A scanning detection robot walking along the inner wall of a pipe / post and a detection method thereof

Abstract

This invention discloses a scanning and inspection robot and its inspection method that travels along the inner wall of a pipe / column. The robot includes a circular track, retractable struts, a linkage mechanism, a wheeled wall-climbing vehicle, a track vehicle, and a mounted 3D scanner. The circular track is centrally arranged within the inner cavity of the pipe / column and connects to several sets of retractable struts. The inner ends of the retractable struts are hinged to a central seat, and the outer ends are mounted on the wheeled wall-climbing vehicle. The included angle of the retractable struts is fixed by the linkage mechanism. The track vehicle can travel along the circular track, and the orientation of the 3D scanner is adjustable. The wheeled wall-climbing vehicle achieves axial movement along the inner surface of the pipe / column, while the track vehicle moves circumferentially along the inner cavity of the pipe / column. The axial movement of the robot and the circumferential movement of the track vehicle are organically combined, enabling continuous scanning of the entire length of the inner surface of the pipe / column, and adapting to the inspection of pipes / columns of different lengths. The wheeled wall-climbing vehicle, mounted with retractable struts, can adapt to the inspection of pipes / columns of various shapes and sizes, ensuring both high-efficiency and accurate inspection.

Description

Technical Field

[0001] This invention belongs to the field of tube / column inspection robots, specifically a scanning inspection robot that walks along the inner wall of a tube / column and its inspection method. Background Technology

[0002] The portable 3D scanner system consists of a blue laser scanner, scanning software, detection and comparison software, and a mobile workstation. Utilizing the principle of laser ranging, it projects a laser beam onto the surface of the workpiece, which is then reflected back to the scanner's internal sensors. The scanner uses this reflection to determine the object's position in space, obtaining 3D point cloud data. Based on the high accuracy and efficiency of 3D laser scanning technology in acquiring point cloud data, it is well-suited for scenarios such as inspecting the inner walls of pipes. Furthermore, when used with the AirGO Pro wireless transmission module, it allows for simultaneous projection onto a mobile device, achieving a more flexible, portable, and efficient 3D scanning experience.

[0003] After the support tubes / columns are manufactured and before they are put into use, their surfaces must be inspected for cracks and other defects to ensure their safety during use.

[0004] The corrosion status of pipelines used as fluid channels also needs to be monitored during use to ensure that appropriate measures are taken before serious problems occur.

[0005] Portable 3D scanners collect 3D data from workpieces by manually picking up the scanner. The device is portable and lightweight, and is fast and efficient when scanning small workpieces. However, for scanning larger workpieces, using portable 3D scanners to collect data is labor-intensive, has a large workload, and low scanning efficiency. Summary of the Invention

[0006] The purpose of this invention is to provide a universal scanning inspection robot and its inspection method that can efficiently and accurately detect the quality of the inner surface of tubes / columns.

[0007] The scanning and inspection robot that travels along the inner wall of a pipe / column provided by this invention includes a circular track, retractable struts, a linkage mechanism, a wheeled wall-climbing vehicle, a track vehicle, and a 3D scanner mounted on it. The circular track is centrally arranged in the inner cavity of the pipe / column and is connected to several sets of retractable struts. The inner ends of each set of retractable struts are hinged to the same central seat, and the outer ends are respectively mounted on wheeled wall-climbing vehicles. The included angle between the retractable struts is fixed by the linkage mechanism. The track vehicle can travel along the circular track, and the orientation of the 3D scanner can be adjusted.

[0008] In one embodiment of the robot described above, the telescopic support rod includes an inner support rod and an outer support rod. A row of positioning pins is fixed along the length of the inner support rod, and a flange is connected to the outer end face. A positioning hole is provided at the outer end of the outer support rod. The fixed length of the telescopic support rod is achieved by assembling the positioning pins at different positions with the positioning hole.

