A pipeline detection device and method

Abstract

The present invention relates to a pipeline detection device, which comprises: a main body for carrying a mobile control module and a position sensor module; a mobile control module for controlling the movement parameters of the main body; and a position sensor module for judging the relative position parameters of the main body. The position sensing module calculates the relative position parameters of the pipeline detection device relative to the initial position based on the movement parameters of the pipeline detection device and guides the mobile control module to control the movement parameters of the main body. The present invention enables the detection device to detect information of the main body relative to the initial position by measuring the steering parameters, speed and movement direction of the main body in real time through the position sensor module.

Description

Technical Field

[0001] The present invention relates to the field of detection device engineering, and particularly to a pipeline detection device and method. Background Art

[0002] With the continuous development of China's industrial technology, the quality requirements for pipelines in many fields are constantly increasing, and pipeline detection technology provides guarantee for the quality and regular maintenance of pipelines.

[0003] In pipeline detection technology, pipeline detection robots are essential. China started researching pipeline robots in the 1980s, which started relatively late compared with Western developed countries, but has also achieved rapid development in recent years. In 2002, Shenyang University of Technology and Xinjiang Sanye Pipeline Technology Co., Ltd. jointly developed a passive pipeline robot for magnetic flux leakage detection of oil and gas pipelines in China. The Shenyang Institute of Automation of the Chinese Academy of Sciences designed a differential adaptive pipeline robot, which can autonomously adapt to pipelines with a certain change in pipe diameter. The telescopic pipeline robot developed by Xue Yong and Xie Huiyang achieved the goals of large traction force and bidirectional movement of the telescopic pipeline robot. In 2016, the three-track pipeline robot developed by Qingdao University can adapt to pipelines with different pipe diameters and can walk in vertical pipelines. In 2018, the research team of Xiao Xiaohui from Wuhan University developed a crawler-type pipeline detection robot applicable to the oil and gas fields.

[0004] The bottlenecks in the development of pipeline robots in China are mainly reflected in two aspects. One is that the intelligent level of pipeline robots in China is generally low, lacking the ability of autonomous recognition of their own states and external environments, and external operators need to intervene, which is a common problem of pipeline robots in China. The other is that there is less research on special pipeline robots in China, and the technical level of manufacturers cannot meet the requirements of various pipeline detections, and the relevant research is not deep enough. Currently, most pipeline robots are wheeled robots, which have problems such as too large turning radius to turn in small pipelines and inability to adapt to vertical pipelines. Various industries and industries are increasingly urgently in need of a new type of pipeline detection robot to meet the detection needs of various pipelines.

[0005] In the prior art, a patent document with the publication number CN102425709B discloses a walking mechanism of a pipeline robot. The walking mechanism of the pipeline robot includes: a worm and a motor for driving the worm, and the axis of the worm coincides with the axis of the pipeline; three planetary gear sets, which are respectively located in three planes. Each planetary gear set includes: a worm gear meshing with the worm, a sun gear coaxially connected to the worm gear, and two planet gears separated from each other and respectively meshing with the sun gear. Each planet gear is coaxially connected with a walking wheel, and the diameter of the walking wheel is larger than that of the planet gear. Among the two walking wheels, one walking wheel is hinged to the rotating shaft of the sun gear through a first connecting rod arm, and the minimum value of the included angle formed between the first connecting rod arm and the second connecting rod arm is 0 degree and the maximum value is 180 degrees.

[0006] CN113090865B discloses a self-stabilizing walking mechanism for a pipeline robot, which includes walking unit sections, an adjusting group, an auxiliary wheel group, a driving group, and a walking group. The walking unit sections are arranged at equal distances from left to right. Adjusting groups are provided at both ends of the walking unit sections. The auxiliary wheel group and the driving group are provided on the adjusting groups, and the walking group is provided on the walking unit sections. The adjusting group adopted in the present invention can adjust the auxiliary wheel group according to the size of the pipeline and support it on the inner wall of the pipeline, so that the auxiliary wheel group supports and walks at multiple points on the inner wall of the pipeline, ensuring the stability of walking on the inner wall of the pipeline, avoiding the pipeline robot from tilting and getting stuck during walking. At the same time, the driving group is used to drive the adjusting group to rotate and adjust. The driving shaft and the connecting rod are hinged and matched, which is convenient for the driving shaft and the connecting rod to be bent, avoiding the phenomenon of getting stuck when the support disc walks to the elbow of the pipeline.

[0007] The above-mentioned technology proposes a method of using a foot-type detection device to adapt to a complex pipeline environment. In particular, a wheel assembly with strong steering ability is used to adjust the forward direction of the robot. However, when it comes to crawling in a vertical pipeline, the adjustment and wall-climbing ability are poor, and it is unable to autonomously adjust the walking mode and route according to the environment, unable to judge whether it is stuck or there is a situation of side-over rotation and idling, and it is only suitable for walking and detecting in a flat pipeline, with poor practicability.

