A natural gas pipeline inspection robot capable of environmental recognition

Abstract

The present invention relates to the field of internal detection equipment for natural gas pipelines, and specifically discloses a natural gas pipeline detection robot capable of environmental recognition, which comprises: a traction mechanism suitable for walking in a natural gas pipeline; an environment detection mechanism installed on one side of the traction mechanism and used for detecting the environment inside the natural gas pipeline; a drive support mechanism connected to the traction mechanism and providing balanced support for the traction mechanism; a flaw detection mechanism arranged between the traction mechanism and the drive support mechanism and used for flaw detection on the inner wall of the natural gas pipeline; wherein the traction mechanism comprises a first mounting body and a plurality of traction components arranged on the first mounting body; the environment detection mechanism comprises a mounting head installed at the end of the first mounting body, a plurality of wide-angle cameras, lamp beads and displacement sensors arranged on the mounting head, and has high maintenance efficiency and high accuracy in finding fault points.

Description

Technical Field

[0001] The present invention relates to the field of natural gas pipeline internal detection equipment, and in particular to a natural gas pipeline detection robot capable of environment recognition. Background Art

[0002] Whether the natural gas pipeline is newly assembled or in use, it is necessary to conduct regular quality inspections on its interior. During the inspection process, the main focus is on checking the degree of corrosion inside the pipeline, the risk of cracks in local areas of the pipeline, and the sealing of the joints between pipe sections. If there is a safety hazard, the pipe section needs to be maintained or replaced. Since the natural gas pipeline itself is narrow and long and internally sealed, it is necessary to use a pipeline inspection robot to conduct risk inspections on the interior of the natural gas pipeline.

[0003] Current pipeline inspection robots mainly consist of a robot body, multiple drive wheels installed on the robot body, and a camera. The multiple drive wheels are attached to the inner wall of the pipeline and drive the robot body to move inside the natural gas pipeline. During the robot body's movement, the camera takes real-time photos of the area in front. Technicians connect to the camera through terminal devices and observe the images taken by the camera inside the pipeline. If the images show that the pipeline is severely corroded or cracked, personnel are assigned to maintain the damaged location of the pipeline. However, in actual operation, the following problems may occur:

[0004] 1. When the robot captures a "crack" inside the pipe, the "crack" is only judged by the technician's naked eye. This "crack" may also be caused by dirt accumulation inside the pipe, which is prone to misjudgment and the technician may make maintenance errors.

[0005] 2. When the camera captures severe corrosion or cracks inside the pipeline, technicians need to find the location of the pipeline inspection robot inside the pipeline and perform real-time maintenance. Every time corrosion or cracks appear inside the pipeline, technicians need to manually find the location of the pipeline inspection robot and maintain the pipeline. After the pipeline is maintained, the pipeline inspection robot continues to detect. The next time a fault point appears, technicians need to manually find the pipeline inspection robot again and perform maintenance on the fault point. The entire operation process is very cumbersome, and the pipeline inspection robot is not easy to find inside the pipeline.

[0006] 3. In order to ensure that the driving wheels of the pipeline inspection robot always fit the inner wall of the pipeline during driving, elastic parts will be installed on the connecting arms of the driving wheels. The elastic parts can provide a certain radial expansion force to the driving wheels to ensure that the surface of the driving wheels fits the inner wall of the pipeline. When the pipeline inspection robot is actually used, the connecting arms of the driving wheels are easily stuck after being contaminated with dirt, resulting in a significant reduction in the radial expansion flexibility of the driving wheels. As a result, one or more driving wheels on the pipeline inspection robot cannot fit well with the inner wall of the pipeline, resulting in driving jitter problems, which is not conducive to stable camera shooting. Summary of the Invention

[0007] The purpose of the present invention is to solve the defects of the existing technology and provide a natural gas pipeline detection robot capable of environmental recognition.

[0008] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0009] A natural gas pipeline inspection robot capable of environmental recognition, comprising:

[0010] Traction mechanism, suitable for traveling inside natural gas pipelines;

[0011] An environmental detection mechanism, installed on one side of the traction mechanism, is used to detect the environment inside the natural gas pipeline;

[0012] The driving support mechanism is connected to the traction mechanism and provides balanced support for the traction mechanism;

[0013] The flaw detection mechanism is arranged between the traction mechanism and the driving support mechanism and is used to detect flaws on the inner wall of the natural gas pipeline;

[0014] Wherein, the traction mechanism includes a first mounting body and a plurality of traction components arranged on the first mounting body;

[0015] The environment detection mechanism includes a mounting head mounted on the end of the first mounting body, a plurality of wide-angle cameras, lamp beads and a displacement sensor arranged on the mounting head;

[0016] The driving support mechanism includes a second mounting body, and a plurality of driving support assemblies arranged on the second mounting body;

[0017] The flaw detection mechanism includes a connecting sleeve connected between the first installation body and the second installation body, the two ends of the connecting sleeve are hinged to the first installation body and the second installation body respectively, and the flaw detection component is installed on the connecting sleeve;

[0018] The flaw detection assembly includes a rotating mounting ring plate mounted on the connecting sleeve, a gear ring is provided on the inner wall of the rotating mounting ring plate, a servo motor is fixedly mounted on the inner wall of the connecting sleeve, the servo motor is connected to a drive gear, the drive gear is meshed with the gear ring, a plurality of first push rod motors are provided on the rotating mounting ring plate, and flaw detection sensors are installed at the ends of the first push rod motors, and the flaw detection sensors correspond to the inner wall of the natural gas pipeline;

[0019] The wide-angle camera, displacement sensor, traction component and flaw detection component are interconnected through a control system;

[0020] When the wide-angle camera captures corrosion marks inside the natural gas pipeline, the control system extracts the real-time image and uses the displacement sensor to record the robot's displacement coordinates inside the natural gas pipeline at that time.

