A pipeline and hole wall scanning robot based on 3D laser scanning and its use method

Abstract

The present invention relates to a pipeline and borehole wall scanning robot based on 3D laser scanning, comprising a laser acquisition head, a sampling protective shell, an electro-hydraulic servo propulsion mechanism, a tail sleeve, a load-bearing climbing foot, a sled, an auxiliary control circuit, and a main controller. The sampling protective shell and the tail sleeve are connected via the electro-hydraulic servo propulsion mechanism. The laser acquisition head is embedded in the sampling protective shell, the auxiliary control circuit is embedded in the tail sleeve, and the main controller is located outside the sampling protective shell and the tail sleeve. The sampling protective shell and the tail sleeve both carry load-bearing climbing feet, and the front end of the load-bearing climbing foot is connected to the sled. The method of use includes three steps: equipment assembly, inspection operation, and data communication. On the one hand, the present invention can effectively and flexibly adjust the equipment structure according to the pipeline structure and effectively improve the equipment's ability to resist obstacles during operation. On the other hand, it has high detection accuracy and comprehensive information data for the interior of the pipeline, thereby greatly improving the accuracy and comprehensiveness of pipeline inspection operations.

Description

Technical Field

[0001] The invention relates to a pipeline and hole wall scanning robot based on 3D laser scanning, belonging to the technical field of robots. Background Art

[0002] Due to their nature, sewage pipes are easily clogged by debris and silt, and are also susceptible to corrosion and damage. Furthermore, sewage pipes are typically laid along road edges, which can easily damage and deform the roadbed. Furthermore, specialized drainage pipes, such as those used in gas extraction, contain a three-phase system consisting of pulverized coal, water, and gas. The pulverized coal and water can easily combine to form coal slurry, causing pipe blockage. Even in the case of large-diameter drilling, the inclination angle, trajectory, and hole wall integrity require accurate evaluation during construction. Therefore, pipeline cross-section scanning equipment has a wide range of applications. However, current cross-section scanning equipment often has a fixed structure during operation and requires a data connection to external control equipment via wires. This makes it susceptible to limitations in wire length and pipe diameter.

[0003] In actual work, since internal pipeline inspection is necessary and the operation is complicated, for example, mine gas extraction pipelines, production ventilation pipelines, daily water and production drainage pipelines may be blocked. The same pipeline equipment often needs to be connected to multiple pipeline equipment with different diameters, resulting in large changes in the inner diameter of the pipeline equipment under inspection and poor reliability of the pipeline surface structure quality, which makes the current pipeline end face inspection equipment very easy to be blocked during inspection and unable to operate normally; at the same time, due to the great differences in pipeline distribution direction, layout angle and pipeline length, the current pipeline section inspection equipment cannot accurately locate the pipeline during operation, and is easily affected by the environment during operation, resulting in insufficient data transmission capacity, and is easily limited by the length of the data transmission wire, resulting in a limited operating range of the equipment. In addition, the wire is easily too long, which increases the risk of the wire being affected by the pipeline structure and breaking when the equipment is running in the pipeline, thereby seriously affecting the stability and reliability of the pipeline section inspection equipment.

[0004] Therefore, to address this problem, there is an urgent need to develop a pipeline and hole wall scanning robot based on 3D laser scanning and its use method to meet the needs of actual use. Summary of the Invention

[0005] In order to solve the deficiencies in the prior art, the present invention provides a pipeline and hole wall scanning robot based on 3D laser scanning and a usage method. On the one hand, the device structure can be effectively and flexibly adjusted according to the pipeline structure, so as to effectively meet the needs of detecting different inner diameter pipeline devices, greatly improving the flexibility and versatility of device use, and effectively enhancing the anti-obstacle ability during device operation; on the other hand, the internal detection accuracy of the pipeline is high, and the information data is comprehensive. While effectively collecting video signals of the pipeline internal environment, it can also accurately observe the distribution position, thickness and distribution appearance structure of sundries attached to the pipeline wall; in addition, during operation, it can also accurately detect the observation position and the pipeline distribution trend state synchronously, thus greatly improving the accuracy and comprehensiveness of pipeline detection operations.

[0006] In order to achieve the above object, the invention is realized through the following technical solutions:

[0007] A pipeline and hole wall scanning robot based on 3D laser scanning includes a laser acquisition head, a sampling protective shell, an electro-hydraulic servo propulsion mechanism, a tail sleeve, a bearing climbing foot, a skid plate, an elastic sealing ring, an auxiliary control circuit, and a main controller. The sampling protective shell and the tail sleeve are both columnar cavity structures with an axial cross-section in the shape of a "C", and the rear end face of the sampling protective shell is connected to the front end face of the tail sleeve through an electro-hydraulic servo propulsion mechanism and is coaxially distributed. Elastic sealing rings coaxially distributed with them are provided on the front end face of the sampling protective shell and the rear end face of the tail sleeve. The laser acquisition head is embedded in the sampling protective shell, coaxially distributed with the sampling protective shell and slidably connected. The auxiliary control circuit is embedded in the tail sleeve and is electrically connected to the laser acquisition head, the sampling protective shell, the hydraulic servo propulsion system and the main controller respectively. The main controller is located outside the sampling protective shell and the tail sleeve. Elastic hinges are used to connect the sampling protective shell and the tail sleeve to 3 - 6 bearing climbing feet evenly distributed around their axes, and the angle between the axis of the bearing climbing foot and the axes of the sampling protective shell and the tail sleeve is 0° - 90°. The front end face of the bearing climbing foot is also connected to a skid plate through an elastic hinge, and the plane of the skid plate forms an angle of 0° - 60° with the axes of the sampling protective shell and the tail sleeve.