[0008] In addition, on the one hand, there are differences in the understanding of those skilled in the art; on the other hand, although the inventor studied a large number of documents and patents when making this invention, due to space limitations, all details and contents are not listed in detail. However, this does not mean that the present invention does not possess the features of these prior arts. On the contrary, the present invention already possesses all the features of the prior arts, and the applicant reserves the right to add relevant prior arts in the background technology. Summary of the Invention

[0009] To address at least some of the deficiencies in the above-mentioned prior art, the present application provides a pipeline detection device, which includes: a main body for carrying a mobile control module and a position sensor module; a mobile control module for controlling the movement parameters of the main body; a position sensor module for determining the relative position parameters of the main body. The position sensing module calculates the relative position parameters of the pipeline detection device relative to the initial position based on the movement parameters of the pipeline detection device and guides the mobile control module to control the movement parameters of the main body. The present invention measures the steering parameters, speed, and movement direction of the main body in real time through the position sensor module, enabling the detection device to detect information about the main body relative to the initial position. Through the cooperation of the position information sensor module and the vision sensing module, the robot can successfully reach the target point to complete the detection task.

[0010] Preferably, the position sensor module measures the attitude data of the speed and angular velocity of the pipeline detection device in real time and sends the data to the processing module. The processing module can obtain the relative position parameters of the pipeline detection device relative to the initial position based on the collected data information. It also includes an environmental perception module electrically connected to the processing module. The environmental perception module includes an infrared detector module and an ultrasonic module. The processing module calculates the obstacle parameters based on the data collected by the infrared detector module and the ultrasonic module. By simultaneously collecting the relative position parameters of the robot and the obstacle parameters through the position sensor module and the vision sensing module, the present invention reduces the error of a single collection device, avoids data errors and position errors caused by the robot, improves the accuracy of the data, and thus provides a guarantee for the obstacle avoidance path planning of the robot motion control module.

[0011] Preferably, the processing module corrects the relative position parameters of the obstacle parameters measured by the current pipeline detection device based on the obstacle parameters obtained after corresponding filtering and processing and the preset obstacle parameters, and sends the obstacle parameters to the mobile control module. The position sensor module equipped in the present invention can accurately obtain the position of the robot, and cooperate with the obstacle distance and shape information measured by the infrared detector module, the ultrasonic module, and the vision sensing module to establish an accurate relative position between the robot and the obstacle.

[0012] Preferably, the walking unit of the driving device of the pipeline detection device is designed with a servo connection and consists of three sections, which can freely change the direction. Each of the three sections of each walking unit is connected by a servo. The steering mode changes the direction at the first servo joint connected to the main body; the obstacle crossing mode changes the angle at the second servo joint; the wall climbing mode changes the angle at the third servo joint at the end.

[0013] Preferably, during the operation of the pipeline detection device, the position information parameters are constantly changing. The pipeline detection device needs to continuously receive new relative position parameters and obstacle parameters for real-time path planning. The processing module receives the relative position parameters and obstacle parameters of the pipeline detection device transmitted by the position sensor module and the environmental perception module, and guides the movement control module to control the movement of the detection device. In the present invention, the analysis module continuously receives the current robot position information and obstacle parameters while moving and calculates the optimal route, which can effectively avoid collisions between the robot and walls and obstacles and improve the driving efficiency.

[0014] Preferably, the pipeline detection device adopts a method combining path planning and automatic control in terms of automatic control. Based on infrared sensors and ultrasonic sensors, it can detect the path conditions within a preset range, collect road information, plan a suitable path, and the movement control module adds a calibration system to achieve automatic registration of the walking path. The present invention realizes the automation of the robot's forward movement through the combination of path planning, the main control chip, and automatic calibration.

[0015] Preferably, the movement control module can add a wireless transmission module connection mode, enabling the movement control module to be remotely regulated in the wireless transmission module connection mode. The present invention adopts two operating modes, which can avoid the occurrence of emergencies and greatly reduce the failure rate of the robot.

[0016] Preferably, the pipeline detection device uses infrared sensors and ultrasonic sensors to detect the situation inside the pipeline within a preset range and determine whether there are obstacles, and selects the corresponding walking mode based on the object contour image and size obtained from the camera.

[0017] A pipeline detection method includes: performing a detection task based on control information; calculating relative position parameters based on movement parameters; identifying the morphological parameters of surrounding obstacles based on image information; automatically planning an obstacle avoidance path for the pipeline detection device based on the relative position parameters, obstacle parameters, and target point, and guiding the movement of the detection device; calculating the distance and direction parameters of the detection device relative to the initial position by combining past data information; collecting and calculating the information parameters of obstacles; performing optimal path planning based on the relative position parameters and obstacle parameters at intervals, and guiding the movement of the detection device.

[0018] The present invention has at least the following advantages:

[0019] (1) The detection device of the present invention has both automatic and manual control modes, which can greatly reduce the machine failure rate and increase the user experience.