[0021] When the wide-angle camera detects a crack inside the natural gas pipeline, the control system extracts the real-time image and reduces the traction speed of the traction component. At the same time, the flaw detection component performs flaw detection on that section of the natural gas pipeline and uses the displacement sensor to record the displacement coordinates of the robot inside the natural gas pipeline at that time.

[0022] When the wide-angle camera captures multiple corrosion marks inside the natural gas pipeline, the control system classifies and stores the real-time image and displacement coordinate values ​​of each corrosion mark;

[0023] When the wide-angle camera captures multiple cracks inside the natural gas pipeline, the control system classifies and stores the real-time images and displacement coordinate values ​​of each crack. Among them, when the flaw detection component detects the actual existence of cracks, the real-time images and displacement coordinate values ​​of the cracks that are confirmed to exist are classified into one category. When the flaw detection component detects the non-existence of cracks, the real-time images and displacement coordinate values ​​of the cracks that are not confirmed to exist are classified into one category.

[0024] Furthermore, the traction assembly includes a first connecting arm hinged to the first mounting body, a second connecting arm hinged to the first connecting arm, a driving wheel is mounted on the end of the first connecting arm, and an auxiliary wheel is connected to the end of the second connecting arm, a driving motor is mounted on one side of the driving wheel, and a pressure sensor is embedded on the circumference of the driving wheel;

[0025] The middle part of the first connecting arm is hinged to the first support arm, the middle part of the second connecting arm is hinged to the second support arm, the ends of the first connecting arm, the first support arm and the second support arm are hinged to the first mounting body through a pin, and a torsion spring is installed at the hinge.

[0026] Furthermore, a second push rod motor is provided on the first installation body, and an end of the second push rod motor is hinged to an end of the first connecting arm away from the first installation body.

[0027] Furthermore, the driving support assembly includes a third connecting arm hinged to the second mounting body, a fourth connecting arm hinged to the third connecting arm, an end portion of the third connecting arm is mounted with a main support wheel, and an end portion of the fourth connecting arm is connected to an auxiliary support wheel;

[0028] The middle part of the third connecting arm is hinged to the third support arm, the middle part of the fourth connecting arm is hinged to the fourth support arm, the ends of the third connecting arm, the third support arm and the fourth support arm are all hinged to the second mounting body through a pin, and a torsion spring is installed at the hinge.

[0029] Furthermore, the mounting head is provided at the end of the first mounting body, and a spring is provided on the outer side of the first mounting body. One end of the spring is fixed, and the other end is connected to the end of the mounting head. A battery is provided in the first mounting body, and the battery is electrically connected to the wide-angle camera, lamp beads and displacement sensor on the mounting head through circuits.

[0030] Furthermore, there are three traction assemblies and drive support assemblies. The three traction assemblies are arranged in a triangle on the outside of the first installation body, and the three drive support assemblies are also arranged in a triangle on the outside of the second installation body. The traction assemblies and drive support assemblies conflict with the inner wall of the natural gas pipeline.

[0031] Furthermore, the control system includes:

[0032] A first signal receiving module is used to receive the internal image of the natural gas pipeline taken by the wide-angle camera;

[0033] A second signal receiving module is used to receive the real-time displacement coordinate value of the displacement sensor in the natural gas pipeline;

[0034] a third signal receiving module, configured to receive a signal from the pressure sensor;

[0035] a logic processing unit, signal-connected to the first signal receiving module, the second signal receiving module, and the third signal receiving module;

[0036] The command input module sends a real-time image and a real-time displacement coordinate value extraction command to the logic processing unit when the wide-angle camera captures a corrosion mark or crack image.

[0037] The first extraction and recording module is used to extract, record and store the real-time images of corrosion marks or cracks captured by the wide-angle camera;

[0038] The second extraction and recording module is used to extract and record the real-time displacement coordinate values ​​of the displacement sensor when the wide-angle camera captures corrosion marks or cracks;

[0039] The first classification recording module, when the wide-angle camera captures the corrosion traces, the first classification recording module records the real-time images of the corrosion traces extracted by the first extraction and recording module, and simultaneously records the real-time displacement coordinate values ​​of the displacement sensor extracted by the second extraction and recording module;

[0040] The second classification recording module records the real-time image of the crack extracted by the first extraction and recording module and the real-time displacement coordinate value of the displacement sensor extracted by the second extraction and recording module when the wide-angle camera captures the crack and the flaw detection component detects the existence of the crack.

[0041] A third classification recording module, when the wide-angle camera captures a crack and the flaw detection component detects that the crack is not certain to exist, the third classification recording module records the real-time crack image extracted by the first extraction and recording module and simultaneously records the real-time displacement coordinate values ​​of the displacement sensor extracted by the second extraction and recording module;

[0042] The first execution module is used to control the speed of the drive motor. When the wide-angle camera captures corrosion marks or cracks and the command input module generates a signal action, the drive motor is controlled to idle state;

[0043] The second execution module and the third signal receiving module receive a pressure signal from the pressure sensor and the pressure signal returns to zero, and the second execution module controls the second push rod motor to push out until the pressure sensor senses the pressure;

[0044] The third execution module controls the first push rod motor to push out when the wide-angle camera captures corrosion marks or cracks and the command input module generates a signal action. The first push rod motor controls the flaw detection sensor to approach the inner wall of the natural gas pipeline.

[0045] The fourth execution module controls the servo motor to start when the wide-angle camera captures corrosion marks or cracks and the instruction input module generates a signal action.

[0046] Furthermore, the logic processing unit is connected to the network signal receiving module, and the control system performs signal interaction with an external handheld terminal device through the network signal receiving module.

[0047] Furthermore, the command input module is set on a handheld terminal device, which has a display screen for displaying the internal image of the natural gas pipeline taken by a wide-angle camera and controlling the signal output of the command input module by means of a touch screen.

[0048] Furthermore, the handheld terminal device is a mobile phone or a computer.