[0008] Further, the sampling protective housing includes a rigid sleeve, a tray, a horizontal driving mechanism, a rotary driving mechanism, a positioning fixture, and a cleaning brush. The rigid sleeve is a columnar cavity structure with a "C"-shaped axial cross-section. There are at least two horizontal driving mechanisms, which are embedded in the rigid sleeve and evenly distributed around the axis of the rigid sleeve. The tray is embedded in the rigid sleeve and coaxially distributed with the rigid sleeve. The side wall of the tray is slidably connected to the inner side surface of the rigid sleeve through the horizontal driving mechanism. A rotary driving mechanism coaxially distributed with it is provided on the front end surface of the tray. The rotary driving mechanism is also connected to at least two positioning fixtures evenly distributed around its axis, and is connected to the rear end of the laser acquisition head through the positioning fixture. The laser acquisition head performs a rotational movement within the range of 0° - 360° through the rotary driving mechanism. At the same time, the distance between the front end surface of the tray and the front end surface of the rigid sleeve is 0 to 1.5 times the length of the laser acquisition head. At least two cleaning brushes evenly distributed around the axis of the rigid sleeve are provided on the inner side surface of the rigid sleeve corresponding to the laser acquisition head. The cleaning brushes are parallel to the axis of the rigid sleeve and abut against the outer side surface of the laser acquisition head. At the same time, the outer side surface of the laser acquisition head also abuts against an elastic sealing ring. The horizontal driving mechanism and the rotary driving mechanism are also electrically connected to an auxiliary control circuit and are electrically connected to the main controller through the auxiliary control circuit.

[0009] Further, a connecting groove is provided on the side wall of the rigid sleeve corresponding to the cleaning brush. The rear end surface of the cleaning brush is embedded in the connecting groove and is connected to the rigid sleeve through the connecting groove. At least two through holes evenly distributed along the axis of the connecting groove are provided at the position of the side wall of the rigid sleeve corresponding to the bottom of the connecting groove.

[0010] Further, the laser acquisition head includes a bearing column, a lighting lamp, an observation camera, a laser scanner, a transparent cover, a gravity sensor, an acceleration sensor, a temperature and humidity sensor, a positioning frame, and a wiring terminal. The bearing column is a cylindrical cavity structure. An observation window coaxially distributed with it is provided on the front end surface. At least three survey windows evenly distributed around the axis of the bearing column are provided on the side wall. Transparent covers are provided at both the observation window and the survey windows. The bearing column forms a closed cavity structure through the transparent cover. There is at least one lighting lamp and at least one temperature and humidity sensor, which are embedded in the front end surface of the bearing column and are parallel to the axis of the bearing column. The positioning frame is embedded in the bearing column, is a frame structure coaxially distributed with the bearing column, and is connected to the inner side surface of the bearing column. The observation camera and the laser scanner are both located in the bearing column and are connected to the positioning frame. The observation camera is coaxially distributed with the observation window. The number of laser scanners is the same as that of the survey windows, and a laser scanner coaxially distributed with each survey window is provided at the corresponding position of each survey window. Each laser scanner operates independently of each other. The gravity sensor, the acceleration sensor, and the wiring terminal are all connected to the rear end surface of the positioning frame. A wiring hole is provided on the rear end surface of the bearing column corresponding to the wiring terminal. The wiring terminal is electrically connected to the lighting lamp, the observation camera, the laser scanner, the gravity sensor, the acceleration sensor, the temperature and humidity sensor, and the auxiliary control circuit respectively, and is electrically connected to the main controller through the auxiliary control circuit.

[0011] Furthermore, the outer sides of the sampling protective shell and the tail sleeve corresponding to the load-bearing climbing foot are provided with guide grooves, and when the axis of the load-bearing climbing foot is parallel to the axis of the sampling protective shell and the tail sleeve, the load-bearing climbing foot is embedded in the guide groove, and the load-bearing climbing foot includes an electric telescopic column, a guide wheel, a hard jacket column, and a load-bearing spring. The upper end surface of the hard jacket column is provided with an adjustment groove coaxially distributed therewith, and the lower half of the electric telescopic column is embedded in the adjustment groove, coaxially distributed with the adjustment groove and slidingly connected to the side wall of the adjustment groove, and at the same time, the lower end surface of the electric telescopic column is resisted against the bottom of the adjustment groove by the load-bearing spring, and at the same time, the upper end surface of the electric telescopic column is hinged to the sampling protective shell and the outer surface of the tail sleeve through an elastic hinge, and the lower end surface of the hard jacket column is connected to the skid plate, and the outer side surface of the hard jacket column is provided with at least two guide wheels evenly distributed along its axis, and when the axis of the load-bearing climbing foot is parallel to the axis of the sampling protective shell and the tail sleeve, the wheel surface of the guide wheel exceeds the outer side surface of the sampling protective shell and the tail sleeve by at least 5 mm.

[0012] Furthermore, when the axis of the load-bearing climbing foot is distributed parallel to the axis of the sampling protective shell and the tail sleeve, the load-bearing climbing foot connected to the sampling protective shell extends beyond the front end surface of the sampling protective shell by at least 3 cm, and the load-bearing climbing foot connected to the tail sleeve extends beyond the rear end surface of the tail sleeve by at least 3 cm, and the wheel surface of the guide wheel has a cross-section of an isosceles trapezoid or an isosceles triangle.

[0013] Furthermore, the two ends of the electro-hydraulic servo propulsion mechanism are hinged to the sampling protective shell and the tail sleeve through elastic hinges respectively, and an elastic sleeve is provided between the sampling protective shell and the tail sleeve corresponding to the electro-hydraulic servo propulsion mechanism, and the elastic sleeve is covered on the outside of the hydraulic servo propulsion system.