[0020] (2) The path real-time planning unit of the present invention can plan the path in real time and select the optimal solution, which can effectively avoid collisions between the detection device and the pipe wall and obstacles and improve the driving efficiency.

[0021] (3) The distance and morphological information of the obstacle measured by the infrared detector module and the ultrasonic module of the present invention can be used to establish an accurate relative position between the detection device and the obstacle, realizing precise positioning;

[0022] (4) The visual sensing and wireless transmission module of the present invention can transmit detection information in real time and continuously, having a good detection function;

[0023] (5) The foot design of the detection device of the present invention can realize the wall-climbing function and can perform detection in the vertical direction;

[0024] (6) The detection device of the present invention can automatically flip to the normal walking state when it rolls over, and the detection device does not use important structures as fulcrums when flipping over. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is the main structure diagram of the present invention;

[0026] Figure 2 is the front view of the main body of the present invention;

[0027] Figure 3 is the top view of the main body of the present invention;

[0028] Figure 4 is the view of the walking unit of the present invention;

[0029] Figure 5 is the internal structure diagram of the box body of the present invention;

[0030] Figure 6 is the schematic connection diagram of each module of the present invention.

[0031] LIST OF REFERENCE NUMERALS

[0032] 1: Main body; 2: External sensor module; 3: First walking unit; 4: Infrared detector module; 5: Image transmission module; 6: Ultrasonic module; 7: Transmission bearing between the main body and the walking unit; 8: Fixed screw hole for the external sensor; 9: Fixed screw for the ultrasonic sensor; 10: Ultrasonic sensor; 11: Sensor drive rotating shaft; 12: Sensor drive servo housing; 13: Infrared sensor; 14: Fixed screw for the infrared sensor; 15: Fixed screw for the camera; 16: Camera; 17: Linking screw for the servo housing; 18: Adsorption foot; 19: Servo transmission bearing of the walking unit; 20: Servo housing; 21: Wireless transmission module; 22: Position sensor module; 23: Servo power supply system; 24: Movement control module; 25: Sensor power supply system; 26: Second walking unit; 27: Third walking unit; 28: Fourth walking unit; 29: Fifth walking unit; 30: Sixth walking unit; 31: Seventh walking unit; 32: Eighth walking unit; 37: Environment perception module; 38: Processing module. Detailed implementation mode

[0033] The present invention will be described in detail below with reference to the accompanying drawings.

[0034] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0035] In the description of the present invention, it should be understood that if terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present invention.

[0036] In the description of the present invention, it should be understood that the "first direction" refers to the direction parallel to the axis X, the "second direction" refers to the direction parallel to the axis Y, and the "third direction" refers to the direction parallel to the axis Z.

[0037] The present invention relates to a pipeline detection device. In order to give people a sufficient sense of intimacy and design sense and facilitate detection, the detection device of the present invention is integrally designed in a spider shape, and at the same time, the internal circuit is hidden, which also plays a protective role. For the specific structural schematic diagram, see Figure 1 .

[0038] As Figure 6 shown, the pipeline detection device includes a main body 1 provided with a driving device and a movement control module 24. A position sensor module 22 and an environment perception module 37 are installed inside the main body 1. The environment perception module 37 determines the morphological parameters of surrounding obstacles based on image information recognition by an infrared detector module 4 and an ultrasonic module 6, determines the road information situation, and feeds back the road information situation to the position sensor module 22. The position sensor module 22 calculates the relative position parameters of the detection device by monitoring the real-time speed, angular velocity, etc. of the detection device. The movement control module 24 guides the movement of the detection device based on the road information and path planning.

[0039] The movement control module 24 receives the relative position parameter information and obstacle parameters of the detection device transmitted by the processing module 38, performs optimal path planning at a high frequency in a short time, and guides the driving device to control the movement of the detection device. The movement control module 24 generates a scene map including the coordinate position of the detection device itself relative to the initial position based on the video information collected by the environment perception module 37, and generates several walking paths based on the given initial position and target position and stores them in the processing module 38. When a certain walking path is blocked and cannot be passed, the processing module 28 can provide at least one other driving path different from the current walking path to update the movement control module in the case of the impassability of this line. The basis for the detection device to judge that a certain line is impassable is the road information situation determined by the environment perception module 37. According to the detection device parameter information and obstacle parameters, different execution modes are divided. Its working modes are divided into a steering obstacle avoidance mode, an obstacle crossing mode, and a climbing mode. The steering obstacle avoidance mode is for relatively high, large, and non-overable obstacles; the obstacle crossing mode is for small obstacles that will affect the forward movement of the detection device, and the detection device can adjust its own posture without changing the movement path; the climbing mode is applicable to vertical pipelines.

[0040] The present invention sets multiple working modes, which can use different methods to avoid obstacles according to different obstacle states, and has high flexibility. Especially the climbing mode can be used for vertical pipelines and plays a key role in pipeline detection.