[0049] Furthermore, the flaw detection sensor is an eddy current sensor.

[0050] The beneficial effects of the present invention are as follows: 1. The robot is provided with a flaw detection component, and the wide-angle camera, displacement sensor, traction component and flaw detection component are interconnected through a control system. When the robot is traveling in the pipeline, when the wide-angle camera captures cracks inside the pipeline, the control system can control the traction component to be in an idling state. When the robot passes through this area, the control system controls the first push rod motor of the flaw detection component to be pushed out, and the first push rod motor controls the flaw detection sensor to be close to the inner wall of the natural gas pipeline. At the same time, the servo motor starts and drives the rotating mounting ring plate where the flaw detection sensor is located to rotate, and the multiple flaw detection sensors installed on the rotating mounting ring plate rotate circumferentially. When the robot moves forward at a low speed, the flaw detection sensor performs all-round and accurate detection on the circumference of the inner wall of the pipeline, verifies the "cracks" captured by the wide-angle camera, avoids the problem of incorrect "crack" judgment, and reduces the maintenance error cost;

[0051] 2. When the wide-angle camera detects a crack inside the natural gas pipeline, the control system extracts the real-time image and reduces the traction speed of the traction assembly. Simultaneously, the flaw detection assembly performs flaw detection on that section of the natural gas pipeline and uses the displacement sensor to record the robot's displacement coordinates within the natural gas pipeline at that time.

[0052] When the wide-angle camera captures multiple corrosion marks inside the natural gas pipeline, the control system classifies and stores the real-time image and displacement coordinate values ​​of each corrosion mark;

[0053] When the wide-angle camera captures multiple cracks inside the natural gas pipeline, the control system categorizes and stores the real-time images and displacement coordinate values ​​of each crack. If the flaw detection component detects the actual existence of a crack, the real-time images and displacement coordinate values ​​of cracks that are confirmed to exist are grouped together. If the flaw detection component detects the absence of a crack, the real-time images and displacement coordinate values ​​of cracks that are not confirmed to exist are grouped together.

[0054] When the robot is inspecting inside the pipeline, the real-time images and displacement coordinate values ​​of corrosion marks captured by the wide-angle camera can be classified and recorded by the control system. The real-time images and displacement coordinate values ​​of cracks captured by the wide-angle camera can also be classified and recorded by the control system. The real-time images and displacement coordinate values ​​of cracks not confirmed to exist captured by the wide-angle camera can also be classified and recorded by the control system. After the robot walks inside the pipeline and completes its journey, the real-time images and displacement coordinate values ​​of each fault point inside the pipeline can be directly fed back to the technicians. The technicians analyze the real-time images of the fault points captured, eliminate the fault points that do not require maintenance, and perform fixed-point maintenance on the fault points that require maintenance, thereby improving maintenance efficiency and the accuracy of fault point locating.

[0055] 3. The traction assembly includes a first connecting arm hinged to the first mounting body, a second connecting arm hinged to the first connecting arm, a drive wheel mounted on the end of the first connecting arm, an auxiliary wheel connected to the end of the second connecting arm, a drive motor mounted on one side of the drive wheel, and a pressure sensor embedded on the circumference of the drive wheel; the middle portion of the first connecting arm is hinged to the first support arm, the middle portion of the second connecting arm is hinged to the second support arm, the ends of the first connecting arm, the first support arm, and the second support arm are all hinged to the first mounting body via a pin, and a torsion spring is installed at the hinged joints;

[0056] Under normal circumstances, under the torsion of the torsion spring, the driving wheel and the auxiliary wheel can expand radially and fit on the inner wall of the pipe. The improvement of the present application is that a pressure sensor is inlaid on the circumference of the driving wheel, and a second push rod motor is provided on the first mounting body. The end of the second push rod motor is hinged to the end of the first connecting arm away from the first mounting body. When the connecting arm of the driving wheel and the auxiliary wheel cannot move elastically due to dirt, the pressure sensor on the surface of the driving wheel cannot contact the inner wall of the pipe. At this time, the pressure signal of the pressure sensor returns to zero. When the third signal receiving module receives the pressure signal of the pressure sensor to zero, the second execution module of the control system controls the second push rod motor to push out until the pressure sensor senses pressure. In this way, it can be ensured that the driving wheel can stably fit on the inner wall of the pipe regardless of normal elasticity and abnormal elasticity conditions. When the inner diameter of the pipe changes, the driving wheel can also fit to the inner wall of the pipe under the action of the second push rod motor, ensuring that the robot travels stably in the pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 Schematic diagram of the structure of an embodiment of the present invention;

[0058] Figure 2 A front view of an embodiment of the present invention;

[0059] Figure 3 A side view schematic diagram of an embodiment of the present invention;

[0060] Figure 4 for Figure 3 Schematic diagram of the cross section along line AA;

[0061] Figure 5 for Figure 4 Magnified view of area B in ;

[0062] Figure 6 Schematic diagram of the control system of the present invention.

[0063] Description of reference numerals:

[0064] 1. Traction mechanism; 11. First mounting body; 12. First connecting arm; 13. Second connecting arm; 14. Drive wheel; 15. Auxiliary wheel; 16. Drive motor; 17. Pressure sensor; 18. First support arm; 19. Second support arm; 110. Second push rod motor;

[0065] 2. Environmental detection mechanism; 21. Mounting head; 22. Wide-angle camera; 23. Lamp beads; 24. Displacement sensor; 25. Spring; 26. Battery;

[0066] 3. Drive support mechanism; 31. Second mounting body; 32. Third connecting arm; 33. Fourth connecting arm; 34. Main support wheel; 35. Auxiliary support wheel; 36. Third support arm; 37. Fourth support arm; 38. Gas spring;

[0067] 4. Flaw detection mechanism; 41. Connecting sleeve; 42. Rotating mounting ring plate; 43. Ring gear; 44. Servo motor; 45. Drive gear; 46. First push rod motor; 47. Flaw detection sensor;