[0014] Furthermore, the auxiliary control circuit and the main controller are both circuit systems based on any one of FPGA and DSP. The auxiliary control circuit and the main controller are both equipped with wireless communication circuits and serial communication circuits, and data connections are established between the auxiliary control circuit and the main controller through the wireless communication circuit and the serial communication circuit at the same time. In addition, the auxiliary control circuit is also equipped with a GNSS satellite positioning circuit, a UWB communication circuit and an emergency drive power supply; the main controller is also equipped with a console, a multi-channel voltage stabilization circuit and a control interface based on any one or more of a display, a potentiometer, a signal indicator light, and a button. The main controller and the multi-channel voltage stabilization circuit are both located in the console, and the control interface is embedded in the outer side of the console.

[0015] A method for using a pipeline and hole wall scanning robot based on 3D laser scanning includes the following steps:

[0016] S1, equipment assembly: First, the sampling protection shell and tail sleeve are set according to the average inner diameter of the pipeline equipment to be inspected. At the same time, the maximum length of each load-bearing climbing foot and the length of the wire used to connect the auxiliary control circuit and the main controller are set. Then, the laser collection head, sampling protection shell, electro-hydraulic servo propulsion mechanism, tail sleeve, load-bearing climbing foot, skid, elastic sealing ring, auxiliary control circuit, and main controller are assembled to obtain the finished scanning robot;

[0017] S2, inspection operation, inserts the assembled scanning robot into the pipeline to be inspected, and makes the scanning robot's load-bearing climbing foot abut against the inner wall of the pipeline to be inspected through the skid, while making the sampling protection shell and the tail sleeve coaxially distributed. Then the main controller sends the pipeline inspection control command to the auxiliary control circuit, and the auxiliary control circuit drives the electro-hydraulic servo propulsion mechanism, laser collection head, and sampling protection shell to operate synchronously. During operation, the electro-hydraulic servo propulsion mechanism first provides forward driving force to the fixed sampling protection shell and tail sleeve, making the scanning robot run along the pipeline axis. Then it drives the horizontal driving mechanism of the sampling protection shell to operate, and extends the laser collection head located inside it from the sampling protection shell; finally, it drives the observation camera, laser scanner, gravity sensor, acceleration sensor, and temperature and humidity sensor of the laser collection head to operate. When the laser collection head is in operation:

[0018] The observation camera directly detects the video data of the internal environment of the pipeline;

[0019] The laser scanner detects the distance between the debris on the pipe wall and the laser scanner, and scans the debris structure status at the same time, thereby obtaining the debris accumulation thickness data and three-dimensional distribution state parameters. When the laser scanner is running, the rotary drive mechanism synchronously drives the laser scanner to rotate. The rotation operation realizes the comprehensive detection of the inner wall of the pipe by the laser scanner, and can also realize the precise adjustment of the working position of the laser scanner according to the position of the debris.

[0020] The gravity sensor measures the change in the scanning robot's center of gravity during the inspection process, thereby determining the current distribution direction of the pipeline. Furthermore, the GNSS satellite positioning circuit in the auxiliary control circuit enables further precise positioning of the pipeline under good wireless communication conditions.

[0021] The acceleration sensor detects the running speed of the scanning robot during operation;

[0022] The temperature and humidity parameters inside the pipeline are detected by the temperature and humidity sensor;

[0023] S3, data communication, the data obtained in step S2 is first sent to the auxiliary control circuit. After the auxiliary control circuit processes the collected data, it is transmitted to the main controller through a wire. On the other hand, the data is wirelessly transmitted through the wireless communication circuit between the auxiliary control circuit and the main controller.

[0024] Furthermore, during the operation of steps S2 and S3, when the distance between the main controller and the auxiliary control circuit is greater than the initially set wire length or the wire fails, the wire connection between the auxiliary control circuit and the main controller is disconnected. On the one hand, the emergency drive power supply of the auxiliary control circuit provides operating power, and on the other hand, the detection data is wirelessly transmitted through the wireless communication circuit.

[0025] The present invention has a simple structure and is flexible and convenient to operate. It can effectively realize patrol inspection operations on the internal status of narrow spaces such as pipelines, and has strong data interactive communication capabilities. On the one hand, the equipment structure can be flexibly adjusted according to the pipeline structure, thereby effectively meeting the needs of detecting pipeline equipment with different inner diameters, thereby greatly improving the flexibility and versatility of equipment use, and effectively improving the ability of the equipment to resist obstacles during operation; on the other hand, it has high detection accuracy inside the pipeline and comprehensive information data. While effectively collecting video signals of the environment inside the pipeline, it can also realize accurate observation of the distribution position, thickness and distribution appearance structure of debris attached to the pipeline wall; in addition, during operation, the observation position and pipeline distribution direction status can be synchronously and accurately detected, thereby greatly improving the accuracy and comprehensiveness of pipeline detection operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments;

[0027] Figure 1 It is a schematic diagram of the structure of the present invention;

[0028] Figure 2 It is a schematic diagram of the partial structure of the cross section of the present invention;

[0029] Figure 3 This is a schematic diagram of the local connection structure between the laser collection head, sampling protection shell, electro-hydraulic servo propulsion mechanism, and tail sleeve;

[0030] Figure 4 The figure is a flow chart of the method for using the present invention. DETAILED DESCRIPTION

[0031] In order to facilitate the construction of the technical means, creative features, objectives and effects achieved by the present invention, the present invention is further described below in conjunction with specific implementation methods.

