A multi-plane crawling device and method for derrick detection

Abstract

The present application discloses a multi-plane crawling device and method for derrick inspection, which relates to the field of intelligent robot technology. The device includes a camera device, a flaw detection device, a positioning and rotating device, and a data processing and control module. The camera device is used to obtain images and / or videos of the outer surface of the derrick, and the flaw detection device is used to collect damage data inside the derrick. The camera device and the flaw detection device are respectively connected to both sides of the positioning and rotating device. The bottom of the camera device and the flaw detection device are both provided with a walking mechanism that can move along the derrick; the positioning and rotating device is used to lift the walking mechanism off the surface of the derrick and drive the camera device and the flaw detection device to rotate synchronously; the positioning and rotating device, the camera device, the flaw detection device, and the walking mechanism are all electrically connected to the data processing and control module to realize automatic control. The derrick crawling robot of the present application can move on different planes of the derrick and can perform all-round inspection of the derrick.

Description

Technical Field

[0001] The present application relates to the field of intelligent robot technology, and in particular to a multi-plane crawling device and method for derrick inspection. Background Art

[0002] Derrick damage detection mainly uses vibration methods to analyze the vibration modes of the derrick. Sensors are set at different positions on the derrick, and the parameter changes of the derrick vibration modal characteristics are extracted from these measuring points to analyze the damaged parts of the derrick. Vibration excitation is mainly divided into self-vibration method, resonance method and random load excitation method.

[0003] At present, the method of using vibration modal analysis has made great progress and development with the improvement of sensor performance and the ability of computers to process information data. It has the advantages of strong versatility and complete supporting facilities. However, for tall derrick structures, there are disadvantages such as complex measurement point distribution planning, how to accurately place sensors at measurement points, how to eliminate external interference signals, and unstable data processing accuracy. Summary of the invention

[0004] The present application provides a multi-plane crawling device and method for derrick inspection, which solves the problem that the existing crawling robots can only move on a single surface of the derrick.

[0005] To achieve the above-mentioned purpose, the present application provides a multi-plane crawling device for derrick inspection, comprising a camera device, a flaw detection device, a positioning and rotating device, and a data processing and control module, wherein: the camera device is used to obtain images and / or videos of the outer surface of the derrick, the flaw detection device is used to collect damage data inside the derrick, the camera device and the flaw detection device are respectively connected to both sides of the positioning and rotating device, and the bottoms of the camera device and the flaw detection device are both provided with a walking mechanism that can move along the derrick; the positioning and rotating device, the camera device, the flaw detection device, and the walking mechanism are all electrically connected to the data processing and control module;

[0006] The data processing and control module is configured to: receive the video and / or image data transmitted by the camera device in real time and determine whether a turn is required based on the video and / or image data, and if so, control the walking mechanism to stop moving, and calculate the required rotation angle based on the video and / or image data, and then control the positioning rotation mechanism based on the rotation angle to lift the walking mechanism off the derrick surface and drive the camera device and the flaw detection device to rotate synchronously;

[0007] The video and / or image data received in real time are screened, and it is determined whether there are any abnormal parts on the outer surface of the derrick based on the screened video and / or image data; damage data transmitted by the flaw detection device is received in real time, and it is determined whether there are any abnormal parts inside the derrick based on the damage data.

[0008] Further, the positioning and rotating device includes a first box body and a first lifting mechanism, the first lifting mechanism includes a first sleeve arranged in sequence from bottom to top, a second sleeve telescopically connected to the outside of the first sleeve, and a first driving motor for driving the first sleeve to move in a vertical direction, the first sleeve is arranged at the bottom of the first box body, and the bottom end of the second sleeve is rotatably connected to a magnetic suction cup; the first driving motor is installed in the first box body, and the outer wall of the output shaft thereof is provided with a first locking mechanism for locking / unlocking the output shaft, the first locking mechanism is fixedly connected to the second sleeve, and the first driving motor and the first locking mechanism are both electrically connected to the data processing and control module;

[0009] The first lifting mechanism is higher than the walking mechanism in a retracted state, and higher than the walking mechanism in an extended state.