[0009] In one embodiment of the robot described above, the wheeled wall-climbing vehicle is a four-wheel drive vehicle, and the outer wall of its wheels is provided with convex teeth that can be squeezed and deformed. The outer end of the outer end support rod is connected to the center position of the wheeled wall-climbing vehicle body through a flange and fasteners.

[0010] In one embodiment of the robot described above, the linkage mechanism includes a number of links that are hinged end to end by pins. The number of links is the same as the number of telescopic support rods, and each pin is fixed to the inner support rod.

[0011] In one embodiment of the robot described above, a support is provided on the inner end support rod, and the bottom of the annular track is detachably installed in the support.

[0012] In one embodiment of the robot described above, the railcar includes a car body, a drive motor, and a traveling gear. The car body is a U-shaped body with an inner cavity, and drive motors are symmetrically installed on both sides of the car body. The output shafts of the drive motors extend out of the car body and are connected to the traveling gears.

[0013] In one embodiment of the robot described above, the annular track is provided with a ring of radial through holes. When the track vehicle is installed, the vehicle body is fastened to the annular track, and two traveling gears are symmetrically meshed at both ends of the radial through holes.

[0014] In one embodiment of the robot described above, the center of the top surface of the railcar is connected by a ball joint to a clamping frame with an adjustable inner cavity size, which is used to clamp and install the 3D scanner.

[0015] In another embodiment of the robot described above, the telescopic support rod includes an inner end support rod and an outer end support rod connected by an internal threaded sleeve. The threads of the two ends of the internal threaded sleeve are in opposite directions. The outer end face of the outer end support rod is connected to a flange. The telescopic support rod can be fixed in length by rotating the internal threaded sleeve.

[0016] The improved method for inspecting the inner surface quality of pipes using the aforementioned scanning and inspection robot includes the following steps:

[0017] I. For pipes / columns with a circular cross-section

[0018] (1) Hing the inner ends of all the telescopic struts to the center seat respectively;

[0019] (2) Install the linkage mechanism to make all the telescopic struts form a stable support frame;

[0020] (3) Install the railcar on the circular track and verify that its traveling gears can travel along the circular track;

[0021] (4) Install the 3D scanner in the clamp of the railcar;

[0022] (5) Install wheeled wall-climbing vehicles on the outer ends of the telescopic struts;

[0023] (6) Place the assembly formed in steps (1)-(4) into the tube / column to be tested, adjust and fix the length of the telescopic rod so that the wheels of the wheeled wall-climbing vehicle are in a state of compression with the outer wall of the tube / column, and ensure that the wheeled wall-climbing vehicle can travel along the inner wall of the tube / column.

[0024] (7) Adjust the orientation of the clamping frame by ball joint to place the 3D scanner in the optimal scanning orientation;

[0025] (8) The robot is tested and the images acquired by the 3D scanner are checked to see if they are clear. The speed of the wheeled wall-climbing vehicle and the track vehicle is adjusted until the images acquired by the 3D scanner are clear.

[0026] (9) The wheeled wall-climbing vehicle and the railcar work at the speed determined in step (8), start the three-dimensional scanner, the robot walks at a constant speed along the outer wall of the pipe / column, the railcar walks at a constant speed along the circular track, and the three-dimensional scanner performs a constant speed scan of the entire circumferential length of the pipe / column to achieve full-length detection of the outer surface of the pipe.

[0027] II. For pipes / columns with rectangular cross-sections

[0028] One or more retractable support rods are vertically installed on the circular track according to each side of the tube / column to be tested; other steps are the same as in step one.

[0029] III. For pipes / columns with regular polygonal cross-sections

[0030] Determine one or more retractable struts to be installed on each side based on the side length of the regular polygon. If one set is to be installed, refer to step one. If multiple sets are to be installed, refer to step two.