[0041] Based on the relative position parameter information and obstacle parameters of the detection device, the movement control module 24 can determine the working modes in different road conditions and the mixed use of multiple working modes.

[0042] The present invention selects two working modes according to the morphological parameters of the obstacle, enabling better and smoother movement and obstacle avoidance. For example, when an obstacle appears at a certain distance from the distance detection device, the ultrasonic sensor 10 and the infrared sensor 13 scan the size and shape contour of the obstacle, and select a suitable working mode according to its characteristic parameters. For large obstacles, it selects to turn and avoid; for small obstacles, it selects the over-obstacle mode. In a certain distance range, a hybrid and multi-purpose working mode is adopted, with cross operation.

[0043] Preferably, as Figure 4 , to ensure that the detection device can adapt to various environments, it is required that the detection device can perform attitude adjustment at multiple angles, and 3 servos are installed on each walking unit. Among them, the first servo is connected to the main body 1, the second servo is in the middle and is connected to the first servo through the walking unit servo transmission bearing 19. The third servo is the end servo connected to the adsorption foot 18 and is connected to the second servo through the servo housing connection screw 17. Preferably, the connection between the walking unit servo transmission bearing 19 and the walking unit wall adopts a flexible connection to reduce the vibration and impact on the servo when the walking unit contacts the bottom surface of the pipe body, reduce the additional stress on the servo beyond the working requirements, extend the service life of the servo, and improve the stability of the entire drive mechanism. As Figure 1 , the walking unit is connected to the main body 1 through the main body and the walking unit transmission bearing 7, and the external sensor 2 is connected to the main body 1 through the external sensor fixing screw hole 8. The connection methods of the remaining modules to the main body 1 are similar and will not be elaborated here.

[0044] Preferably, the viscous material of the foot of this product adopts a disc structure, thereby increasing the contact area with the pipe body. The core of the adsorption foot 18 is made of rubber and has the function of a shock absorber, further reducing the impact when the walking unit contacts the bottom surface of the pipe body. The foot surface is designed with a gecko biomimetic material, which simulates the foot fibers of a gecko and contacts the contact surface with very dense fine villi, and uses the intermolecular force to firmly adsorb the detection device on the pipe wall to prevent it from falling, enabling the detection device to not only crawl on a plane but also on a vertically adsorbable vertical surface. The adsorption foot is connected to the main body of the walking unit by ordinary bolts so that the adsorption foot can be replaced when it reaches the end of its service life.

[0045] Preferably, the movement form of the detection device is the diagonal crawling gait. In the normal walking mode, a regular gait is adopted, and one step distance is completed in each gait cycle. Among them, in the initial state, all eight legs are in contact with the bottom surface of the pipe body and are in the support phase. When crawling, the first walking unit 3, the second walking unit 26, the seventh walking unit 31, and the eighth walking unit 32 lift the first servo rotating joint and swing in the positive direction of the first direction. When in the suspension phase, the main body 1 of the host moves one step distance in the same direction driven by the first joints of the servo motors of the third walking unit 27, the fourth walking unit 28, the fifth walking unit 29, and the sixth walking unit 30, driving the center of gravity of the body to move forward. After that, the four walking units are all put down, and the third walking unit 27, the fourth walking unit 28, the fifth walking unit 29, and the sixth walking unit 30 make corresponding movements, and the pose of the detection device returns to the initial state. By continuously cycling the above gait, the geometric center of gravity of the detection device will continue to move forward. It can be seen from the joint angle displacement curve that at the moment when the detection device lifts and lands its feet, the slope of the angular displacement curve is zero, and the impact force of the sole on the pipe is also reduced to the lowest level. Therefore, the impact of the present invention on the pipe body during the crawling process is small, and at the same time, the crawling stability of the detection device is improved.

[0046] Preferably, the first execution mode of the pipeline detection device is turning to avoid obstacles. For large obstacles, the environment perception module detects the obstacles on the forward path and outputs their size and outline. The output content at least includes: the height of the highest point of the obstacle, the length of the obstacle, and the height of the lowest point of the obstacle. When the height of the lowest point of the obstacle still exceeds a certain preset value (such as the highest height that the chassis of the main body 1 of the pipeline detection device can reach), the processing module 38 can select the first execution mode - the obstacle avoidance mode according to its parameter information: the servo motor boxes 20 of the third walking unit 27 and the fourth walking unit 28 and the fifth walking unit 29 and the sixth walking unit 30 rotate a certain angle in opposite directions, and the first walking unit 3, the second walking unit 26, the seventh walking unit 31, and the eighth walking unit 32 still move along the forward direction to achieve the turning function and avoid the obstacle.

