] An image acquisition cabin, in which a camera for acquiring images of the pipe wall is installed;

[0007] An ultrasonic chamber located on one side of the image acquisition chamber, the ultrasonic chamber being equipped with an ultrasonic sensor for transmitting ultrasonic waves to the pipe wall and acquiring water acoustic wave signals reflected by the pipe wall;

[0008] A connecting tube connected between the image acquisition cabin and the ultrasound cabin; and

[0009] An umbrella-shaped arc plate is sleeved on the image acquisition cabin, and the concave part of the arc plate faces the ultrasound cabin. The water flow in the pipeline impacts the arc plate to push the arc plate and drive the image acquisition cabin and the ultrasound cabin to move along the pipeline.

[0010] The present invention adopts a pipeline inspection robot, which collects data on the inner wall of the pipeline by using ultrasonic sensors and cameras, and transmits the acquired data to an external host computer for analysis. The cost of the camera and ultrasonic sensor is relatively low and the structure is simple. In addition, the water flow in the pipeline pushes the arc plate, so that the entire robot can move along the water flow. No additional power is required, and no crawling mechanism needs to be set up separately. Inspection can be carried out when water is flowing through the pipeline, which solves the problems of high cost and complex use of the detector, optimizes the structure and performance of the inspection robot, has low cost, efficient inspection, and is simple to install and operate, and is convenient for practical application and promotion.

[0011] A further improvement of the pipeline inspection robot of the present invention is that the ultrasonic chamber comprises a main control room, a sealing pipe fixedly arranged in the main control room and connected to the connecting pipe, a rotating disk located at both ends of the main control room and sleeved on the sealing pipe, and a driving member located in the main control room and driving the rotating disk to rotate;

[0012] The ultrasonic sensor is installed on a turntable, which is driven by a driving member to rotate the turntable to drive the ultrasonic sensor to rotate. The ultrasonic sensor then transmits ultrasonic waves to the pipe wall and obtains the water sound wave signal reflected by the pipe wall, thereby performing 360° detection of the inner wall of the pipe.

[0013] A further improvement of the pipeline inspection robot of the present invention is that a driven magnet is installed on the side of the turntable close to the main control room;

[0014] The driving member comprises an active magnet which can rotate around the sealing tube and corresponds to the driven magnet, and a motor for driving the active magnet to rotate;

[0015] The active magnet is driven by the motor to rotate around the sealing tube, and the active magnet attracts the driven magnet, so that the driven magnet drives the turntable to rotate.

[0016] A further improvement of the pipeline inspection robot of the present invention is that the motor has a rotating shaft protruding outward;

[0017] The driving member also includes a first gear sleeved on the sealing tube and a second gear meshed with the first gear and fixedly sleeved on the rotating shaft, and the active magnet is fixedly connected to the first gear;

[0018] By starting the motor, the rotating shaft drives the second gear to rotate, and then the second gear drives the first gear to rotate, so that the first gear drives the active magnet to rotate around the sealing tube.

[0019] A further improvement of the pipeline detection robot of the present invention is that each turntable is symmetrically provided with two ultrasonic sensors, and the detection heads of the ultrasonic sensors face the pipe wall.

[0020] A further improvement of the pipeline inspection robot of the present invention is that the ultrasonic chamber further comprises a sealing cover arranged on a side of the turntable away from the main control room, and the sealing cover covers the connection between the sealing pipe and the connecting pipe.

[0021] A further improvement of the pipeline inspection robot of the present invention is that the image acquisition cabin comprises:

[0022] A shell having an opening formed at one end of the shell away from the ultrasound cabin; and

[0023] A glass plate installed on the shell and blocking the opening, wherein a plurality of lighting lamps are fixedly arranged at intervals on a side of the glass plate away from the ultrasound cabin;

[0024] The camera is installed in the shell, and the camera head of the camera faces the glass plate.

[0025] A further improvement of the pipeline inspection robot of the present invention is that it also includes a plurality of functional cabins arranged on one side of the image acquisition cabin close to the ultrasound cabin;

[0026] The image acquisition cabin, the ultrasound cabin and several functional cabins are all connected through connecting pipes.