[0032] like Figure 1-3As shown in the figure, a pipeline and hole wall scanning robot based on 3D laser scanning includes a laser acquisition head 1, a sampling protective shell 2, an electro-hydraulic servo propulsion mechanism 3, a tail sleeve 4, a bearing climbing foot 5, a skid plate 6, an elastic sealing ring 7, an auxiliary control circuit 8, and a main controller 9. The sampling protective shell 2 and the tail sleeve 4 are both columnar cavity structures with a "C" - shaped axial cross - section. The rear end face of the sampling protective shell 2 is connected to the front end face of the tail sleeve 4 through the electro - hydraulic servo propulsion mechanism 3 and is coaxially distributed. Elastic sealing rings 7 are provided on the front end face of the sampling protective shell 2 and the rear end face of the tail sleeve 4, which are coaxially distributed with them. The laser acquisition head 1 is embedded in the sampling protective shell 2, coaxially distributed with the sampling protective shell 2 and slidably connected. The auxiliary control circuit 8 is embedded in the tail sleeve 4 and is electrically connected to the laser acquisition head 1, the sampling protective shell 2, the hydraulic servo propulsion system 3, and the main controller 9 respectively. The main controller 9 is located outside the sampling protective shell 2 and the tail sleeve 4. Elastic hinges are used to connect the sampling protective shell 2 and the tail sleeve 4 to 3 - 6 bearing climbing feet 5 evenly distributed around their axes. The axis of the bearing climbing foot 5 forms an angle of 0° - 90° with the axes of the sampling protective shell 2 and the tail sleeve 4. The front end face of the bearing climbing foot 5 is further connected to a skid plate 6 through an elastic hinge, and the plane of the skid plate 6 forms an angle of 0° - 60° with the axes of the sampling protective shell 2 and the tail sleeve 4.

[0033] It should be emphasized that the sampling protective shell 2 includes a hard sleeve 21, a tray 22, a horizontal driving mechanism 23, a rotary driving mechanism 24, a positioning fixture 25, and a cleaning brush 26. The hard sleeve 21 is a columnar cavity structure with a "C" - shaped axial cross - section. There are at least two horizontal driving mechanisms 23, which are embedded in the hard sleeve 21 and evenly distributed around the axis of the hard sleeve 21. The tray 22 is embedded in the hard sleeve 21 and coaxially distributed with the hard sleeve 21. The side wall of the tray 22 is slidably connected to the inner side surface of the hard sleeve 21 through the horizontal driving mechanism 23. A rotary driving mechanism 24 coaxially distributed with it is provided on the front end face of the tray 22. The rotary driving mechanism 24 is further connected to at least two positioning fixtures 25 evenly distributed around its axis, and is connected to the rear end of the laser acquisition head 1 through the positioning fixture 25. The laser acquisition head 1 can perform a rotational movement within the range of 0° - 360° through the rotary driving mechanism 24. At the same time, the distance between the front end face of the tray 22 and the front end face of the hard sleeve 21 is 0 to 1.5 times the length of the laser acquisition head 1. At least two cleaning brushes 26 evenly distributed around the axis of the hard sleeve 21 are provided on the inner side surface of the hard sleeve 21 corresponding to the laser acquisition head 1. The cleaning brushes 26 are parallel to the axis of the hard sleeve 21 and are in contact with the outer side surface of the laser acquisition head 1. At the same time, the outer side surface of the laser acquisition head 1 is also in contact with the elastic sealing ring 7. The horizontal driving mechanism 23 and the rotary driving mechanism 24 are also electrically connected to the auxiliary control circuit 8 and are electrically connected to the main controller 9 through the auxiliary control circuit 8.

[0034] Further optimized, the horizontal driving mechanism is any one of a linear motor and a screw mechanism; the rotary driving mechanism is a motor.

[0035] Among them, a connecting groove 27 is provided on the side wall of the hard cover 21 corresponding to the cleaning brush 26, and the rear end face of the cleaning brush 26 is embedded in the connecting groove 27 and connected to the hard cover 21 through the connecting groove 27. At least two through holes 28 are evenly distributed along the axis of the connecting groove at the side wall position of the hard cover 21 corresponding to the bottom of the connecting groove 27.

[0036] When the laser collection head is retracted into the hard cover, on the one hand, the hard cover provides protection for the laser collection head; on the other hand, the laser collection head is rotated by the rotary drive mechanism, and during the rotation process, the side surface of the laser collection head is cleaned by the cleaning brush, thereby improving the laser collection head's resistance to damage and environmental pollution, and preventing damage or interference caused by external force impact or corrosion by pollutants.

[0037] In this embodiment, the laser collection head 1 includes a supporting column 101, an illuminating lamp 102, an observation camera 103, a laser scanner 104, a transparent protective cover 105, a gravity sensor 106, an acceleration sensor 107, a temperature and humidity sensor 108, a positioning frame 109 and a terminal 100. The supporting column 101 is a cylindrical cavity structure, and its front end face is provided with an observation window 110 coaxially distributed therewith, and the side wall is provided with at least three mapping windows 120 evenly distributed around the axis of the supporting column 101, and the observation window 110 and the mapping window 120 are both provided with a transparent protective cover 105. The supporting column 101 forms a closed cavity structure through the transparent protective cover 105. The illuminating lamp 102 and the temperature and humidity sensor 108 are each at least one, embedded in the front end face of the supporting column 101 and distributed parallel to the axis of the supporting column 101. The positioning frame 109 is embedded in the supporting column 101, and is a frame structure coaxially distributed with the supporting column 101 and connected to the inner side of the supporting column 101. The observation camera 103 and the laser scanner 104 are both located in the supporting column 101 and connected to the positioning frame 109. The observation camera 103 is coaxially distributed with the observation window 110. The number of the laser scanners 104 is the same as that of the surveying and mapping windows 120, and each surveying and mapping window 120 is provided with a laser scanner 104 coaxially distributed therewith at the corresponding position, and each laser scanner 104 operates independently of each other. The gravity sensor 106, the acceleration sensor 107 and the wiring terminal 100 are all connected to the rear end face of the positioning frame 109, and the wiring terminal 100 is provided with a wiring hole 130 on the rear end face of the supporting column 101. The wiring terminal 100 is electrically connected to the lighting lamp 102, the observation camera 103, the laser scanner 104, the gravity sensor 106, the acceleration sensor 107, the temperature and humidity sensor 108 and the auxiliary control circuit 8 respectively, and is electrically connected to the main controller 9 through the auxiliary control circuit 8.