[0047] Preferably, the second execution mode of the pipeline detection device is the obstacle crossing mode. When the height of the highest point of the obstacle is less than the preset value and the length of the obstacle is less than the distance between the walking units on both sides of the detection device, when the environment perception module 37 confirms the existence of small obstacles on the forward path based on the obstacle parameters, the analysis module 37 selects the obstacle crossing mode. The second servo joint of the foot of the walking unit of the detection device rotates a certain angle around the transmission bearing of the servo motor of the walking unit, so that the center of gravity of the detection device rises, and the third servo motor correspondingly rotates to keep the adsorption foot 18 in contact with the ground, so as to cross the small obstacle. When the height of the highest point of the obstacle is less than the preset value, but the length of the obstacle is greater than the distance between the walking units on both sides of the detection device, the control module selects the first execution mode to bypass.

[0048] Preferably, the third execution mode of the detection device is the wall-climbing mode for the vertical riser crawling environment. The working principle of the first wall-climbing mode is that when the environment perception module and the position sensor module 22 detect that the front of the moving direction in the first direction is a vertical pipe, the first steering gear of the first walking unit 3 and the fifth walking unit 29 rotates around the main body and the transmission bearing 7 of the walking unit to the vertical pipe wall pointed by the positive direction of the first direction until it touches the vertical pipe wall. The second steering gear rotates 90 degrees around the transmission bearing 19 of the walking unit steering gear at the joint until the third steering gear and the adsorption foot 18 are perpendicular to the vertical pipe wall. At this time, the adsorption foot 18 contacts the vertical pipe wall. The viscous material of the adsorption foot 18 at the bottom of the first walking unit 3 and the fifth walking unit 29 fits with the vertical pipe wall surface. The third walking unit 27, the fourth walking unit 28 and the sixth walking unit 30 move a step distance towards the pipe wall, and the fifth walking unit 29 moves upward along the vertical pipe wall. Correspondingly, the second walking unit 26, the seventh walking unit 31 and the eighth walking unit 32 make the same movement as the walking unit 3 until the second walking unit 26 and the sixth walking unit 30 contact the vertical pipe wall. The steering gear at the second joint of the second walking unit 26 and the sixth walking unit 30 rotates 90 degrees until the viscous material at the bottom of the foot fits with the vertical pipe. The third walking unit 27, the seventh walking unit 31, the fourth walking unit 28 and the ninth walking unit 32 are the same as the above process, and finally the vertical pipe crawling is realized.

[0049] Preferably, the wall-climbing mode can be divided into two types according to the relative attitude of the detection device and the pipe wall: the first wall-climbing mode refers to the wall-climbing attitude when the horizontal axis of the above pipe detection device is perpendicular or nearly perpendicular to the pipe wall; the second wall-climbing mode refers to the wall-climbing attitude when the horizontal axis of the pipe detection device is nearly parallel or nearly parallel to the pipe wall. Due to the complex pipeline environment, the position of the pipe detection device when it needs to climb the pipe wall may affect the crawling of the pipe detection device. For example, when the pipe detection device walks in a narrow channel, the pipe detection device cannot turn to be perpendicular to the pipe wall and use the front walking unit for climbing movement. At this time, the pipe detection device needs to climb with the help of the walking unit on one side.

[0050] Second wall-climbing mode: When the pipeline detection device is in a circular pipeline, the method of climbing onto the pipe wall is relatively simple. It only needs to change the walking direction to crawl to both sides of the pipe wall. When the pipeline detection device is detecting inside a square pipeline, it needs to switch to the second wall-climbing mode for climbing movement. Taking the positive direction of the first direction as the movement direction as an example, when the processing module 38 determines, based on the information transmitted by the environmental perception module 37 via the image transmission module 5, that it is in a narrow passage and there are obstacles that need to be avoided and bypassed in the movement direction, and it is impossible to achieve turning movement and needs to perform vertical pipeline crawling to avoid obstacles, the pipeline detection device needs to climb with the help of the walking units on one side. After the processing module 38 determines, based on the information transmitted by the environmental perception module 37, that it needs to avoid obstacles and bypass in the front but cannot turn at the current position, it sends the second climbing information to the movement control module 24 based on the position sensor module 22 and the distance information. The movement control module 24 controls the walking units to switch to the corresponding second wall-climbing mode based on the climbing information. The second walking unit 26 and the third walking unit 27 that are in contact with or close to the pipe wall rotate 90 degrees around the walking unit servo drive bearing 19 at the second servo joint to make the third servo and the adsorption foot 18 keep vertical contact with the vertical pipe wall. The fourth walking unit 28, the eighth walking unit 32, and the first walking unit 3 move one step distance in the direction of the second walking unit 26, and the fifth walking unit 29 moves upward along the pipe wall. Correspondingly, the second walking unit 26, the seventh walking unit 31, and the eighth walking unit 32 make the same movement as the walking unit 3 so that the first walking unit 3 and the fourth walking unit 28 also approach the pipe wall and fit with the vertical pipeline. The fifth walking unit 29, the eighth walking unit 32, the sixth walking unit 30, and the seventh walking unit 31 are the same as the above process, and finally the whole detection device is moved onto the vertical pipe wall. This solution solves the problem that the detection device cannot turn and can only retreat and return when encountering obstacles that need to be avoided in a narrow passage, and the detection device can perform pipe wall climbing activities without adjusting to a specific angle. Compared with the existing vertical crawling detection devices, the applicability is improved.