[0027] A further improvement of the pipeline inspection robot of the present invention is that the camera and the ultrasonic sensor are both connected to an external host computer through a cable, and the cable is passed through the connecting pipe;

[0028] A traction tube for the cables to pass through is connected to the end of the functional cabin far away from the image acquisition cabin, and the traction tube is installed with a cable clamp to clamp the cables.

[0029] The present invention also provides a method for using the pipeline detection robot, comprising the following steps:

[0030] A pipeline inspection robot is provided, and the pipeline inspection robot is placed in a pipeline, and the water flow in the pipeline pushes the arc plate to drive the pipeline inspection robot to move along the pipeline;

[0031] The camera is used to collect the image of the pipe wall, the ultrasonic sensor is used to emit ultrasonic waves to the pipe wall and obtain the water acoustic wave signal reflected by the pipe wall, and the obtained image and water acoustic wave signal are transmitted to the host computer;

[0032] The inner wall condition of the pipeline is analyzed based on the images and hydroacoustic wave signals obtained by the host computer. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a stereoscopic diagram of the overall structure of the pipeline inspection robot of the present invention.

[0034] Figure 2 It is a stereoscopic diagram of the overall structure of the ultrasonic cabin in the pipeline inspection robot of the present invention.

[0035] Figure 3 It is a cross-sectional view of the ultrasonic cabin in the pipeline inspection robot of the present invention.

[0036] Figure 4 It is a partial cross-sectional view of the main control room of the pipeline inspection robot of the present invention.

[0037] Figure 5 It is an enlarged schematic diagram of the turntable in the pipeline inspection robot of the present invention. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0039] The present invention adopts a pipeline inspection robot, which collects data on the inner wall of the pipeline by using ultrasonic sensors and cameras, and transmits the acquired data to an external host computer for analysis. The cost of the camera and ultrasonic sensor is relatively low and the structure is simple. In addition, the water flow in the pipeline pushes the arc plate, which can make the entire robot move along the water flow. No additional power is required, and no crawling mechanism is required. Inspection can be carried out when the pipeline is flowing with water, which solves the problem of high cost and complex use of the detector, optimizes the structure and performance of the inspection robot, has low cost, efficient inspection, and is simple to install and operate, which is convenient for practical application and promotion. The pipeline inspection robot of the present invention is described below in conjunction with the accompanying drawings.

[0040] See also Figure 1 , Figure 1 This is a three-dimensional diagram of the overall structure of the pipeline inspection robot of the present invention. Figure 1 , the pipeline inspection robot of the present invention is described.

[0041] like Figure 1 As shown, the pipeline detection robot of the present invention comprises:

[0042] An image acquisition cabin 11, in which a camera for acquiring images of the tube wall is installed;

[0043] An ultrasound cabin 12 located at one side of the image acquisition cabin 11, the ultrasound cabin being equipped with an ultrasound sensor 1221 for transmitting ultrasound waves to the pipe wall and acquiring water acoustic wave signals reflected by the pipe wall;

[0044] A connecting pipe 15 connected between the image acquisition cabin 11 and the ultrasound cabin 12; and

[0045] An umbrella-shaped arc plate 16 is mounted on the image acquisition cabin 11, and the concave portion of the arc plate 16 faces the ultrasound cabin 12. The water flow in the pipeline impacts the arc plate 16 to push the arc plate 16 and drive the image acquisition cabin 11 and the ultrasound cabin 12 to move along the pipeline.

[0046] Preferably, a plurality of support rods are provided between the arc plate 16 and the outer wall of the image acquisition chamber 11 , and the arc plate 16 can be made of a flexible material.

[0047] As a preferred embodiment of the present invention, Figure 2 and Figure 3 As shown, the ultrasound chamber 12 includes a main control room 121, a sealing tube 1211 fixedly arranged in the main control room 121 and connected to the connecting tube 15, a turntable 122 located at both ends of the main control room 121 and sleeved on the sealing tube 1211, and a driving member located in the main control room 121 and driving the turntable 122 to rotate;

[0048] The ultrasonic sensor 1221 is installed on the turntable 122, and the turntable 122 is driven to rotate by the driving member to drive the ultrasonic sensor 1221 to rotate. Then the ultrasonic sensor 1221 transmits ultrasonic waves to the pipe wall and obtains the water sound wave signal reflected by the pipe wall, thereby performing 360° detection on the inner wall of the pipe.