[0031] This invention utilizes a wheeled wall-climbing vehicle to enable the entire robot to move axially along the inner surface of a pipe / column, while a tracked vehicle on a circular track moves circumferentially along the inner cavity of the pipe / column. This organically combines the robot's overall axial movement with the tracked vehicle's circumferential movement. While the robot moves axially along the inner wall of the pipe / column, a 3D scanner performs a circumferential scan of the inner surface, achieving continuous scanning and inspection of the entire length of the pipe / column's inner surface, adaptable to the inspection of pipes / columns of varying lengths. The wheeled wall-climbing vehicle is mounted with a retractable strut, allowing the robot to inspect pipes / columns with different cross-sectional shapes and sizes. In short, this invention mounts a 3D scanner on a self-propelled, multi-functional robot to automatically inspect the quality of various pipe / column inner surfaces, ensuring both high efficiency and accuracy in inspection. Attached Figure Description

[0032] Figure 1 This is a top view of an embodiment of the present invention in operation (the railcar and its mounted 3D scanner are not shown).

[0033] Figure 2 for Figure 1 Enlarged schematic diagram of the assembly of the central circular track and the telescopic strut (the positioning post of the telescopic strut is not shown).

[0034] Figure 3 for Figure 1 Enlarged schematic diagram of part A in the diagram.

[0035] Figure 4 for Figure 1 Enlarged schematic diagram of part B in the diagram.

[0036] Figure 5 This is an enlarged schematic diagram of the assembly of the railcar and the circular track in this embodiment.

[0037] Number in the diagram:

[0038] 1-Center seat;

[0039] 2- Telescopic strut;

[0040] 21-Inner end support rod; 22-Outer end support rod; 23-Positioning post; 24-Flange; 25-Support;

[0041] 3-Linkage mechanism;

[0042] 4- Circular track;

[0043] 5-Wheel climbing vehicle;

[0044] 6-Rail vehicle;

[0045] 61-Car Body

[0046] 62-Traveling Gear;

[0047] 63 - Output shaft of the drive motor;

[0048] 64-ball hinge;

[0049] 65-Clamping frame;

[0050] 7. 3D scanner. Detailed Implementation

[0051] The scanning and inspection robot disclosed in this embodiment, which travels along the inner wall of a pipe / column, is used for the internal surface quality inspection of a circular cross-section support column before its use after it has been prefabricated.

[0052] like Figures 1 to 5 As shown, the robot disclosed in this embodiment includes a central base 1, a retractable support rod 2, a linkage mechanism 3, a circular track 4, a wheeled wall-climbing vehicle 5, a track vehicle 6, and a 3D scanner 7.

[0053] The center seat 1 is a cuboid seat used to hinge the telescopic strut 2.

[0054] The telescopic strut 2 includes an inner end strut 21 and an outer end strut 22. A row of positioning posts 23 is fixed along the length of the outer end strut, and a flange 24 is connected to the outer end face. A positioning hole is provided at the outer end of the inner end strut. The fixed length of the telescopic strut is achieved by assembling the positioning posts at different positions with the positioning hole.

[0055] The inner end of the inner support rod 21 is hinged to the center seat 1 by a pin (conventional structure, not shown in the figure).

[0056] Other embodiments of the telescopic strut may adopt the following structure: including an inner end strut and an outer end strut connected by an internal threaded sleeve, the threads of the two ends of the internal threaded sleeve are in opposite directions, the outer end face of the outer end strut is connected to a flange, and the fixed length of the telescopic strut is achieved by rotating the internal threaded sleeve.

[0057] The included angle between the six telescopic struts 2 is fixed by the linkage mechanism 3. In other embodiments, the specific number of telescopic struts can be increased or decreased according to the diameter of the tube / column.

[0058] The linkage mechanism 3 includes six connecting rods that are hinged end to end by pins, and each pin is fixed to the inner end support rod 21.

[0059] After the linkage structure 3 is installed, it forms a regular hexagon, which makes all the telescopic struts form a stable support frame.

[0060] The circular track 4 is installed by a U-shaped bracket 25 set on the inner end support rod 21.

[0061] The installation of the circular track 4 can further improve the stability and strength of the support frame.