[0038] It is particularly noted that the outer sides of the sampling protective shell 2 and the tail sleeve 4 corresponding to the load-bearing climbing foot 5 are provided with a guide groove 10, and when the axis of the load-bearing climbing foot 5 is parallel to the axis of the sampling protective shell 2 and the tail sleeve 4, the load-bearing climbing foot 5 is embedded in the guide groove 10, and the load-bearing climbing foot 5 includes an electric telescopic column 51, a guide wheel 52, a hard sheath column 53, and a load-bearing spring 54. The upper end surface of the hard sheath column 53 is provided with an adjustment groove 55 coaxially distributed therewith, and the lower half of the electric telescopic column 51 is embedded in the adjustment groove 55, coaxially distributed with the adjustment groove 55 and slidably connected to the side wall of the adjustment groove 55, and at the same time, the lower end surface of the electric telescopic column 51 is connected to the The bottom of the adjustment groove 55 is counteracted by a load-bearing spring 54. At the same time, the upper end surface of the electric telescopic column 51 is hinged to the outer surface of the sampling protective shell 2 and the tail sleeve 4 through an elastic hinge. The lower end surface of the hard jacket column 53 is connected to the sled 6. The outer side surface of the hard jacket column 53 is provided with at least two guide wheels 52 evenly distributed along its axis, and when the axis of the load-bearing climbing foot 5 is parallel to the axis of the sampling protective shell 2 and the tail sleeve 4, the wheel surface of the guide wheel 52 exceeds the outer side surface of the sampling protective shell 2 and the tail sleeve 4 by at least 5 mm. In addition, the electric telescopic columns are electrically connected to the auxiliary control circuit 8, and are electrically connected to the main controller 9 through the auxiliary control circuit 8.

[0039] For further optimization, a pressure sensor 56 is provided between the load-bearing spring 54 and the electric telescopic column 51 , and the pressure sensor 56 is electrically connected to the auxiliary control circuit 8 .

[0040] During displacement operation, when it is necessary to move forward, the electric telescopic column of the load-bearing climbing foot connected to the tail sleeve is driven to extend, thereby increasing the overall length of the load-bearing climbing foot, and utilizing the driving force of the electric telescopic column when extending to increase the pressure between the sled and the pipe wall at the tail sleeve, thereby achieving the positioning of the tail sleeve; at the same time, the electric telescopic column of the load-bearing climbing foot corresponding to the sampling protective shell retracts, thereby reducing the pressure between the load-bearing climbing foot sled and the inner wall of the pipe at the sampling protective shell, and then driving the electro-hydraulic servo propulsion mechanism to operate, which provides the sampling protective shell with a forward or backward driving force to realize the movement of the sampling protective shell. After the movement of the sampling protective shell is completed, the sampling protective shell and the load-bearing climbing feet at the tail sleeve position are operated in reverse to complete the forward or backward movement of the tail sleeve, thereby completing the purpose of moving the equipment in the pipeline.

[0041] By setting the guide groove, the load-bearing climbing foot can be distributed in parallel with the sampling protection shell and the tail sleeve, which can minimize the structure of the scanning robot equipment and meet the needs of detection in a small space.

[0042] At the same time, when the inner diameter of the pipeline changes, on the one hand, the angle between the load-bearing climbing foot and the sampling protective shell and the tail sleeve can be adjusted through the elastic hinge, so as to adjust the maximum outer diameter of the scanning robot to meet the needs of pipeline detection with different diameters; on the other hand, the length of the electric telescopic column can be compressed and the length of the electric telescopic column embedded in the hard sheath column to adjust the length of the load-bearing climbing foot, so as to further adjust the maximum outer diameter of the scanning robot to meet the needs of pipeline detection with different diameters.

[0043] At the same time, when the axis of the load-bearing climbing foot 5 is distributed parallel to the axis of the sampling protective shell 2 and the tail sleeve 4, the load-bearing climbing foot 5 connected to the sampling protective shell 2 exceeds the front end surface of the sampling protective shell 2 by at least 3 cm, and the load-bearing climbing foot 5 connected to the tail sleeve 4 exceeds the rear end surface of the tail sleeve 4 by at least 3 cm. The wheel surface of the guide wheel 52 has a cross-section of any one of an isosceles trapezoid and an isosceles triangle.

[0044] By means of the guide wheels, the sampling protective shell and the tail sleeve can be effectively supported when the load-bearing climbing foot is distributed in parallel with the sampling protective shell and the tail sleeve, and the friction between the sampling protective shell and the tail sleeve and the inside of the pipeline can be reduced, thereby improving the operational flexibility of the sampling protective shell and the tail sleeve and reducing the friction loss of the sampling protective shell and the tail sleeve during operation; in addition, the wheel surface of the skid plate and the guide wheel, which has any one of the isosceles trapezoidal and isosceles triangle structures, can effectively squeeze and destroy debris on the inner wall, thereby achieving the purpose of assisting in pipeline cleaning.