[0049] Specific, combined Figure 4 and Figure 5 As shown, a driven magnet 1222 is installed on one side of the turntable 122 close to the main control chamber 121;

[0050] The driving member includes an active magnet 1241 that can rotate around the sealing tube 1211 and corresponds to the driven magnet 1222, and a motor 123 for driving the active magnet 1241 to rotate;

[0051] The active magnet 1241 is driven by the motor 123 to rotate around the sealing tube 1211 , and the active magnet 1241 attracts the driven magnet 1222 , so that the driven magnet 1222 drives the rotating disk 122 to rotate.

[0052] Specifically, the motor 123 has a rotating shaft protruding outward;

[0053] The driving member further includes a first gear 124 sleeved on the sealing tube 1211 and a second gear 1231 meshing with the first gear 124 and fixedly sleeved on the rotating shaft. The active magnet 1241 is fixedly connected to the first gear 124.

[0054] By starting the motor 123, the rotating shaft drives the second gear 1231 to rotate, and then the second gear 1231 drives the first gear 124 to rotate, so that the first gear 124 drives the active magnet 1241 to rotate around the sealing tube 1211. This structure allows the turntable 122 to be located outside the main control chamber 121. To drive the turntable 122 to rotate, the active magnet 1241 in the main control chamber 121 drives the driven magnet 1222 on the turntable 122 outside the main control chamber 121. The two do not need to contact each other. Therefore, the main control chamber 121 can be completely sealed, which can improve the waterproof performance of the main control chamber 121.

[0055] Preferably, a mounting arm protruding outward is fixed to a side of the first gear 124 away from the motor 123 , and the active magnet 1241 is mounted on the mounting arm.

[0056] Specifically, each turntable 122 is symmetrically provided with two ultrasonic sensors 1221, and the detection head of the ultrasonic sensor 1221 is facing the pipe wall, that is, there are two turntables 122 in front and behind the main control room 121, and each turntable 122 is provided with two ultrasonic sensors 1221. Then, each turntable can cover a scanning range of 180° by rotating 90°, and two turntables can cover a scanning range of 360°. This setting method enables the turntable 122 to achieve 360° full coverage by rotating in a small range. During the small range rotation, the cable 14 will not have the problem of entanglement and knotting, which can extend the life of the equipment.

[0057] Preferably, the ultrasound chamber 12 further comprises a sealing cover 125 disposed on a side of the turntable 122 away from the main control room 121 , and the sealing cover 125 covers the connection between the sealing tube 1211 and the connecting tube 15 .

[0058] Furthermore, the image acquisition cabin 11 includes:

[0059] A shell having an opening formed at one end of the shell away from the ultrasound cabin 12; and

[0060] A glass plate installed on the housing and blocking the opening, wherein a plurality of lighting lamps are fixedly arranged at intervals on a side of the glass plate away from the ultrasound cabin; and

[0061] The camera is installed in the shell, and the camera head of the camera faces the glass plate.

[0062] Preferably, the camera is a CCD camera.

[0063] Furthermore, it also includes a plurality of functional cabins 13 arranged on one side of the image acquisition cabin 11 close to the ultrasound cabin 12;

[0064] The image acquisition cabin 11 , the ultrasound cabin 12 and the plurality of functional cabins 13 are all connected via connecting pipes 15 .

[0065] Preferably, the functional cabin 13 may be a power cabin, a signal control cabin or a cabin that realizes other functions.