[0010] Furthermore, the positioning and rotating device also includes a second box body and a third box body, the second box body and the third box body are respectively arranged on the left and right sides of the first box body, the front and rear sides of the first box body are both provided with a rotating shaft, at least one first connecting plate and a second connecting plate are sleeved on the rotating shaft, each first connecting plate and each second connecting plate are arranged at intervals, one end of the first connecting plate away from the second connecting plate is fixedly connected to the second box body, and one end of the second connecting plate away from the first connecting plate is fixedly connected to the third box body; a limiting rod is arranged on the first connecting plate, and a limiting block abutting against the limiting rod is arranged on the second connecting plate at a position directly below the limiting rod;

[0011] At least one second lifting mechanism that can be extended and retracted in the vertical direction is arranged on the bottom wall of the second box body and the third box body, and a universal wheel is arranged at the bottom of each second lifting mechanism, and each second lifting mechanism is electrically connected to the data processing and control module.

[0012] Furthermore, the sides of the second box and the third box away from the first box are respectively connected to the flaw detection device and the camera device through positioning components, and the positioning components include at least one pair of hinged third connecting plates and fourth connecting plates. The fourth connecting plate is provided with a second locking mechanism for locking / unlocking the third connecting plate and the fourth connecting plate, and the second locking mechanism is electrically connected to the data processing and control module.

[0013] Furthermore, each of the walking mechanisms includes two first transmission shafts and a transmission box for driving the two first transmission shafts to rotate, the first transmission shaft is located in the middle of the transmission box, and a power gear is provided on one end thereof away from the transmission box; two second transmission shafts and a third transmission shaft arranged in parallel are also provided below the transmission box, both ends of the second transmission shaft are provided with a first transmission gear, and both ends of the third transmission shaft are provided with a second transmission gear, and the first transmission gear, the second transmission gear and the power gear located on the same side are connected through a magnetic adsorption crawler transmission;

[0014] The transmission box is fixedly connected to the second transmission shaft and the third transmission shaft through bearings.

[0015] Further, the control module includes a video processing submodule, a detection processing submodule, a first control submodule, a second control submodule, a third control submodule and two fourth control submodules, wherein:

[0016] The video processing submodule is configured to: filter the video and / or image data transmitted by the camera device, and determine the degree of damage to the outer surface of the derrick according to the filtered video and / or image data; determine whether it is necessary to turn / move to other planes according to the video and / or image data, and if so, send a control instruction to the first control submodule and the second control submodule, calculate the required rotation angle according to the video and / or image data, and then send a control instruction to the third control submodule and the two fourth control submodules according to the rotation angle;

[0017] The detection processing submodule is used to determine the degree of damage inside the derrick according to the damage data transmitted by the flaw detection device;

[0018] The first control submodule is used to control the movement of a walking mechanism arranged at the bottom of the camera device;

[0019] The second control submodule is used to control the movement of a walking mechanism disposed at the bottom of the flaw detection device;

[0020] The third control submodule is used to control the locking and unlocking of the first drive motor and the first locking mechanism according to the received control instruction;

[0021] The two fourth control submodules are used to control the extension and retraction of the second lifting mechanism located on both sides of the first box body and the locking and unlocking of the second locking mechanism according to the received control instructions.

[0022] Furthermore, the camera device includes a first control box, the video processing submodule and the first control module are both installed in the first control box, a first battery is also provided in the first control box, and a plurality of monitoring probes are installed on the side wall thereof, the first battery is connected in parallel with the video processing module and the first control module through wires, the video processing module is connected to a plurality of monitoring probes through wires, the first battery is connected to a power source in a transmission box through wires, and the transmission box is fixed to the bottom of the first control box through four fixing rods.

[0023] Furthermore, the flaw detection device includes a second control box, the detection and processing submodule and the second control submodule are both installed in the second control box, a second battery and an ultrasonic detection module are arranged inside the second control box, the second battery is connected in parallel with the ultrasonic detection module and the detection and processing submodule through wires, the second battery is connected to a power source in a transmission box through wires, and the transmission box is fixed to the bottom of the second control box through four fixing rods.