[0068] 5. Control system; 51. First signal receiving module; 52. Second signal receiving module; 53. Third signal receiving module; 54. Logic processing unit; 55. Command input module; 56. First extraction and recording module; 57. Second extraction and recording module; 58. First classification and recording module; 59. Second classification and recording module; 510. Third classification and recording module; 511. First execution module; 512. Second execution module; 513. Third execution module; 514. Fourth execution module; 515. Network signal receiving module;

[0069] 6. Handheld terminal device; 61. Display screen. Implementation Method

[0070] like Figures 1 to 4 As shown, a natural gas pipeline inspection robot capable of environmental recognition includes:

[0071] The traction mechanism 1 is suitable for traveling in the natural gas pipeline;

[0072] The environment detection mechanism 2 is installed on one side of the traction mechanism 1 and is used to detect the environment inside the natural gas pipeline;

[0073] The driving support mechanism 3 is connected to the traction mechanism 1 and provides balanced support for the traction mechanism 1;

[0074] The flaw detection mechanism 4 is provided between the traction mechanism 1 and the driving support mechanism 3 and is used to detect flaws on the inner wall of the natural gas pipeline;

[0075] The traction mechanism 1 includes a first installation body 11 and a plurality of traction components arranged on the first installation body 11;

[0076] The traction assembly includes a first connecting arm 12 hingedly connected to the first mounting body 11, a second connecting arm 13 hingedly connected to the first connecting arm 12, a drive wheel 14 mounted on the end of the first connecting arm 12, and an auxiliary wheel 15 connected to the end of the second connecting arm 13. A drive motor 16 is mounted on one side of the drive wheel 14, and a pressure sensor 17 is embedded on the circumference of the drive wheel 14.

[0077] The middle part of the first connecting arm 12 is hinged to the first support arm 18, and the middle part of the second connecting arm 13 is hinged to the second support arm 19. The ends of the first connecting arm 12, the first support arm 18 and the second support arm 19 are all hinged to the first mounting body 11 through a pin, and a torsion spring is installed at the hinge.

[0078] Furthermore, a second push rod motor 110 is provided on the first installation body 11 , and an end of the second push rod motor 110 is hinged to an end of the first connecting arm 12 away from the first installation body 11 .

[0079] The environment detection mechanism 2 includes a mounting head 21 mounted on the end of the first mounting body 11, a plurality of wide-angle cameras 22, a lamp bead 23 and a displacement sensor 24 arranged on the mounting head 21;

[0080] The mounting head 21 is sleeved on the end of the first mounting body 11, and a spring 25 is sleeved on the outside of the first mounting body 11. One end of the spring 25 is fixed, and the other end is connected to the end of the mounting head 21. A battery 26 is provided in the first mounting body 11, and the battery 26 is electrically connected to the wide-angle camera 22, the lamp bead 23 and the displacement sensor 24 on the mounting head 21 through a circuit.

[0081] The driving support mechanism 3 includes a second mounting body 31 and a plurality of driving support components arranged on the second mounting body 31;

[0082] The driving support assembly includes a third connecting arm 32 hinged to the second mounting body 31, a fourth connecting arm 33 hinged to the third connecting arm 32, a main support wheel 34 is mounted on the end of the third connecting arm 32, and an auxiliary support wheel 35 is connected to the end of the fourth connecting arm 33;

[0083] The middle part of the third connecting arm 32 is hinged to the third support arm 36, and the middle part of the fourth connecting arm 33 is hinged to the fourth support arm 37. The ends of the third connecting arm 32, the third support arm 36 and the fourth support arm 37 are all hinged to the second mounting body 31 through pins, and a torsion spring is installed at the hinge. The second mounting body 31 can also be installed with a gas spring 38, and the end of the gas spring 38 is connected to the end of the third connecting arm 32.

[0084] In this embodiment, the number of traction assemblies and drive support assemblies is three. The three traction assemblies are arranged in a triangle on the outside of the first installation body 11, and the three drive support assemblies are also arranged in a triangle on the outside of the second installation body 31. The traction assemblies and drive support assemblies conflict with the inner wall of the natural gas pipeline.

[0085] Specifically, in this embodiment, the number of driving wheels 14 and auxiliary wheels 15 is three, and the number of main support wheels 34 and auxiliary support wheels 35 is three, which can ensure that the entire robot is stably supported in the inner cavity of the pipeline. When the robot travels in the pipeline, under the action of the automatic reset force of the torsion spring, the driving wheel 14 and auxiliary wheels 15 are attached to the inner wall of the pipeline. Similarly, the main support wheels 34 and auxiliary support wheels 35 are attached to the inner wall of the pipeline. After the driving motor 16 on the side of the driving wheel 14 is started, the driving wheel 14 drives the entire robot forward. The auxiliary wheel 15, main support wheels 34 and auxiliary support wheels 35 behind the driving wheel 14 play a role of stabilizing support for the entire robot, ensuring the stability of the robot's travel and avoiding the problem of unstable images captured by the wide-angle camera 22 due to the shaking of the robot.

[0086] like Figure 4 , Figure 5 As shown, the flaw detection mechanism 4 includes a connecting sleeve 41 connected between the first installation body 11 and the second installation body 31. The two ends of the connecting sleeve 41 are hinged to the first installation body 11 and the second installation body 31 respectively, and the flaw detection component is installed on the connecting sleeve 41;

[0087] After the two ends of the connecting sleeve 41 are hinged to the first mounting body 11 and the second mounting body 31, when the robot passes through the elbow in the pipeline, the first mounting body 11 and the second mounting body 31 can rotate relative to each other to form a certain angle, so that the entire robot can pass through the elbow position of the pipeline smoothly.