[0045] In this embodiment, the two ends of the electro-hydraulic servo propulsion mechanism 3 are hinged to the sampling protective shell 2 and the tail sleeve 4 through elastic hinges respectively, and an elastic sheath 11 is provided between the sampling protective shell 2 and the tail sleeve 4 corresponding to the electro-hydraulic servo propulsion mechanism 3, and the elastic sheath 11 is covered on the outside of the hydraulic servo propulsion system 3.

[0046] Further optimized, the electro-hydraulic servo propulsion mechanism is any one of an electric telescopic rod and an electro-hydraulic telescopic rod.

[0047] In this embodiment, the auxiliary control circuit 8 and the main controller 9 are both circuit systems based on any one of FPGA and DSP. The auxiliary control circuit 8 and the main controller 9 are both equipped with a wireless communication circuit and a serial communication circuit, and a data connection is established between the auxiliary control circuit 8 and the main controller 9 through the wireless communication circuit and the serial communication circuit at the same time. In addition, the auxiliary control circuit 8 is also equipped with a GNSS satellite positioning circuit, a UWB communication circuit and an emergency drive power supply; the main controller 9 is also equipped with a console 91, a multi-channel voltage stabilization circuit 92 and a control interface 93 based on any one or more of a display, a potentiometer, a signal indicator light, and a button. The main controller 9 and the multi-channel voltage stabilization circuit 92 are both located in the console 91, and the control interface 93 is embedded in the outer side of the console 91.

[0048] like Figure 4 As shown, a method for using a pipeline and hole wall scanning robot based on 3D laser scanning includes the following steps:

[0049] S1, equipment assembly: First, the sampling protection shell and tail sleeve are set according to the average inner diameter of the pipeline equipment to be inspected. At the same time, the maximum length of each load-bearing climbing foot and the length of the wire used to connect the auxiliary control circuit and the main controller are set. Then, the laser collection head, sampling protection shell, electro-hydraulic servo propulsion mechanism, tail sleeve, load-bearing climbing foot, skid, elastic sealing ring, auxiliary control circuit, and main controller are assembled to obtain the finished scanning robot;

[0050] S2, inspection operation, inserts the assembled scanning robot into the pipeline to be inspected, and makes the scanning robot's load-bearing climbing foot abut against the inner wall of the pipeline to be inspected through the skid, while making the sampling protection shell and the tail sleeve coaxially distributed. Then the main controller sends the pipeline inspection control command to the auxiliary control circuit, and the auxiliary control circuit drives the electro-hydraulic servo propulsion mechanism, laser collection head, and sampling protection shell to operate synchronously. During operation, the electro-hydraulic servo propulsion mechanism first provides forward driving force to the fixed sampling protection shell and tail sleeve, making the scanning robot run along the pipeline axis. Then it drives the horizontal driving mechanism of the sampling protection shell to operate, and extends the laser collection head located inside it from the sampling protection shell; finally, it drives the observation camera, laser scanner, gravity sensor, acceleration sensor, and temperature and humidity sensor of the laser collection head to operate. When the laser collection head is in operation:

[0051] The observation camera directly detects the video data of the internal environment of the pipeline;

[0052] The laser scanner detects the distance between the debris on the pipe wall and the laser scanner, and scans the debris structure status at the same time, thereby obtaining the debris accumulation thickness data and three-dimensional distribution state parameters. When the laser scanner is running, the rotary drive mechanism synchronously drives the laser scanner to rotate. The rotation operation realizes the comprehensive detection of the inner wall of the pipe by the laser scanner, and can also realize the precise adjustment of the working position of the laser scanner according to the position of the debris.

[0053] The gravity sensor measures the change in the scanning robot's center of gravity during the inspection process, thereby determining the current distribution direction of the pipeline. Furthermore, the GNSS satellite positioning circuit in the auxiliary control circuit enables further precise positioning of the pipeline under good wireless communication conditions.

[0054] The acceleration sensor detects the running speed of the scanning robot during operation;

[0055] The temperature and humidity parameters inside the pipeline are detected by the temperature and humidity sensor;

[0056] S3, data communication, the data obtained in step S2 is first sent to the auxiliary control circuit. After the auxiliary control circuit processes the collected data, it is transmitted to the main controller through a wire. On the other hand, the data is wirelessly transmitted through the wireless communication circuit between the auxiliary control circuit and the main controller.

[0057] In this embodiment, during the operation of steps S2 and S3, when the distance between the main controller and the auxiliary control circuit is greater than the initially set wire length or the wire fails, the wire connection between the auxiliary control circuit and the main controller is disconnected. On the one hand, the emergency drive power supply of the auxiliary control circuit provides operating power, and on the other hand, the detection data is wirelessly transmitted through the wireless communication circuit.

[0058] The present invention has a simple structure and is flexible and convenient to operate. It can effectively realize patrol inspection operations on the internal status of narrow spaces such as pipelines, and has strong data interactive communication capabilities. On the one hand, the equipment structure can be flexibly adjusted according to the pipeline structure, thereby effectively meeting the needs of detecting pipeline equipment with different inner diameters, thereby greatly improving the flexibility and versatility of equipment use, and effectively improving the ability of the equipment to resist obstacles during operation; on the other hand, it has high detection accuracy inside the pipeline and comprehensive information data. While effectively collecting video signals of the environment inside the pipeline, it can also realize accurate observation of the distribution position, thickness and distribution appearance structure of debris attached to the pipeline wall; in addition, during operation, the observation position and pipeline distribution direction status can be synchronously and accurately detected, thereby greatly improving the accuracy and comprehensiveness of pipeline detection operations.