[0024] On the other hand, the present application also provides a method for derrick detection, which is based on the requirement for a multi-plane crawling device for derrick detection, and includes the following steps:

[0025] Receive the video and / or image data transmitted by the camera device in real time and determine whether a turn is required based on the video and / or image data. If so, control the walking mechanism to stop moving, calculate the required rotation angle based on the video and / or image data, and then control the positioning rotation mechanism based on the rotation angle to lift the walking mechanism off the derrick surface and drive the camera device and the flaw detection device to rotate synchronously;

[0026] The video and / or image data received in real time are screened, and it is determined whether there are any abnormal parts on the outer surface of the derrick based on the screened video and / or image data; damage data transmitted by the flaw detection device is received in real time, and it is determined whether there are any abnormal parts inside the derrick based on the damage data.

[0027] Furthermore, the method also includes the steps of: storing the damage data and coordinates of the abnormal part in a storage strip; and combining the video and / or image data of the abnormal part with the damage data to determine the damage degree of the abnormal part of the derrick.

[0028] Compared with the prior art, the present application has the following beneficial effects: the climbing robot of the present application is easy to operate and can move at any plane of the derrick. The built-in ultrasonic detection module, ultrasonic data processing module, monitoring probe, and video processing module can realize internal and external detection and analysis of the derrick. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 It is a structural schematic diagram of the multi-plane crawling device in Example 1;

[0031] Figure 2 is a schematic structural diagram of the camera device in Example 1;

[0032] Figure 3 It is a structural schematic diagram of the walking mechanism in Example 1;

[0033] Figure 4 It is a structural schematic diagram of the positioning component in Example 1;

[0034] Figure 5 It is an assembly diagram of the second box, the second lifting mechanism, and the universal wheel in Example 1;

[0035] Figure 6 is an assembly diagram of the first lifting mechanism in Example 1;

[0036] Figure 7 It is a structural schematic diagram of the flaw detection device in Example 1;

[0037] Figure 8 is an assembly diagram of the first drive motor and the first locking mechanism in Example 1;

[0038] Fig. 9 is a schematic structural diagram of the first locking mechanism in Example 1;

[0039] Fig.10 This is a schematic diagram of the structure of the second locking mechanism in Example 1.

[0040] In the figure, 1-camera device, 11-first control box, 12-first battery, 13-video processing module, 14-first control submodule, 15-monitoring probe, 16-first transmission wire, 2-positioning rotation device, 21-first box, 211-rotating shaft, 212-first connecting plate, 213-second connecting plate, 214-limiting rod, 215-limiting block, 22-second box, 23-third box, 24-first lifting mechanism, 241-first sleeve, 242-second sleeve, 243-magnetic suction cup, 244-driving motor, 25-first locking mechanism, 26-second lifting mechanism, 27 -universal wheel, 3-positioning assembly, 31-third connecting plate, 32-fourth connecting plate, 33-second locking mechanism, 331-positioning rod, 332-positioning bolt, 333-rotating gear, 4-travel mechanism, 41-first transmission shaft, 42-transmission box, 43-second transmission shaft, 44-third transmission shaft, 45-first transmission gear, 46-second transmission gear, 47-power gear, 48-magnetic adsorption track, 49-bearing, 5-flaw detection device, 51-second control box, 52-second battery, 53-ultrasonic detection module, 54-detection and processing submodule, 55-second transmission wire, 56-storage bar. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0042] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0043] In the description of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0044] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0045] Reference Figure 1 The present application provides a multi-plane crawling device for derrick inspection, including a camera device 1, a flaw detection device 5, a positioning and rotating device 2, and a data processing and control module, wherein: the camera device 1 is used to obtain images and / or videos of the outer surface of the derrick, the flaw detection device 5 is used to collect damage data inside the derrick, the camera device 1 and the flaw detection device 5 are respectively connected to both sides of the positioning and rotating device 2, and the bottom of the camera device 1 and the flaw detection device 5 are provided with two walking mechanisms 4 that can move along the derrick, and the two walking mechanisms 4 are respectively arranged at the front and rear ends of the bottom of the camera device 1 and the flaw detection device 5; the positioning and rotating device 2 is used to lift the walking mechanism 4 off the surface of the derrick and drive the camera device 1 and the flaw detection device 5 to rotate synchronously; the positioning and rotating device 2, the camera device 1, the flaw detection device 5 and the walking mechanism 4 are all electrically connected to the data processing and control module. The data processing and control module includes a video processing submodule 13, a detection processing submodule 54, a first control submodule 14, a second control submodule, a third control submodule, and two fourth control submodules.