[0088] The flaw detection assembly includes a rotating mounting ring plate 42 mounted on the connecting sleeve 41, a gear ring 43 is provided on the inner wall of the rotating mounting ring plate 42, a servo motor 44 is fixedly mounted on the inner wall of the connecting sleeve 41, the servo motor 44 is connected to the drive gear 45, the drive gear 45 is engaged with the gear ring 43, a plurality of first push rod motors 46 are provided on the rotating mounting ring plate 42, and a flaw detection sensor 47 is installed at the end of the first push rod motor 46, the flaw detection sensor 47 corresponds to the inner wall of the natural gas pipeline, and the flaw detection sensor 47 is preferably an eddy current sensor.

[0089] Furthermore, the wide-angle camera 22, the displacement sensor 24, the traction assembly, and the flaw detection assembly are interconnected via a control system 5;

[0090] When the wide-angle camera 22 captures corrosion marks inside the natural gas pipeline, the control system 5 extracts the real-time image and records the displacement coordinates of the robot inside the natural gas pipeline at that time through the displacement sensor 24;

[0091] When the wide-angle camera 22 captures a crack inside the natural gas pipeline, the control system 5 extracts the real-time image and reduces the traction speed of the traction assembly. Simultaneously, the flaw detection assembly performs flaw detection on that section of the natural gas pipeline and the displacement sensor 24 records the displacement coordinates of the robot within the natural gas pipeline at that time.

[0092] When the wide-angle camera 22 captures multiple corrosion marks inside the natural gas pipeline, the control system 5 classifies and stores the real-time image and displacement coordinate value of each corrosion mark;

[0093] When the wide-angle camera 22 captures multiple cracks inside the natural gas pipeline, the control system 5 classifies and stores the real-time images and displacement coordinate values ​​of each crack. When the flaw detection component detects that a crack actually exists, the real-time images and displacement coordinate values ​​of the cracks that are determined to exist are classified into one category. When the flaw detection component detects that a crack does not exist, the real-time images and displacement coordinate values ​​of the cracks that are not determined to exist are classified into one category.

[0094] Further, if Figure 6 As shown, the control system 5 includes:

[0095] The first signal receiving module 51 is used to receive the internal image of the natural gas pipeline captured by the wide-angle camera 22;

[0096] The second signal receiving module 52 is used to receive the real-time displacement coordinate value of the displacement sensor in the natural gas pipeline;

[0097] A third signal receiving module 53, configured to receive a signal from a pressure sensor;

[0098] The logic processing unit 54 is signal-connected to the first signal receiving module 51 , the second signal receiving module 52 , and the third signal receiving module 53 ;

[0099] The instruction input module 55 sends a real-time image and a real-time displacement coordinate value extraction instruction to the logic processing unit 54 when the wide-angle camera captures a corrosion mark or crack image.

[0100] A first extraction and recording module 56 is used to extract, record and store the real-time images of corrosion marks or cracks captured by the wide-angle camera;

[0101] The second extraction and recording module 57 is used to extract and record the real-time displacement coordinate value of the displacement sensor 24 when the wide-angle camera captures corrosion marks or cracks;

[0102] The first classification recording module 58 records the real-time image of the corrosion trace extracted by the first extraction and recording module 56 and the real-time displacement coordinate value of the displacement sensor 24 extracted by the second extraction and recording module 57 when the wide-angle camera 22 captures the corrosion trace.

[0103] The second classification recording module 59 records the real-time image of the crack extracted by the first extraction and recording module 56 and the real-time displacement coordinate value of the displacement sensor 24 extracted by the second extraction and recording module 57 when the wide-angle camera 22 captures the crack and the flaw detection component detects the existence of the crack.

[0104] The third classification recording module 510 records the real-time image of the crack extracted by the first extraction and recording module 56 and the real-time displacement coordinate value of the displacement sensor 24 extracted by the second extraction and recording module 57 when the wide-angle camera 22 captures the crack and the flaw detection component detects that the crack is not certain to exist.

[0105] The first execution module 511 is used to control the speed of the drive motor 16. When the wide-angle camera 22 captures corrosion marks or cracks and the instruction input module 55 generates a signal action, the drive motor 16 is controlled to idle state;

[0106] When the second execution module 512 and the third signal receiving module 53 receive the pressure signal of the pressure sensor 17 and the pressure signal returns to zero, the second execution module 512 controls the second push rod motor 110 to push out until the pressure sensor 17 senses the pressure;

[0107] The third execution module 513 controls the first push rod motor 46 to push out when the wide-angle camera captures corrosion marks or cracks and the command input module generates a signal action. The first push rod motor 46 controls the flaw detection sensor 47 to move closer to the inner wall of the natural gas pipeline.

[0108] The fourth execution module 514 controls the servo motor 44 to start when the wide-angle camera captures corrosion marks or cracks and the instruction input module generates a signal action.

[0109] Furthermore, the logic processing unit 54 is connected to the network signal receiving module 515 , and the control system performs signal interaction with the external handheld terminal device 6 through the network signal receiving module 515 .

[0110] Furthermore, the instruction input module 55 is set on the handheld terminal device 6, which has a display screen 61. The display screen 61 is used to display the internal image of the natural gas pipeline taken by the wide-angle camera 22, and at the same time control the signal output of the instruction input module 55 through the touch screen. Among them, the handheld terminal device 6 is preferably a mobile phone or a computer.