[0066] Specifically, the camera and the ultrasonic sensor 1221 are both connected to an external host computer through a cable, and the cable 14 is passed through the connecting tube 15, the cable 14 is connected to the ultrasonic sensor 1221 through the sealing tube 1211, and the functional cabins 13 are also connected to the cable 14;

[0067] A traction tube 131 for the cable 14 to pass through is connected to the end of the functional cabin 13 located away from the image acquisition cabin 11, and the traction tube 131 is installed with a cable clamp 1311 to clamp the cable 14. The cable clamp 1311 can prevent the connection between the cable 14 and the camera and ultrasonic sensor 1221 from being destroyed when the exposed section of the cable 14 is pulled, thereby ensuring that the cable 14 can be stably connected to the camera and ultrasonic sensor 1221.

[0068] The specific implementation methods of the present invention are as follows:

[0069] The robot is placed in the pipeline, and the water flow in the pipeline pushes the arc plate 16 to drive the robot to move along the pipeline. The lighting of the image acquisition cabin 11 illuminates the inner wall of the pipeline, and the camera acquires images of the pipe wall and transmits them to the host computer through the cable 14;

[0070] The motor 123 is started to rotate the rotating shaft of the motor 123, the second gear 1231 drives the first gear 124 to rotate, the first gear 124 drives the active magnet 1241 to rotate around the sealing tube 1211, the active magnet 1241 attracts the driven magnet 1222 to rotate around the sealing tube 1211, and thus the turntable 122 rotates. This transmission mode can prevent the turntable 122 from being connected to the main control room 121, and can ensure the waterproof performance of the main control room 121;

[0071] The turntable 122 rotates, and the ultrasonic sensor 1221 on the turntable 122 scans the pipe wall and transmits the acquired water acoustic wave signal to the host computer through the cable 14;

[0072] The host computer simulates and reconstructs the pipeline based on the image and hydroacoustic wave signals, and analyzes and searches for defects, thereby realizing the detection of the inner wall of the pipeline.

[0073] The present invention also provides a method for using the pipeline detection robot, comprising the following steps:

[0074] A pipeline inspection robot is provided, and the pipeline inspection robot is placed in a pipeline, and the water flow in the pipeline pushes the arc plate 16 to drive the pipeline inspection robot to move along the pipeline;

[0075] The camera is used to collect the image of the pipe wall, the ultrasonic sensor 1221 is used to transmit ultrasonic waves to the pipe wall and obtain the water acoustic wave signal reflected by the pipe wall, and the obtained image and water acoustic wave signal are transmitted to the host computer;

[0076] The inner wall condition of the pipeline is analyzed based on the images and hydroacoustic wave signals obtained by the host computer.

[0077] The specific operation mode of the actual implementation of the method provided by the present invention is as follows:

[0078] The robot is placed in the pipeline, and the water flow in the pipeline pushes the arc plate 16 to drive the robot to move along the pipeline. The lighting of the image acquisition cabin 11 illuminates the inner wall of the pipeline, and the camera acquires images of the pipe wall and transmits them to the host computer through the cable 14;

[0079] The motor 123 is started to rotate the rotating shaft of the motor 123, the second gear 1231 drives the first gear 124 to rotate, the first gear 124 drives the active magnet 1241 to rotate around the sealing tube 1211, the active magnet 1241 attracts the driven magnet 1222 to rotate around the sealing tube 1211, and thus the turntable 122 rotates. This transmission mode can prevent the turntable 122 from being connected to the main control room 121, and can ensure the waterproof performance of the main control room 121;

[0080] The turntable 122 rotates, and the ultrasonic sensor 1221 on the turntable 122 scans the pipe wall and transmits the acquired water acoustic wave signal to the host computer through the cable 14;

[0081] The host computer simulates and reconstructs the pipeline based on the image and hydroacoustic wave signals, and analyzes and searches for defects, thereby realizing the detection of the inner wall of the pipeline.

[0082] The present invention is described in detail above in conjunction with the embodiments of the accompanying drawings. A person skilled in the art can make various variations of the present invention according to the above description. Therefore, certain details in the embodiments should not constitute a limitation of the present invention, and the scope of protection of the present invention shall be defined by the scope of the attached claims.