[0046] See also Figure 3 The walking mechanism 4 arranged at the bottom of the camera device 1 and the flaw detection device 5 includes two first transmission shafts 41 and a transmission box 42 that drives the two first transmission shafts 41 to rotate. The two first transmission shafts 41 are respectively arranged on both sides of the transmission box 42 and are located in the middle position of the transmission box 42. A power gear 47 is arranged at one end away from the transmission box 42; two parallel second transmission shafts 43 and a third transmission shaft 44 are also arranged below the transmission box 42, and first transmission gears 45 are arranged at both ends of the second transmission shaft 43, and second transmission gears 46 are arranged at both ends of the third transmission shaft 44. The first transmission gear 45, the second transmission gear 46 and the power gear 47 on the same side are connected by a magnetic adsorption track 48; the transmission box 42 is fixedly connected to the second transmission shaft 43 and the third transmission shaft 44 through a bearing 49.

[0047] See also Figure 2The camera device 1 includes a first control box 11, a video processing submodule 13 and a first control module 14 are both arranged in the first control box 11, a first storage battery 12 is also arranged in the first control box 11, and a plurality of monitoring probes 15 are installed on the wire fixing slot of the first control box 11 to realize all-round shooting of the derrick. The first storage battery 12 is connected in parallel with the video processing module 13 and the first control module 14 through wires, the video processing module 13 is connected with the plurality of monitoring probes 15 through wires, the first storage battery 12 is connected with the power source in the transmission box 42 arranged at the lower end thereof through the first transmission wire 16, and the transmission box 42 is fixed to the bottom of the first control box 11 through four fixing rods. The video processing submodule 13 is used to filter the video and / or image data transmitted by the camera device, and judge the degree of damage on the outer surface of the derrick according to the filtered video and / or image data; judge whether it is necessary to turn / move to other planes according to the video and / or image data, and if so, send control instructions to the first control submodule 14 and the second control submodule 55, and calculate the required rotation angle according to the video and / or image data, and then send control instructions to the third control submodule and the two fourth control submodules according to the rotation angle, and control the positioning rotation mechanism 2 to lift the walking mechanism 4 off the derrick surface and drive the lifted camera device 1 and the flaw detection device 5 to rotate synchronously. The walking mechanism 4 under the camera device 1 is electrically connected to the first control submodule 14, and the first control submodule 14 is used to control the movement of the walking mechanism 4 set at the bottom of the camera device 1 according to the control instructions of the video processing submodule 13.

[0048] See also Figure 7 The flaw detection device 5 includes a second control box 51, in which a second storage battery 52, an ultrasonic detection module 53 and a storage bar 56 are arranged. The detection processing submodule 54 and the second control submodule are both installed in the second control box 51. The second storage battery 52 is connected in parallel with the ultrasonic detection module 53 and the detection processing submodule 54 through a wire. The second storage battery 52 is connected to the power source in the transmission box 42 through a second transmission wire 55. The transmission box 42 is fixed to the bottom of the second control box 51 through four fixing rods. The detection processing submodule 54 is used to determine the degree of damage inside the derrick according to the damage data transmitted by the flaw detection device 5; the second control submodule 55 is used to control the movement of the walking mechanism 4 arranged at the bottom of the flaw detection device 5 according to the control instruction of the video processing submodule 13.