[0111] The following is a detailed description of this application in conjunction with the specific working principle:

[0112] When the natural gas pipeline inspection robot is in use, the robot is placed in the natural gas pipeline. Under the torsion force of the torsion spring, the driving wheel 14 and the auxiliary wheel 15 can expand radially and fit on the inner wall of the pipeline. The pressure sensor 17 on the circumference of the driving wheel 14 corresponds to the inner wall of the pipeline. The driving motor 16 on one side of the driving wheel 14 is started, and the driving wheel drives the entire robot forward in the natural gas pipeline. The lamp beads 23 in front of the robot are in an illuminated state, ensuring that the wide-angle camera 22 on the installation head 21 can take a full-range and clear picture of the image inside the natural gas pipeline. The internal image of the natural gas pipeline taken by the wide-angle camera 22 is sent to the first signal receiving module 51 of the control system in real time. At the same time, the real-time displacement coordinate value of the displacement sensor 24 on the installation head 21 in the natural gas pipeline is sent to the second signal receiving module 52 of the control system in real time. Module, the pressure signal sensed by the pressure sensor 17 is received by the third signal receiving module 53, and the image captured by the wide-angle camera 22 can be displayed in real time on the display screen 61 of the handheld terminal device 6. The technician needs to monitor the image on the display screen 61 in real time. When the wide-angle camera 22 captures the image of corrosion marks or cracks on the inner wall of the pipeline, the technician controls the signal output of the instruction input module 55 by touching the screen. At this time, the instruction input module 55 sends the real-time image and the real-time displacement coordinate value extraction instruction to the logic processing unit 54. The first extraction and recording module 56 extracts and records the real-time image of the corrosion marks or cracks captured by the wide-angle camera 22. At the same time, the second extraction and recording module 57 extracts and records the real-time displacement coordinate value of the displacement sensor 24;

[0113] In addition, when the wide-angle camera 22 captures corrosion traces, the first classification recording module 58 records the real-time image of the corrosion traces extracted by the first extraction recording module 56, and at the same time records the real-time displacement coordinate value of the displacement sensor 24 extracted by the second extraction recording module 57; when the wide-angle camera 22 captures cracks, the technician in front of the handheld terminal device 6 inputs instructions through the instruction input module 55. At this time, the first execution module 511 controls the drive motor 16 to be in an idle state, and the entire robot is in a slow forward state. At the same time, the third execution module 513 controls the first push rod motor 46 to be pushed out, and the first push rod motor 46 controls the flaw detection sensor 47 to approach the inner wall of the natural gas pipeline. In addition, the fourth execution module 514 also controls the servo motor 44 to start, and the servo motor 44 drives the gear ring 43 and the rotating mounting ring plate 42 to rotate through the driving gear 45. The multiple flaw detection sensors 47 installed on the rotating mounting ring plate 42 also rotate together, and the flaw detection sensor 47 is close to the inner wall of the pipe. The circumference of the inner wall of the road is accurately detected in all directions, and the "cracks" photographed by the wide-angle camera are verified. When the flaw detection sensor 47 detects that the cracks are confirmed to exist, the second classification recording module 59 records the real-time image of the cracks extracted by the first extraction and recording module 56, and at the same time records the real-time displacement coordinate values ​​of the displacement sensor 24 extracted by the second extraction and recording module 57; when the wide-angle camera 22 photographs the cracks, when the flaw detection sensor 47 detects that the cracks are not confirmed to exist (the flaw detection component determines that the cracks do not exist after detection), the third classification recording module 510 records the real-time image of the cracks extracted by the first extraction and recording module 56, and at the same time records the real-time displacement coordinate values ​​of the displacement sensor 24 extracted by the second extraction and recording module 57. The control system can classify and store the real-time image and displacement coordinate values ​​of each corrosion mark, and can also classify and store the real-time image and displacement coordinate values ​​of each crack.

[0114] In summary, the robot is equipped with a flaw detection component. The wide-angle camera 22, the displacement sensor 24, the traction component and the flaw detection component are interconnected through the control system 5. When the robot is traveling in the pipeline, when the wide-angle camera 22 captures a crack inside the pipeline, the control system 5 can control the traction component to be in an idle state. When the robot passes through this area, the control system controls the first push rod motor 46 of the flaw detection component to be pushed out. The first push rod motor 46 controls the flaw detection sensor 47 to approach the inner wall of the natural gas pipeline. At the same time, the servo motor 44 starts and drives the rotating mounting ring plate 42 where the flaw detection sensor 47 is located to rotate. The multiple flaw detection sensors 47 installed on the rotating mounting ring plate 42 rotate circumferentially. When the robot moves forward at a low speed, the flaw detection sensor 47 performs all-round and accurate detection of the circumference of the inner wall of the pipeline, verifies the "cracks" captured by the wide-angle camera, avoids the problem of incorrect "crack" judgment, and reduces maintenance error costs.

[0115] When the wide-angle camera 22 captures a crack inside the natural gas pipeline, the control system 5 extracts the real-time image and reduces the traction speed of the traction assembly. Simultaneously, the flaw detection assembly performs flaw detection on that section of the natural gas pipeline and the displacement sensor 24 records the displacement coordinates of the robot within the natural gas pipeline at that time.

[0116] When the wide-angle camera 22 captures multiple corrosion marks inside the natural gas pipeline, the control system 5 classifies and stores the real-time image and displacement coordinate value of each corrosion mark;

[0117] When the wide-angle camera 22 captures multiple cracks inside the natural gas pipeline, the control system 5 categorizes and stores the real-time images and displacement coordinate values ​​of each crack. When the flaw detection component detects the actual existence of a crack, the real-time images and displacement coordinate values ​​of cracks that are confirmed to exist are categorized into one category. When the flaw detection component detects the absence of a crack, the real-time images and displacement coordinate values ​​of cracks that are not confirmed to exist are categorized into another category.

[0118] When the robot is inspecting inside the pipeline, the real-time images and displacement coordinate values ​​of the corrosion marks captured by the wide-angle camera 22 can be classified and recorded by the control system. The real-time images and displacement coordinate values ​​of cracks captured by the wide-angle camera 22 can be classified and recorded by the control system. The real-time images and displacement coordinate values ​​of cracks not confirmed to exist captured by the wide-angle camera 22 can be classified and recorded by the control system. After the robot walks inside the pipeline and completes the entire journey, the real-time images and displacement coordinate values ​​of each fault point inside the pipeline can be directly fed back to the technicians, making it convenient for the technicians to directly find the location of the fault point of the pipeline. At the same time, the technicians analyze the real-time images of the fault points captured, eliminate the fault points that do not require maintenance, and perform fixed-point maintenance on the fault points that require maintenance, thereby improving maintenance efficiency and the accuracy of fault point finding.