[0062] After adjusting the length of each telescopic support rod 2, install the wheeled climbing vehicle 5: fix the flange 24 at the outer end of the outer support rod 22 to the center position of the wheeled climbing vehicle 3 with fasteners.

[0063] The circular track 4 is provided with a ring of radial through holes for mounting the track car 6.

[0064] like Figure 5 As shown:

[0065] The railcar 6 includes a car body 61, a drive motor and a traveling gear 62. The car body 61 is a U-shaped shell with an inner cavity. Drive motors are symmetrically installed on both sides of the car body. The output shafts 63 of the drive motors extend out of the car body and are connected to the traveling gears 62.

[0066] When the track vehicle 6 is installed, the vehicle body 61 is fastened to the circular track 4, and the two traveling gears 62 are respectively engaged at both ends of the radial through hole on the circular track.

[0067] The radial through hole on the annular track 4 not only serves as the track for the traveling gear 62, but also plays a role in shock absorption, because the traveling gear 62 meshes with both ends of the radial through hole, and the middle space can buffer and absorb shock.

[0068] The drive motor of the track vehicle 6 is working, and its output shaft drives the traveling gear to rotate. The traveling gear meshes with the radial through hole on the circular track, causing the traveling gear to travel along the circular track.

[0069] A ball joint 64 is fixed at the center of the top surface of the vehicle body 61. The ball joint is connected to a clamping frame 65, through which a portable 3D scanner 7 is mounted.

[0070] The clamping inner cavity height of the clamping frame 65 is adjustable. The upper and lower clamping plates are connected by screws at both ends of the internal threaded sleeve. The threads at both ends of the internal threaded sleeve turn in opposite directions. The distance between the upper and lower clamping plates can be adjusted by rotating the internal threaded sleeve to facilitate the installation and clamping of the portable 3D scanner.

[0071] To ensure the 3D scanner is clamped securely and to prevent damage to its outer casing, rubber plates are installed on the inner walls of the upper and lower clamping plates.

[0072] Alternatively, the upper and lower clamping plates of the clamping frame can be connected by a tension spring, so that the 3D scanner is in an elastic clamping state, and the tension spring provides a certain preload.

[0073] The height of the inner cavity of the clamp is adjustable, allowing the clamp to hold different 3D scanners.

[0074] The specific steps for the scanning and inspection robot to perform surface quality inspection of circular cross-section tubes / columns are as follows:

[0075] (1) Hinge the inner ends of all the telescopic struts to the center seat respectively.

[0076] (2) Install the linkage mechanism to form a stable support frame with all the telescopic struts.

[0077] (3) Install the railcar on the circular track and verify that its traveling gear can travel along the circular track.

[0078] (4) Install the 3D scanner in the clamp of the railcar.

[0079] (5) Install wheeled climbing vehicles on the outer ends of the telescopic struts.

[0080] (6) Place the assembly formed in steps (1)-(5) into the tube / column to be tested, adjust and fix the length of the telescopic rod so that the wheels of the wheeled climbing vehicle are in a squeezed state with the outer wall of the tube / column.

[0081] (7) Adjust the orientation of the clamping frame by ball joint to put the 3D scanner in the optimal scanning orientation.

[0082] (8) The robot is tested and the images acquired by the 3D scanner are checked to see if they are clear. The speed of the wheeled wall-climbing vehicle and the track vehicle is adjusted until the images acquired by the 3D scanner are clear.

[0083] (9) The wheeled climbing vehicle and the railcar work at the speed determined in step (8), start the three-dimensional scanner, the robot walks at a constant speed along the outer wall of the pipe / column, the railcar walks at a constant speed along the circular track, and the three-dimensional scanner performs a constant speed scan of the entire circumferential length of the pipe / column to realize the full length detection of the outer surface of the pipe.

[0084] Finally, the robot's components were disassembled and packed into boxes in the following order: 3D scanner, track vehicle, circular track, wheeled wall-climbing vehicle, center seat, and all retractable support rods.

[0085] The robot described above can also be used for the quality inspection of the inner surface of pipes / columns with rectangular and regular polygonal cross-sections.