[0049] Reference Figure 1 and 6The positioning and rotating device 2 includes a second box body 22, a first box body 21 and a third box body 23 which are arranged in parallel from right to left. A rotating shaft 211 is arranged on the front and rear sides of the first box body 21. Two first connecting plates 212 and a second connecting plate 213 are sleeved on the rotating shaft 211. Each first connecting plate 212 and each second connecting plate 213 are arranged at intervals. One end of the first connecting plate 212 away from the second connecting plate 213 is fixedly connected to the second box body 22, and one end of the second connecting plate 213 away from the first connecting plate 212 is fixedly connected to the third box body 23; a limiting rod 214 is arranged on the first connecting plate 212, and a limiting block 215 abutting against the limiting rod 214 is arranged on the second connecting plate 213 at a position directly below the limiting rod 214.

[0050] See also Figure 1 , 4 and 10, the side of the second box 22 away from the first box 21 is rotatably connected to the second control box 51 of the flaw detection device 5 through two positioning assemblies, and the side of the third box 23 away from the first box 21 is rotatably connected to the first control box 11 of the camera device 1 through two positioning assemblies 3. The positioning assemblies 3 each include at least one pair of hinged third connecting plates 31 and fourth connecting plates 32, and the fourth connecting plate 32 is provided with a second locking mechanism 33 for locking / unlocking the third connecting plate 31 to the fourth connecting plate 32. The second locking mechanism 33 includes a second driving motor, a positioning rod 331 and a positioning bolt 332, and a rotating gear 333 is fixedly sleeved on the output shaft of the motor, and the positioning bolt 332 is arranged just above the rotating gear 333, and at least a portion thereof is provided with a plurality of teeth meshing with the rotating gear 333. The positioning rod 331 is integrally connected to one end of the third connecting plate 31 close to the fourth connecting plate 32, and a slide groove is provided on the positioning rod 331. The fourth connecting plate 32 also has a slide groove at a position corresponding to the slide groove on the positioning rod 331. The end of the positioning bolt 332 without teeth is installed in the slide groove of the fourth connecting plate 332, and the second drive motor is electrically connected to the fourth control submodule.

[0051] See also Figure 5 , two second lifting mechanisms 26 capable of extending and retracting in the vertical direction are arranged on the bottom walls of the second box body 22 and the third box body 23, and a universal wheel 27 is arranged at the bottom of each second lifting mechanism 26, and the fourth control submodule is electrically connected to the second lifting mechanism 26 through an electric wire. The second lifting mechanism 26 can be but is not limited to a screw motor. The two fourth control submodules are used to control the extension and retraction of the second lifting mechanism 26 located on both sides of the first box body 21 and the locking and unlocking of the second locking mechanism 33 according to the control instructions of the video processing submodule 13. The two fourth control submodules are respectively installed in the second box body 22 and the third box body 23.

[0052] See also Figure 6 , 8-10, the positioning and rotating device 2 also includes a first lifting mechanism 24, which includes a first sleeve 241 arranged in sequence from bottom to top, a second sleeve 242 telescopically connected to the outside of the first sleeve 241, and a first driving motor 244 for driving the first sleeve 241 to move in a vertical direction. The first driving motor 244 is installed inside the first box body 22, and one end of the output shaft passes through the first box body 21 and the second sleeve 242, and is connected to the first sleeve 241 through a nut. At least a portion of the output shaft is provided with an external thread that matches the nut. The second sleeve 242 is fixedly connected to the bottom of the first box 21, and the bottom end of the first sleeve 241 is rotatably connected to the magnetic suction cup 243; the outer wall of the end of the output shaft of the first drive motor 244 away from the first sleeve 241 is sleeved with a first locking mechanism 25 for locking / unlocking the output shaft, and the first locking mechanism 25 includes a second bearing sleeved on the outer wall of the output shaft without external threads, and the second bearing is fixedly connected to the second sleeve 242, and a plurality of locking protrusions are arranged below the roller in the second bearing. In the locked state, the output shaft is fixed to the second sleeve 242, which drives the camera device 1 and the flaw detection device 5 to rotate around the magnetic suction cup 243. The height of the first lifting assembly 24 is greater than the height of the walking mechanism 4 when it is retracted, and greater than the height of the walking mechanism 4 when it is extended.