[0119] The traction assembly includes a first connecting arm 12 hingedly connected to the first mounting body 11, a second connecting arm 13 hingedly connected to the first connecting arm 12, a drive wheel 14 mounted on the end of the first connecting arm 12, and an auxiliary wheel 15 connected to the end of the second connecting arm 13. A drive motor 16 is mounted on one side of the drive wheel 14, and a pressure sensor 17 is embedded on the circumference of the drive wheel 14.

[0120] The middle part of the first connecting arm 12 is hinged to the first support arm 18, and the middle part of the second connecting arm 13 is hinged to the second support arm 19. The ends of the first connecting arm 12, the first support arm 18 and the second support arm 19 are all hinged to the first mounting body 11 through a pin, and a torsion spring is installed at the hinge;

[0121] Under normal circumstances, under the torsion of the torsion spring, the driving wheel 14 and the auxiliary wheel 15 can expand radially and fit on the inner wall of the pipe. The improvement of the present application is that a pressure sensor 17 is embedded on the circumference of the driving wheel 14, and a second push rod motor 110 is provided on the first installation body 11. The end of the second push rod motor 110 is hinged to the end of the first connecting arm 12 away from the first installation body 11. When the connecting arm of the driving wheel 14 and the auxiliary wheel 15 cannot move elastically due to dirt, the pressure sensor 17 on the surface of the driving wheel 14 cannot contact the inner wall of the pipe. At this time, the pressure of the pressure sensor 17 The signal returns to zero. When the pressure signal received by the third signal receiving module 53 from the pressure sensor 17 returns to zero, the second execution module 512 of the control system 5 controls the second push rod motor 110 to be pushed out until the pressure sensor 17 senses the pressure. In this way, the driving wheel 14 can be stably attached to the inner wall of the pipe regardless of normal elasticity and abnormal elasticity. When the inner diameter of the pipe changes, the driving wheel 14 can also be attached to the inner wall of the pipe under the action of the second push rod motor 110, ensuring that the robot can travel stably in the pipe and the stability of the picture taken by the wide-angle camera.

[0122] 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 only illustrate the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and improvements fall within the scope of the present invention as claimed, and the scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A natural gas pipeline inspection robot capable of environmental recognition, characterized in that: include: A traction mechanism (1) adapted to travel within a natural gas pipeline; An environment detection mechanism (2) is installed on one side of the traction mechanism (1) and is used to detect the environment inside the natural gas pipeline; A driving support mechanism (3) is connected to the traction mechanism (1) and provides balanced support for the traction mechanism (1); A flaw detection mechanism (4) is provided between the traction mechanism (1) and the drive support mechanism (3) and is used for detecting flaws on the inner wall of the natural gas pipeline; Wherein, the traction mechanism (1) comprises a first mounting body (11), and a plurality of traction components arranged on the first mounting body (11); The environment detection mechanism (2) comprises a mounting head (21) mounted on the end of the first mounting body (11), a plurality of wide-angle cameras (22), lamp beads (23) and a displacement sensor (24) arranged on the mounting head (21); The driving support mechanism (3) comprises a second mounting body (31), and a plurality of driving support components arranged on the second mounting body (31); The flaw detection mechanism (4) comprises a connecting sleeve (41) connected between the first installation body (11) and the second installation body (31), two ends of the connecting sleeve (41) are hinged to the first installation body (11) and the second installation body (31), respectively, and a flaw detection component is installed on the connecting sleeve (41); The flaw detection assembly includes a rotating mounting ring plate (42) sleeved on the connecting sleeve (41), a gear ring (43) is provided on the inner wall of the rotating mounting ring plate (42), a servo motor (44) is fixedly mounted on the inner wall of the connecting sleeve (41), the servo motor (44) is connected to a driving gear (45), and the driving gear (45) is meshed with the gear ring (43), a plurality of first push rod motors (46) are provided on the rotating mounting ring plate (42), and a flaw detection sensor (47) is installed at the end of each first push rod motor (46), and the flaw detection sensor (47) corresponds to the inner wall of the natural gas pipeline; The wide-angle camera (22), the displacement sensor (24), the traction assembly, and the flaw detection assembly are interconnected via a control system (5); When the wide-angle camera (22) captures corrosion marks inside the natural gas pipeline, the control system (5) extracts the captured real-time image and records the displacement coordinate value of the robot in the natural gas pipeline at this time through the displacement sensor (24); When the wide-angle camera (22) captures a crack inside the natural gas pipeline, the control system (5) extracts the captured real-time image and reduces the traction speed of the traction component. At the same time, the flaw detection component performs flaw detection on the section of the natural gas pipeline and records the displacement coordinate value of the robot in the natural gas pipeline at this time through the displacement sensor (24); When the wide-angle camera (22) captures multiple corrosion marks inside the natural gas pipeline, the control system (5) classifies and stores the real-time image and displacement coordinate value of each corrosion mark; When the wide-angle camera (22) captures multiple cracks inside the natural gas pipeline, the control system (5) classifies and stores the real-time images and displacement coordinate values ​​of each crack, wherein, when the flaw detection component detects the actual existence of cracks, the real-time images and displacement coordinate values ​​of cracks that are determined to exist are classified into one category, and when the flaw detection component detects the non-existence of cracks, the real-time images and displacement coordinate values ​​of cracks that are not determined to exist are classified into one category; The traction assembly comprises a first connecting arm (12) hinged to the first mounting body (11), a second connecting arm (13) hinged to the first connecting arm (12), a driving wheel (14) being mounted on the end of the first connecting arm (12), an auxiliary wheel (15) being connected to the end of the second connecting arm (13), a driving motor (16) being mounted on one side of the driving wheel (14), and a pressure sensor (17) being embedded on the circumference of the driving wheel (14); The control system (5) comprises: A first signal receiving module (51) is used to receive the internal image of the natural gas pipeline captured by the wide-angle camera (22); A second signal receiving module (52) is used to receive the real-time displacement coordinate value of the displacement sensor (24) in the natural gas pipeline; A third signal receiving module (53), configured to receive a signal from the pressure sensor (17); A logic processing unit (54) is signal-connected to the first signal receiving module (51), the second signal receiving module (52), and the third signal receiving module (53); An instruction input module (55), when the wide-angle camera (22) captures a corrosion mark or crack image, the instruction input module (55) sends a real-time image and a real-time displacement coordinate value extraction instruction to the logic processing unit (54); A first extraction and recording module (56) is used to extract, record and store the real-time images of corrosion marks or cracks captured by the wide-angle camera (22); a second extraction and recording module (57), for extracting and recording the real-time displacement coordinate value of the displacement sensor (24) when the wide-angle camera (22) captures corrosion marks or cracks; a first classification recording module (58), wherein when the wide-angle camera (22) captures a corrosion trace, the first classification recording module (58) records the real-time image of the corrosion trace extracted by the first extraction recording module (56), and simultaneously records the real-time displacement coordinate value of the displacement sensor (24) extracted by the second extraction recording module (57); a second classification recording module (59), wherein when the wide-angle camera (22) captures a crack and the flaw detection component detects the existence of the crack, the second classification recording module (59) records the real-time image of the crack extracted by the first extraction recording module (56) and simultaneously records the real-time displacement coordinate value of the displacement sensor (24) extracted by the second extraction recording module (57); a third classification recording module (510), wherein when the wide-angle camera (22) captures a crack and the flaw detection component detects that the crack is not certain to exist, the third classification recording module (510) records the real-time image of the crack extracted by the first extraction and recording module (56), and simultaneously records the real-time displacement coordinate value of the displacement sensor (24) extracted by the second extraction and recording module (57); A first execution module (511) is used to control the rotation speed of the drive motor, and when the wide-angle camera captures corrosion marks or cracks and the instruction input module generates a signal action, the drive motor is controlled to an idle state; a second execution module (512), wherein when the pressure signal of the pressure sensor received by the third signal receiving module returns to zero, the second execution module controls the second push rod motor to push out until the pressure sensor senses pressure; A third execution module (513) controls the first push rod motor to push out when the wide-angle camera captures corrosion marks or cracks and the command input module generates a signal action, and the first push rod motor controls the flaw detection sensor to approach the inner wall of the natural gas pipeline; The fourth execution module (514) controls the servo motor (44) to start when the wide-angle camera captures corrosion marks or cracks and the instruction input module generates a signal action.