[0086] For the inspection of pipes / columns with rectangular cross-sections, the structural change is that one (supported on the center plane of the width direction of each side) or multiple (symmetrically supported about the center plane of the width direction of each side) telescopic struts are set vertically on the circular track according to each side of the column to be inspected, and the assembly of the wheeled climbing vehicle is used. Other aspects refer to the structure and operation for pipes / columns with circular cross-sections.

[0087] For the inspection of pipes / columns with regular polygonal cross-sections, one or more retractable struts can be set for each side based on the side length of the regular polygon. When setting one set, refer to the structure and operation for pipes / columns with circular cross-sections; when setting multiple sets, refer to the structure and operation for pipes / columns with rectangular cross-sections.

[0088] As can be seen from the robot's structure, it is simple in design yet powerful in function and versatile. Specifically:

[0089] By organically combining the robot's axial movement with the circumferential movement of its mounted railcar, and mounting a 3D scanner on the circumferentially moving railcar, the scanner can perform circumferential scanning of the inner wall of the pipe / column while the robot moves axially along the inner wall. This enables continuous scanning and inspection of the entire length of the inner surface of the pipe / column, adapting to the inspection of pipes / columns of different lengths, ensuring both high-efficiency and accurate inspection.

[0090] The use of retractable struts to mount wheeled wall-climbing vehicles enables the robot to be used for the inspection of pipes / columns with different cross-sectional shapes and sizes.

Claims

1. A scanning and inspection robot that travels along the inner wall of a pipe / column, characterized in that: The robot includes a circular track, retractable struts, a linkage mechanism, a wheeled wall-climbing vehicle, a track vehicle, and a 3D scanner mounted on it. The circular track is centrally arranged in the inner cavity of the tube / column and is connected to several sets of retractable struts. The inner ends of each set of retractable struts are hinged to the same central seat, and the outer ends are respectively mounted on the wheeled wall-climbing vehicles. The included angle between the retractable struts is fixed by the linkage mechanism. The track vehicle can travel along the circular track, and the orientation of the 3D scanner can be adjusted. The telescopic strut includes an inner end strut and an outer end strut. A row of positioning pins is fixed along the length of the inner end strut. A flange is connected to the outer end face. A positioning hole is provided at the outer end of the outer end strut. The fixed length of the telescopic strut is achieved by assembling the positioning pins at different positions with the positioning hole. The telescopic strut includes an inner end strut and an outer end strut connected by an internal threaded sleeve. The threads at both ends of the internal threaded sleeve are in opposite directions. The outer end face of the outer end strut is connected to a flange. The telescopic strut can be fixed in length by rotating the internal threaded sleeve. A support is provided on the inner end support rod, and the bottom of the annular track is detachably installed in the support; The linkage mechanism includes several connecting rods that are hinged end to end by pins. The number of connecting rods is the same as the number of telescopic support rods. Each pin is fixed to the inner end support rod. The railcar includes a car body, a drive motor, and a traveling gear. The car body is a U-shaped body with an inner cavity, and drive motors are symmetrically installed on both sides of the car body. The output shafts of the drive motors extend out of the car body and are connected to the traveling gears. The annular track is provided with a ring of radial through holes. When the track vehicle is installed, the vehicle body is fastened to the annular track, and the two traveling gears are symmetrically meshed at both ends of the radial through holes.

2. The scanning and inspection robot that travels along the inner wall of a pipe / column as described in claim 1, characterized in that: The wheeled climbing vehicle is a four-wheel drive vehicle, and its wheel outer wall is provided with convex teeth that can be squeezed and deformed. The outer end of the outer support rod is connected to the center position of the wheeled climbing vehicle body through flanges and fasteners.

3. The scanning and inspection robot that travels along the inner wall of a pipe / column as described in claim 1, characterized in that: The center of the top surface of the railcar is connected by a ball joint to a clamping frame with an adjustable inner cavity size, which is used to clamp and install the 3D scanner.

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