[0053] The first drive motor 244 and the plurality of locking protrusions are electrically connected to the third control submodule, and the third control submodule is used to control the first drive motor 244 according to the control instruction of the video processing submodule 13, thereby driving the first sleeve 241 to extend and retract, and to control the plurality of locking protrusions to lock / unlock the output shaft of the first drive motor 244. The third control submodule is installed in the first box body 21.

[0054] The working principle of Example 1 is: when the video processing submodule 13 detects that the device needs to turn or move to another plane during operation, the video processing submodule 13 sends instructions to the first control submodule 14, the second control submodule, the third control submodule and the fourth control submodule, and then the first control submodule 14, the second control submodule, the third control submodule and the fourth control submodule control the device to turn or move to another plane.

[0055] The above process can be divided into four stages: lifting stage, turning stage, falling stage, and moving stage.

[0056] During the lifting stage, the fourth control submodule controls the positioning bolt 332 in the second locking mechanism 33 to be inserted into the slide groove of the positioning rod 331, thereby locking the third connecting plate 31 and the fourth connecting plate 32, and limiting the relative rotation of the third connecting plate 31 and the fourth connecting plate 32; then the third control submodule and the fourth control submodule respectively control the first lifting mechanism 24 and multiple second lifting mechanisms 26 to extend simultaneously, so that the magnetic suction cup 243 is adsorbed on the surface of the derrick, and simultaneously with the universal wheel 27, the camera device 1 and the flaw detection device 5 are lifted off the surface of the derrick.

[0057] During the steering stage, the third control submodule controls the multiple locking protrusions of the first locking mechanism 25 to lock the output shaft of the first drive motor 244, so that the first box body 21 and the first lifting mechanism 24 are fixedly connected as a whole, thereby driving the camera device 1, the flaw detection device 5 and the first lifting mechanism 24 to rotate around the magnetic suction cup 243 as the axis, so as to control the steering angle of the derrick crawling robot.

[0058] During the falling back stage, after the direction is adjusted, the first lifting mechanism 24 and the second lifting mechanism 26 are controlled to retract simultaneously. When the magnetic adsorption track 48 contacts the derrick, the magnetic suction cup 243 leaves the derrick and retracts to the initial position. The fourth control submodule controls the positioning bolt 332 to disengage from the slide slot of the positioning rod 331. Due to the magnetic factor, the magnetic adsorption track 48 will be re-adsorbed on the derrick.

[0059] There are two adsorption situations at this time. Adsorption situation 1 is that the two magnetic adsorption tracks 48 are adsorbed on the same plane when moving in the same plane, and adsorption situation 2 is that the two magnetic adsorption tracks 48 are adsorbed on different planes. Adsorption situation 1: The two magnetic adsorption tracks 48 are on the same plane and can move normally; Adsorption situation 2: The two magnetic adsorption tracks 48 are on different planes. The track moving toward one side will drive the derrick crawling robot to move. During the movement, the universal wheel will provide a transition effect. At the same time, the segmented track design will reduce the difficulty of the module moving to another plane.

[0060] Adjust the rotation angle of the magnetic suction cup according to the required situation, with vertical upward as the basic direction. If you need to move to other planes, rotate 90°, and if you need to move downward, rotate 180°.

[0061] Embodiment 2: A method for derrick detection, implemented based on a multi-plane crawling device for derrick detection in Embodiment 1, comprises the following steps:

[0062] Receive the video and / or image data transmitted by the camera device 1 in real time and determine whether a turn is required based on the video and / or image data. If so, control the walking mechanism 4 to stop moving and control the first lifting mechanism 24 and the second lifting mechanism 26 to extend and lift the walking mechanism 4 at the same time, calculate the required rotation angle based on the video and / or image data, and then control the first locking mechanism 25 to lock the output shaft of the first driving motor 244 in the first lifting mechanism 24 based on the rotation angle, thereby driving the camera device 1 and the flaw detection device 5 to rotate synchronously;

[0063] Screening the video and / or image data received in real time, and judging whether there are abnormal parts on the outer surface of the derrick according to the screened video and / or image data; receiving the damage data transmitted by the flaw detection device in real time, and judging whether there are abnormal parts inside the derrick according to the damage data, and storing the damage data and coordinates of the abnormal parts in the storage strip;

[0064] The image information on the surface of the abnormal part and the internal ultrasonic information are combined to determine the degree of damage to the abnormal part of the derrick.