[0059] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A pipeline and hole wall scanning robot based on 3D laser scanning, characterized by: The described pipeline and hole wall scanning robot based on 3D laser scanning includes a laser acquisition head, a sampling protective shell, an electro-hydraulic servo propulsion mechanism, a tail sleeve, a bearing climbing foot, a skid plate, an elastic sealing ring, an auxiliary control circuit, and a main controller. The sampling protective shell and the tail sleeve are both columnar cavity structures with an axial cross-section in the shape of a "C", and the rear end face of the sampling protective shell is connected to the front end face of the tail sleeve through the electro-hydraulic servo propulsion mechanism and is coaxially distributed. Elastic sealing rings are provided on the front end face of the sampling protective shell and the rear end face of the tail sleeve and are coaxially distributed with them. The laser acquisition head is embedded in the sampling protective shell, is coaxially distributed with the sampling protective shell, and is slidably connected. The auxiliary control circuit is embedded in the tail sleeve and is electrically connected to the laser acquisition head, the sampling protective shell, the electro-hydraulic servo propulsion mechanism, and the main controller respectively. And the main controller is located outside the sampling protective shell and the tail sleeve. Elastic hinges are used to connect the sampling protective shell and the tail sleeve to 3 - 6 bearing climbing feet evenly distributed around their axes. And the angle between the axis of the bearing climbing foot and the axes of the sampling protective shell and the tail sleeve is 0° - 90°. The front end face of the bearing climbing foot is connected to a skid plate through an elastic hinge, and the plane of the skid plate forms an angle of 0° - 60° with the axes of the sampling protective shell and the tail sleeve; The sampling protective shell includes a hard sleeve, a tray, a horizontal driving mechanism, a rotary driving mechanism, a positioning fixture, and a cleaning brush. The hard sleeve is a columnar cavity structure with an axial cross-section in the shape of a "C". There are at least two horizontal driving mechanisms, which are embedded in the hard sleeve and evenly distributed around the axis of the hard sleeve. The tray is embedded in the hard sleeve and is coaxially distributed with the hard sleeve. And the side wall of the tray is slidably connected to the inner side surface of the hard sleeve through the horizontal driving mechanism. A rotary driving mechanism coaxially distributed with it is provided on the front end face of the tray. The rotary driving mechanism is also connected to at least two positioning fixtures evenly distributed around its axis, and is connected to the rear end of the laser acquisition head through the positioning fixture. And the laser acquisition head performs a rotational movement within the range of 0° - 360° through the rotary driving mechanism. At the same time, the distance between the front end face of the tray and the front end face of the hard sleeve is 0 to 1.5 times the length of the laser acquisition head. At least two cleaning brushes evenly distributed around the axis of the hard sleeve are provided on the inner side surface of the hard sleeve corresponding to the laser acquisition head. And the cleaning brushes are parallel to the axis of the hard sleeve and are in contact with the outer side surface of the laser acquisition head. At the same time, the outer side surface of the laser acquisition head is also in contact with the elastic sealing ring. The horizontal driving mechanism and the rotary driving mechanism are both electrically connected to the auxiliary control circuit and are electrically connected to the main controller through the auxiliary control circuit; Guide grooves are provided on the outer side surfaces of the sampling protective shell and the tail sleeve corresponding to the bearing climbing feet. And when the axis of the bearing climbing foot is parallel to the axes of the sampling protective shell and the tail sleeve, the bearing climbing foot is embedded in the guide groove.

2. The pipeline and hole wall scanning robot based on 3D laser scanning according to claim 1, characterized in that: Connection grooves are provided on the side wall of the hard sleeve corresponding to the cleaning brushes. The rear end face of the cleaning brush is embedded in the connection groove and is connected to the hard sleeve through the connection groove. At least two through holes evenly distributed along the axis of the connection groove are provided at the position of the side wall of the hard sleeve corresponding to the bottom of the connection groove.

3. The pipeline and hole wall scanning robot based on 3D laser scanning according to claim 1, characterized in that: The laser collection head includes a supporting column, a lighting lamp, an observation camera, a laser scanner, a transparent protective cover, a gravity sensor, an acceleration sensor, a temperature and humidity sensor, a positioning frame and a terminal block. The supporting column is a cylindrical cavity structure, and an observation window coaxially distributed therewith is provided on its front end face, and at least three mapping windows uniformly distributed around the axis of the supporting column are provided on the side wall, and transparent protective covers are provided at the observation windows and the mapping windows. The supporting column forms a closed cavity structure through the transparent protective cover. At least one lighting lamp and temperature and humidity sensor are embedded in the front end face of the supporting column and distributed parallel to the axis of the supporting column. The positioning frame is embedded in the supporting column and is a frame structure coaxially distributed therewith and connected to the inner side of the supporting column. The observation camera and laser scanner are both located in the supporting column and connected to the positioning frame. The observation camera is coaxially distributed with the observation window. The number of laser scanners is the same as that of surveying and mapping windows, and each surveying and mapping window is provided with a coaxially distributed laser scanner at the corresponding position, and each laser scanner operates independently of each other. The gravity sensor, acceleration sensor and wiring terminals are all connected to the rear end face of the positioning frame, and the wiring terminals are provided with wiring holes on the rear end face of the supporting column. The wiring terminals are respectively electrically connected to the lighting, observation camera, laser scanner, gravity sensor, acceleration sensor, temperature and humidity sensor and auxiliary control circuit, and are electrically connected to the main controller through the auxiliary control circuit.

4. The pipeline and hole wall scanning robot based on 3D laser scanning according to claim 1, characterized in that: The load-bearing climbing foot includes an electric telescopic column, a guide wheel, a hard jacket column, and a load-bearing spring. The upper end surface of the hard jacket column is provided with an adjustment groove coaxially distributed therewith. The lower half of the electric telescopic column is embedded in the adjustment groove, coaxially distributed therewith and slidingly connected to the side wall of the adjustment groove. At the same time, the lower end surface of the electric telescopic column is resisted against the bottom of the adjustment groove by a load-bearing spring. At the same time, the upper end surface of the electric telescopic column is hinged to the outer surface of the sampling protective shell and the tail sleeve through an elastic hinge, and the lower end surface of the hard jacket column is connected to the skid. The outer side surface of the hard jacket column is provided with at least two guide wheels evenly distributed along its axis, and when the axis of the load-bearing climbing foot is parallel to the axis of the sampling protective shell and the tail sleeve, the wheel surface of the guide wheel exceeds the outer side surface of the sampling protective shell and the tail sleeve by at least 5 mm.