Claims

1. A pipeline inspection robot, characterized in that: include: An image acquisition cabin, in which a camera for acquiring images of the pipe wall is installed; An ultrasound cabin located at one side of the image acquisition cabin, wherein the ultrasound cabin is equipped with an ultrasound sensor for transmitting ultrasound waves to the pipe wall and acquiring a hydroacoustic wave signal reflected by the pipe wall; A connecting tube connected between the image acquisition cabin and the ultrasound cabin; as well as An umbrella-shaped arc plate is sleeved on the image acquisition cabin, and the concave portion of the arc plate faces the ultrasound cabin. The water flow in the pipeline impacts the arc plate to push up the arc plate and drive the image acquisition cabin and the ultrasound cabin to move along the pipeline; The ultrasound chamber comprises a main control room, a sealing tube fixedly arranged in the main control room and connected to the connecting tube, a turntable located at both ends of the main control room and sleeved on the sealing tube, and a driving member located in the main control room and driving the turntable to rotate; The ultrasonic sensor is installed on the turntable, and the turntable is driven to rotate by the driving member to drive the ultrasonic sensor to rotate, so that the ultrasonic sensor transmits ultrasonic waves to the pipe wall and obtains the water sound wave signal reflected by the pipe wall, thereby performing 360° detection on the inner wall of the pipe; The image acquisition cabin comprises: A shell, wherein an opening is formed at one end of the shell away from the ultrasound cabin; as well as A glass plate installed on the housing and blocking the opening, wherein a plurality of lighting lamps are fixedly arranged at intervals on a side of the glass plate away from the ultrasound cabin; The camera is installed in the shell, and the camera head of the camera faces the glass plate.

2. The pipeline inspection robot according to claim 1, characterized in that: A driven magnet is installed on one side of the turntable close to the main control room; The driving member comprises an active magnet which can rotate around the sealing tube and corresponds to the driven magnet, and a motor for driving the active magnet to rotate; The motor drives the active magnet to rotate around the sealing tube, and the active magnet attracts the driven magnet, so that the driven magnet drives the turntable to rotate.

3. The pipeline inspection robot according to claim 2, characterized in that: The motor has a rotating shaft protruding outward; The driving member further comprises a first gear sleeved on the sealing tube and a second gear meshed with the first gear and fixedly sleeved on the rotating shaft, and the active magnet is fixedly connected to the first gear; By starting the motor, the rotating shaft drives the second gear to rotate, and then the second gear drives the first gear to rotate, so that the first gear drives the active magnet to rotate around the sealing tube.

4. The pipeline inspection robot according to claim 3, characterized in that: Each of the rotating disks is symmetrically provided with two ultrasonic sensors, and the detection heads of the ultrasonic sensors face the pipe wall.

5. The pipeline inspection robot according to claim 3, characterized in that: The ultrasound chamber further comprises a sealing cover arranged on a side of the turntable away from the main control room, and the sealing cover covers the connection between the sealing pipe and the connecting pipe.

6. The pipeline inspection robot according to claim 1, characterized in that: It also includes a plurality of functional cabins arranged on one side of the image acquisition cabin close to the ultrasound cabin; The image acquisition cabin, the ultrasound cabin and the plurality of functional cabins are all connected via the connecting pipe.

7. The pipeline inspection robot according to claim 6, characterized in that: The camera and the ultrasonic sensor are both communicatively connected to an external host computer via cables, and the cables are passed through the connecting tube; A traction tube for the cable to pass through is connected to the end of the functional cabin far away from the image acquisition cabin, and the traction tube is installed with a cable clamp to clamp the cable.

8. A method for using the pipeline inspection robot according to claim 7, characterized in that: The steps include: Providing the pipeline inspection robot, placing the pipeline inspection robot in a pipeline, and allowing the water flow in the pipeline to push the arc plate to drive the pipeline inspection robot to move along the pipeline; The camera is used to collect an image of the pipe wall, the ultrasonic sensor is used to transmit ultrasonic waves to the pipe wall and obtain a hydroacoustic wave signal reflected by the pipe wall, and the obtained image and hydroacoustic wave signal are transmitted to an external host computer; The inner wall condition of the pipeline is analyzed based on the image and hydroacoustic wave signal acquired by the host computer.

Images