[0065] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A multi-plane crawling device for derrick inspection, characterized in that: It includes a camera device, a flaw detection device, a positioning and rotating device, and a data processing and control module, wherein: the camera device is used to obtain images and / or videos of the outer surface of the derrick, the flaw detection device is used to collect damage data inside the derrick, the camera device and the flaw detection device are respectively connected to both sides of the positioning and rotating device, and the bottoms of the camera device and the flaw detection device are both provided with a walking mechanism that can move along the derrick; the positioning and rotating device, the camera device, the flaw detection device, and the walking mechanism are all electrically connected to the data processing and control module; The data processing and control module is configured to: receive the video and / or image data transmitted by the camera device in real time and determine whether a turn is required based on the video and / or image data, and if so, control the walking mechanism to stop moving, and calculate the required rotation angle based on the video and / or image data, and then control the positioning rotation mechanism based on the rotation angle to lift the walking mechanism off the derrick surface and drive the camera device and the flaw detection device to rotate synchronously; The video and / or image data received in real time are screened, and it is judged whether there are abnormal parts on the outer surface of the derrick according to the screened video and / or image data; the damage data transmitted by the flaw detection device is received in real time, and it is judged whether there are abnormal parts inside the derrick according to the damage data; the positioning and rotating device includes a first box body and a first lifting mechanism, the first lifting mechanism includes a first sleeve arranged in sequence from bottom to top, a second sleeve telescopically connected to the outside of the first sleeve, and a first driving motor for driving the first sleeve to move in a vertical direction, the first sleeve is arranged at the bottom of the first box body, and the bottom end of the second sleeve is rotatably connected to a magnetic suction cup; the first driving motor is installed in the first box body, and a first locking mechanism for locking / unlocking the output shaft is sleeved on the outer wall of the output shaft, the first locking mechanism is fixedly connected to the second sleeve, and the first driving motor and the first locking mechanism are both electrically connected to the data processing and control module; The first lifting mechanism has a height smaller than that of the walking mechanism when in a retracted state, and a height larger than that of the walking mechanism when in an extended state; The positioning and rotating device also includes a second box body and a third box body, the second box body and the third box body are respectively arranged on the left and right sides of the first box body, and the front and rear sides of the first box body are provided with a rotating shaft, and at least one first connecting plate and a second connecting plate are sleeved on the rotating shaft, each first connecting plate and each second connecting plate are arranged at intervals, and one end of the first connecting plate away from the second connecting plate is fixedly connected to the second box body, and one end of the second connecting plate away from the first connecting plate is fixedly connected to the third box body; a limiting rod is arranged on the first connecting plate, and a limiting block abutting against the limiting rod is arranged on the second connecting plate at a position directly below the limiting rod; At least one second lifting mechanism that can be extended and retracted in the vertical direction is arranged on the bottom wall of the second box body and the third box body, and a universal wheel is arranged at the bottom of each second lifting mechanism, and each second lifting mechanism is electrically connected to the data processing and control module.

2. A multi-plane crawling device for derrick inspection according to claim 1, characterized in that: The second box and the third box are connected to the flaw detection device and the camera device respectively on one side away from the first box through a positioning assembly, and the positioning assembly includes at least one pair of hinged third connecting plates and fourth connecting plates, and a second locking mechanism for locking / unlocking the third connecting plate and the fourth connecting plate is arranged on the fourth connecting plate, and the second locking mechanism is electrically connected to the data processing and control module.