[0051] Preferably, the detection device can detect whether a rollover occurs under the detection of the camera 16 or based on structures such as a level (not shown). During walking, the detection device is prone to accidental falling and causing rollover due to changes in road conditions or when crawling on the pipe wall. At this time, it is necessary to adjust the posture of the detection device to the normal walking posture, that is, it is necessary to turn the pipeline detection device to the posture where the ultrasonic module 6 faces the positive direction of the third direction. The camera 16 is connected to the main body 1 through the camera fixing screw 15. The camera 16 can take real-time pictures of the surrounding environment and transmit them to the processing module 38 through the image transmission module 5. The processing module 38 analyzes and judges whether the pipeline detection device has rolled over based on the image information and the environment perception module 37, analyzes the rollover angle based on the image information, and judges the position information of the walking unit based on the mobile control module 24. The processing module 38 makes an instruction to adjust the posture of the pipeline detection device based on the above information and sends it to the mobile control module 24. Among them, the instruction to adjust the posture of the pipeline detection device made by the processing module 38 includes: judging the self-state of the detection device and formulating a rollover measure according to the operation. Among them, judging the self-state of the detection device includes judging the posture information of each walking unit based on the mobile control module 24 and judging the three-dimensional inclination state of the main body 1 based on the environment perception module 37. The three-dimensional inclination state includes the first direction inclination angle, the second direction inclination angle, and the third direction inclination angle of the normal vector of the bottom panel of the main body 1 relative to the bottom plane of the pipe where it is located. Among them, when the bottom panel of the main body 1 is perpendicular to the bottom surface of the pipe body at the location, that is, when the third inclination angle is 0°, the pipeline detection device is completely on one side on the ground. The processing module 38 transmits the first instruction to adjust the posture of the pipeline detection device to the mobile control module 24 based on the three-dimensional inclination angle of the pipeline detection device. The mobile control module 24 controls the posture of the walking unit in contact with the bottom surface of the pipe body in the current state so that the second steering joint of the walking unit contracts towards the bottom panel of the main body 1, and controls the center of gravity of the pipeline detection device to tilt towards the bottom plate side of the main body 1. At this time, the main body 1 is pushed by the second steering joint of the walking unit and flipped to the normal walking state along the bottom plate direction of the main body 1. After the processing module 38 judges that the pipeline detection device has been flipped to the normal horizontal state based on the environment perception module 37, it sends the information to restore the walking posture to the mobile control module 24, and the mobile control module 24 controls the walking unit to extend to the walking state.

[0052] When the bottom panel of the main body 1 is not perpendicular to the bottom surface of the pipe body at the location, that is, when the main body 1 tilts to the bottom surface of the pipe body and flips, at most 8 walking units of the pipeline detection device do not contact the bottom surface of the pipe body at the location. The processing module 38 transmits the second adjustment pipeline detection device posture indication to the mobile control module 24 based on the three-dimensional tilt angle of the pipeline detection device. The mobile control module 24 adjusts the second steering gear joints of the two walking units farthest from the bottom surface of the pipe body to rotate to fully contact the bottom surface of the pipe body based on the three-dimensional tilt data, and based on the length of the second steering gear, the main body 1 located at the two walking units is raised to the ultrasonic module 6 and other precision devices on the main body 1 away from the bottom surface of the pipe body. The remaining walking units are used as fulcrums to rotate around the fulcrums to a third tilt angle of 90 degrees during the process of lifting one end of the main body 1. Next, the detection device can be adjusted to a normal working state by using the processing method when the third tilt angle of the detection device is 90 degrees as described above. Using the walking unit as the flipping axis to a certain extent avoids collision damage to precision devices such as the ultrasonic module 6, and the ultrasonic module 6 will not be damaged due to the need to support the main body 1 during the flipping process. Preferably, when other precision instruments are also provided on the main body 1, the number and serial number of the traveling units used during flipping can be adjusted so that the turning over is not based on important structures as fulcrums, so as to protect the instruments on the pipeline detection device in a differentiated manner during flipping.