2. The natural gas pipeline inspection robot capable of environmental recognition according to claim 1, characterized in that: The middle part of the first connecting arm (12) is hinged to the first support arm (18), and the middle part of the second connecting arm (13) is hinged to the second support arm (19). The ends of the first connecting arm (12), the first support arm (18) and the second support arm (19) are hinged to the first mounting body (11) through a pin, and a torsion spring is installed at the hinge.

3. The natural gas pipeline inspection robot capable of environmental recognition according to claim 2, characterized in that: A second push rod motor (110) is provided on the first installation body (11), and an end of the second push rod motor (110) is hinged to an end of the first connecting arm (12) away from the first installation body (11).

4. The natural gas pipeline inspection robot capable of environmental recognition according to claim 1, characterized in that: The driving support assembly comprises a third connecting arm (32) hinged to the second mounting body (31), a fourth connecting arm (33) hinged to the third connecting arm (32), a main support wheel (34) being mounted on an end portion of the third connecting arm (32), and an auxiliary support wheel (35) being connected to an end portion of the fourth connecting arm (33); The middle part of the third connecting arm (32) is hinged to the third support arm (36), and the middle part of the fourth connecting arm (33) is hinged to the fourth support arm (37). The ends of the third connecting arm (32), the third support arm (36) and the fourth support arm (37) are all hinged to the second mounting body (31) through a pin, and a torsion spring is installed at the hinge.

5. The natural gas pipeline inspection robot capable of environment recognition according to claim 3, characterized in that: The mounting head (21) is sleeved on the end of the first mounting body (11), and a spring (25) is sleeved on the outer side of the first mounting body (11). One end of the spring (25) is fixed, and the other end is connected to the end of the mounting head (21). A battery (26) is provided in the first mounting body (11), and the battery (26) is electrically connected to the wide-angle camera (22), the lamp bead (23), and the displacement sensor (24) on the mounting head (21) through a circuit.

6. The natural gas pipeline inspection robot capable of environment recognition according to claim 5, characterized in that: The number of the traction assemblies and the drive support assemblies is three, and the three traction assemblies are arranged in a triangular shape on the outside of the first installation body (11), and the three drive support assemblies are also arranged in a triangular shape on the outside of the second installation body (31), and the traction assemblies and the drive support assemblies are in conflict with the inner wall of the natural gas pipeline.

7. The natural gas pipeline inspection robot capable of environmental recognition according to claim 1, characterized in that: The logic processing unit (54) is connected to the network signal receiving module (515), and the control system (5) performs signal interaction with an external handheld terminal device (6) through the network signal receiving module (515).

8. The natural gas pipeline inspection robot capable of environment recognition according to claim 7, characterized in that: The command input module (55) is provided on a handheld terminal device (6). The handheld terminal device (6) is provided with a display screen (61). The display screen (61) is used to display the internal image of the natural gas pipeline captured by the wide-angle camera (22), and to control the signal output of the command input module (55) by means of a touch screen.

9. The natural gas pipeline inspection robot capable of environment recognition according to claim 8, characterized in that: The handheld terminal device (6) is a mobile phone or a computer; the flaw detection sensor (47) is an eddy current sensor.

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