3. A multi-plane crawling device for derrick inspection according to claim 2, characterized in that: Each of the walking mechanisms includes two first transmission shafts and a transmission box for driving the two first transmission shafts to rotate, the two first transmission shafts are respectively arranged on both sides of the transmission box, and a power gear is arranged on one end thereof away from the transmission box; two second transmission shafts and a third transmission shaft arranged in parallel are also arranged below the transmission box, both ends of the second transmission shaft are respectively arranged with a first transmission gear, and both ends of the third transmission shaft are respectively arranged with a second transmission gear, and the first transmission gear, the second transmission gear and the power gear on the same side are connected through a magnetic adsorption crawler transmission; The transmission box is fixedly connected to the second transmission shaft and the third transmission shaft through bearings.

4. A multi-plane crawling device for derrick inspection according to claim 3, characterized in that: The control module includes a video processing submodule, a detection processing submodule, a first control submodule, a second control submodule, a third control submodule and two fourth control submodules, wherein: The video processing submodule is configured to: filter the video and / or image data transmitted by the camera device, and determine the degree of damage to the outer surface of the derrick according to the filtered video and / or image data; determine whether it is necessary to turn / move to other planes according to the video and / or image data, and if so, send a control instruction to the first control submodule and the second control submodule, calculate the required rotation angle according to the video and / or image data, and then send a control instruction to the third control submodule and the two fourth control submodules according to the rotation angle; The detection processing submodule is used to determine the degree of damage inside the derrick according to the damage data transmitted by the flaw detection device; The first control submodule is used to control the movement of the walking mechanism arranged at the bottom of the camera device according to the received control instruction; The second control submodule is used to control the movement of the walking mechanism arranged at the bottom of the flaw detection device according to the received control instruction; The third control submodule is used to control the locking and unlocking of the first drive motor and the first locking mechanism according to the received control instruction; The two fourth control submodules are used to control the extension and retraction of the second lifting mechanism located on both sides of the first box body and the locking and unlocking of the second locking mechanism respectively according to the received control instructions.

5. The multi-plane crawling device for derrick inspection according to claim 4, characterized in that: The camera device includes a first control box, the video processing submodule and the first control module are both installed in the first control box, a first battery is also arranged in the first control box, and a plurality of monitoring probes are installed on the side wall thereof, the first battery is connected in parallel with the video processing module and the first control module through wires, the video processing module is connected to a plurality of monitoring probes through wires, the first battery is connected to a power source in a transmission box through wires, and the transmission box is fixed to the bottom of the first control box through four fixing rods.

6. The multi-plane crawling device for derrick inspection according to claim 5, characterized in that: The flaw detection device includes a second control box, the detection and processing submodule and the second control submodule are both installed in the second control box, a second battery and an ultrasonic detection module are arranged inside the second control box, the second battery is connected in parallel with the ultrasonic detection module and the detection and processing submodule through wires, the second battery is connected to a power source in a transmission box through wires, and the transmission box is fixed to the bottom of the second control box through four fixing rods.

7. A method for derrick detection, characterized in that: The method is implemented based on a multi-plane crawling device for derrick inspection according to any one of claims 1 to 6, and comprises the following steps: Receive the video and / or image data transmitted by the camera device in real time and determine whether a turn is required based on the video and / or image data. If so, control the walking mechanism to stop moving, calculate the required rotation angle based on the video and / or image data, and then control the positioning rotation mechanism based on the rotation angle to lift the walking mechanism off the derrick surface and drive the camera device and the flaw detection device to rotate synchronously; The video and / or image data received in real time are screened, and it is determined whether there are any abnormal parts on the outer surface of the derrick based on the screened video and / or image data; damage data transmitted by the flaw detection device is received in real time, and it is determined whether there are any abnormal parts inside the derrick based on the damage data.

8. A method for derrick detection according to claim 7, characterized in that: The method also includes the steps of: storing the damage data and coordinates of the abnormal part in a storage strip; and combining the video and / or image data of the abnormal part with the damage data to determine the damage degree of the abnormal part of the derrick.

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