[0053] Preferably, in combination with Figure 5, the position sensor module 22 measures the speed, angular velocity, and attitude information of the pipeline detection device at regular intervals, and sends the measurement information to the processing module 38. The processing module 38 combines the previously measured data and can calculate the path information of the pipeline detection device through calculation, so as to obtain the distance and direction parameters of the detection device relative to the initial position. The environment perception module 37 includes an infrared detector module 4 and an ultrasonic module 6. The environment perception module 37 scans based on the infrared detector module 4 and the ultrasonic module 6 and obtains the obstacle contour through image analysis and processing, and sends the shape parameters of the obstacle to the processing module 38 through the image transmission module 5 to guide the walking route and walking state of the pipeline detection device. When the processing module 38 receives the image information transmitted by the infrared detector module 4 and the ultrasonic module 6, it will compare and overlap the two image information, so as to accurately measure the obstacle contour. When there are large differences in the image information transmitted by the received infrared detector module 4 and ultrasonic module 6, the processing module 38 can increase the detection frequencies of the infrared detector module 4 and the ultrasonic module 6, and at the same time send a warning message to the mobile control module 24 to reduce the movement speed of the walking unit. Wait until the processing module 38 receives the accurate information of the obstacle contour and then send a recovery message to the mobile control module 24 to control the pipeline detection device to resume the normal walking state. During the walking process of the pipeline detection device, the information parameters are constantly changing. The detection device needs to continuously receive new relative position parameters and obstacle parameters for real-time path planning. The processing module 38 receives the relative position parameters and obstacle parameters of the detection device transmitted by the position sensor module and the environment perception module, and performs an optimal path planning every very short time, and guides the actuator to control the movement of the detection device. Preferably, the processing module 38 performs an optimal route planning before the pipeline detection device reaches the next intersection based on the pre-stored map data. The processing module 38 regularly collects and analyzes the environmental road conditions based on the visual transmission module during the walking process of the pipeline detection device, collects as much information about the surrounding environment as possible, and continuously guides the route planning. Preferably, when the environment perception module 37 detects that there is a continuous arc-shaped wall object near the position where the pipeline detection device is located, the processing module 38 will analyze and process the extension direction and extension length of the wall body and add them to the walking route planning of the pipeline detection device. When the processing module 38 determines based on the environment perception module 37 that there is an arc-shaped wall or a vertical pipe wall near an obstacle that cannot be bypassed, the processing module 38 can send a wall-climbing instruction to the mobile control module 24. While the present invention is moving, the processing module continuously receives the current position information of the detection device and the obstacle parameters and calculates the optimal route, which can effectively avoid the collision between the detection device and the pipe wall and the obstacle, and improve the driving efficiency.

[0054] Preferably, the pipeline detection device adopts a method combining path planning and automatic control for walking control in terms of automatic control. An infrared sensor 13 and an ultrasonic sensor 10 are arranged on the pipeline detection device to measure the road conditions within a certain fixed range and angle on the walking route, collect road information, and plan a suitable path. The movement control module 24 is added with a correction system to timely correct and improve the walking posture and walking route of the pipeline detection device, so as to realize the automatic registration of the walking path.

[0055] Preferably, as Figure 5 , this product is added with a wireless transmission mode. For example, when the user temporarily changes its movement path, or when the forward route of the detection device deviates from the planned route, the user can change the forward direction and path plan of the detection device according to the temporary situation or emergency, and can make the detection device continue to operate through the manual operation mode when the detection device fails or is out of control. At the same time, the wireless transmission module 21 can also transmit the monitoring information of the external sensor module. After installing the external sensor 2, the detection information of the external sensor 2 is transmitted to the movement control module through the I / O interface, and the analyzed data can be transmitted to the user terminal through the wireless transmission module 21 after being processed. The wireless transmission module 21 provides a way to transmit signals, improving the safety and operability of the device.

[0056] Preferably, there are two power supply systems installed in the detection device box. The No. 1 power supply system supplies power to the servos in the walking unit. Its capacity is relatively large. Considering factors such as the self-weight and volume of the detection device, lithium batteries are used as the power source, and the power circuit is used to keep the voltage constant and distribute the current to the working servos to avoid situations such as too large input current and too small voltage of the servos, ensuring the stability of the work. The No. 2 power supply system is the sensor power supply system, which is responsible for supplying power to the position sensor module 22, the image transmitter module 5, the ultrasonic module 6, the infrared detector module 4, and the drive servo 12 of the ultrasonic sensor. In addition, the additional external sensors also rely on the No. 2 power supply system for power supply. Therefore, the characteristic of the No. 2 power supply system is that the power supply voltages of each part may be different, and lithium batteries are used in combination with the power circuit to supply power respectively, so that each sensor can work normally.

[0057] A detection method based on the above pipeline detection device, comprising: cooperating with the execution of the detection task based on control information; calculating relative position parameters based on movement parameters; determining the morphological parameters of surrounding obstacles based on image information recognition; automatically planning an obstacle avoidance path for the pipeline detection device based on the relative position parameters, obstacle parameters and target points and guiding the movement of the detection device; calculating the distance and direction parameters of the detection device relative to the initial position by combining past data information; collecting and calculating the information parameters of the obstacles; performing optimal path planning at intervals based on the relative position parameters and obstacle parameters and guiding the movement of the detection device. The pipeline detection method further comprises: detecting the situation inside the pipeline within a certain range of angles and whether there are obstacles, and judging the obstacle avoidance scheme to step over the obstacle or turn to bypass the obstacle based on the contour image and size of the object.