5. The pipeline and hole wall scanning robot based on 3D laser scanning according to claim 4, characterized in that: When the axis of the load-bearing climbing foot is distributed parallel to the axis of the sampling protective shell and the tail sleeve, the load-bearing climbing foot connected to the sampling protective shell extends beyond the front end surface of the sampling protective shell by at least 3 cm, and the load-bearing climbing foot connected to the tail sleeve extends beyond the rear end surface of the tail sleeve by at least 3 cm. The wheel surface of the guide wheel has a cross-section of an isosceles trapezoid or an isosceles triangle.

6. The pipeline and hole wall scanning robot based on 3D laser scanning according to claim 5, characterized in that: The two ends of the electro-hydraulic servo propulsion mechanism are hinged to the sampling protection shell and the tail sleeve through elastic hinges respectively, and an elastic sleeve is provided between the sampling protection shell and the tail sleeve corresponding to the electro-hydraulic servo propulsion mechanism, and the elastic sleeve is covered outside the electro-hydraulic servo propulsion mechanism.

7. The pipeline and hole wall scanning robot based on 3D laser scanning according to claim 1, characterized in that: The auxiliary control circuit and the main controller are both circuit systems based on any one of FPGA and DSP. The auxiliary control circuit and the main controller are both equipped with wireless communication circuit and serial communication circuit, and data connection is established between the auxiliary control circuit and the main controller through the wireless communication circuit and the serial communication circuit at the same time. In addition, the auxiliary control circuit is also equipped with a GNSS satellite positioning circuit, a UWB communication circuit and an emergency drive power supply; the main controller is also equipped with a console, a multi-channel voltage stabilization circuit and a control interface based on any one or more of a display, a potentiometer, a signal indicator light, and a button. The main controller and the multi-channel voltage stabilization circuit are both located in the console, and the control interface is embedded in the outer side of the console.

8. The method for using a pipeline and hole wall scanning robot based on 3D laser scanning according to claim 1, characterized in that: The method of using the pipeline and hole wall scanning robot based on 3D laser scanning includes the following steps: S1, equipment assembly: First, the sampling protection shell and tail sleeve are set according to the average inner diameter of the pipeline equipment to be inspected. At the same time, the maximum length of each load-bearing climbing foot and the length of the wire used to connect the auxiliary control circuit and the main controller are set. Then, the laser collection head, sampling protection shell, electro-hydraulic servo propulsion mechanism, tail sleeve, load-bearing climbing foot, skid, elastic sealing ring, auxiliary control circuit, and main controller are assembled to obtain the finished scanning robot; S2, inspection operation, inserts the assembled scanning robot into the pipeline to be inspected, and makes the scanning robot's load-bearing climbing foot abut against the inner wall of the pipeline to be inspected through the skid, while making the sampling protection shell and the tail sleeve coaxially distributed. Then the main controller sends the pipeline inspection control command to the auxiliary control circuit, and the auxiliary control circuit drives the electro-hydraulic servo propulsion mechanism, laser collection head, and sampling protection shell to operate synchronously. During operation, the electro-hydraulic servo propulsion mechanism first provides forward driving force to the fixed sampling protection shell and tail sleeve, making the scanning robot run along the pipeline axis. Then it drives the horizontal driving mechanism of the sampling protection shell to operate, and extends the laser collection head located inside it from the sampling protection shell; finally, it drives the observation camera, laser scanner, gravity sensor, acceleration sensor, and temperature and humidity sensor of the laser collection head to operate. When the laser collection head is in operation: The observation camera directly detects the video data of the internal environment of the pipeline; The laser scanner detects the distance between the debris on the pipe wall and the laser scanner, and scans the debris structure status at the same time, thereby obtaining the debris accumulation thickness data and three-dimensional distribution state parameters. When the laser scanner is running, the rotary drive mechanism synchronously drives the laser scanner to rotate. The rotation operation realizes the comprehensive detection of the inner wall of the pipe by the laser scanner, and can also realize the precise adjustment of the working position of the laser scanner according to the position of the debris. The gravity sensor measures the change in the scanning robot's center of gravity during the inspection process, thereby determining the current distribution direction of the pipeline. Furthermore, the GNSS satellite positioning circuit in the auxiliary control circuit enables further precise positioning of the pipeline under good wireless communication conditions. The acceleration sensor detects the running speed of the scanning robot during operation; The temperature and humidity parameters inside the pipeline are detected by the temperature and humidity sensor; S3, data communication, the data obtained in step S2 is first sent to the auxiliary control circuit. After the auxiliary control circuit processes the collected data, it is transmitted to the main controller through a wire. On the other hand, the data is wirelessly transmitted through the wireless communication circuit between the auxiliary control circuit and the main controller.

9. The method for using a pipeline and hole wall scanning robot based on 3D laser scanning according to claim 8, characterized in that: During the operation of steps S2 and S3, when the distance between the main controller and the auxiliary control circuit is greater than the initially set wire length or a wire fault occurs, the wire connection between the auxiliary control circuit and the main controller is disconnected. On the one hand, the emergency drive power supply of the auxiliary control circuit provides operating power, and on the other hand, the detection data is wirelessly transmitted through the wireless communication circuit.

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