[0058] It should be noted that the above specific embodiments are exemplary, and those skilled in the art can come up with various solutions inspired by the disclosed content of the present invention, and these solutions also fall within the scope of the disclosure of the present invention and within the protection scope of the present invention. Those skilled in the art should understand that the description and drawings of the present invention are illustrative and do not constitute a limitation on the claims. The protection scope of the present invention is defined by the claims and their equivalents.

Claims

1. A pipeline detection device, comprising: A main body (1) for carrying a mobile control module (24) and a position sensor module (22); A mobile control module (24) for controlling the movement parameters of the main body (1); A position sensor module (22) for determining the relative position parameters of the main body (1); An environment perception module (37) electrically connected to a processing module (38), the environment perception module (37) including an infrared detector module (4) and an ultrasonic module (6), and the processing module (38) calculating obstacle parameters based on the data collected by the infrared detector module (4) and the ultrasonic module (6); Characterized in that the processing module (38) receives the relative position parameters of the pipeline detection device and the obstacle parameters transmitted by the position sensor module (22) and the environment perception module (37), and guides the mobile control module (24) to control the movement of the detection device; the position sensor module (22) calculates the relative position parameters of the pipeline detection device relative to the initial position based on the movement parameters of the pipeline detection device and guides the mobile control module (24) to control the movement parameters of the main body (1); The pipeline detection device is of an eight-legged spider type, and its driving device is symmetrically provided with eight three-section walking units, and the three sections of each walking unit are connected by a servo motor. The first servo motor is connected to the main body (1), the second servo motor is connected to the first servo motor and is in the middle, and the third servo motor is the end servo motor connected to the adsorption foot (18) and connected to the second servo motor; The pipeline detection device is divided into different execution modes according to the detection device parameter information and the obstacle parameters, including: a steering mode for changing the direction at the joint of the first servo motor connected to the main body (1); an obstacle crossing mode for changing the angle at the joint of the second servo motor, wherein the second servo motor joint of the foot of the walking unit of the pipeline detection device rotates around the transmission bearing (19) of the walking unit servo motor by a certain angle to raise the center of gravity of the pipeline detection device, so as to cross a small obstacle; and a wall climbing mode for changing the angle at the joint of the end third servo motor, wherein when the environment perception module and the position sensor module (22) detect that the front of the first direction of movement is a vertical pipeline, the first servo motor of the first walking unit (3) and the fifth walking unit (29) rotates around the transmission bearing (7) of the main body and the walking unit until it touches the vertical pipe wall in the positive direction of the first direction, and the second servo motor joint rotates 90 degrees around the transmission bearing (19) of the walking unit servo motor until the third servo motor and the adsorption foot (18) are in a state perpendicular to the vertical pipe wall, and at this time the adsorption foot (18) contacts the vertical pipe wall.

2. The pipeline detection device according to claim 1, wherein, The position sensor module (22) measures the attitude data of the speed and angular velocity of the pipeline detection device in real time and sends the data to the processing module (38), and the processing module (38) can obtain the relative position parameters of the pipeline detection device relative to the initial position based on the collected data information.

3. The pipeline detection device according to claim 2, wherein, The processing module (38) corrects the relative position parameter of the obstacle parameter measured by the current pipeline detection device based on the obstacle parameter obtained through corresponding filtering and processing and the preset obstacle parameter, and sends the obstacle parameter to the movement control module (24).

4. The pipeline detection device according to claim 1, characterized in that During the working process of the pipeline detection device, the relative position parameter continuously changes, and the pipeline detection device needs to continuously receive new relative position parameters and obstacle parameters for real-time path planning.

5. The pipeline detection device according to claim 4, characterized in that In terms of automatic control, the pipeline detection device adopts a method combining path planning and automatic control. Based on the infrared sensor (13) and the ultrasonic sensor (10), it can detect the path conditions within a preset range, collect road information, plan a suitable path, and the movement control module adds a calibration system to realize the automatic registration of the walking path.

6. The pipeline detection device according to claim 1, wherein The movement control module (24) can add the connection mode of the wireless transmission module (21), so that the movement control module (24) can be remotely regulated in the connection mode of the wireless transmission module (21).

7. The pipeline detection device according to claim 1, characterized in that The pipeline detection device uses the infrared sensor (13) and the ultrasonic sensor (10) to detect the situation inside the pipeline within a preset range and determine whether there is an obstacle, and selects the corresponding execution mode based on the object contour image and size obtained by the camera (16).

8. A detection method using the pipeline detection device according to any one of claims 1 to 7, characterized in that, Including: Cooperating with the control information to execute the detection task; Calculating the relative position parameter based on the movement parameter; Identifying the surrounding obstacle shape parameter based on the image information; Automatically planning the obstacle avoidance path of the pipeline detection device based on the relative position parameter, the obstacle parameter and the target point, and guiding the movement of the detection device; calculating the distance and direction parameters of the detection device relative to the initial position by combining the previous data information; collecting and calculating the information parameters of the obstacle; performing the optimal path planning at intervals based on the relative position parameter and the obstacle parameter, and guiding the movement of the detection device.

Images