A speed control system for a pipeline inspection robot

Abstract

The application relates to the field of pipeline detection robots, in particular to a speed control system of a pipeline detection robot. An image comparison module of the system compares pictures stored in a first image template storage module, a second image template storage module, a third image template storage module and a fourth image template storage module with pictures identified by a shooting picture identification unit. If the pictures identified by the shooting picture identification unit are one of a pipeline corrosion trace picture, a pipeline crack picture and a corner obstacle picture, a speed reduction control unit controls a walking mechanism on a robot main body to be in an idle state, so that a camera cannot shoot details and clearly of a damaged area inside a natural gas pipeline. Meanwhile, a central control unit feeds back a position of the pipeline detection robot to a background monitoring system through a positioning module. Background maintenance personnel can record the damaged position of the pipeline according to the positioned position, so that the pipeline can be maintained in the later period.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of pipeline detection robots, in particular to a speed control system of a pipeline detection robot. BACKGROUND

[0002] Natural gas pipelines need to be periodically inspected for quality, regardless of whether they are newly assembled or in use. During the inspection process, the main focus is on the degree of corrosion inside the pipeline, the risk of cracks in local areas of the pipeline, and the tightness of the joint between pipe sections. If there are safety hazards, the pipe section needs to be maintained or replaced. Since natural gas pipelines are long and sealed, a pipeline detection robot is needed to inspect the inside of the natural gas pipeline for risks.

[0003] When the pipeline detection robot is walking inside the natural gas pipeline, it will maintain a set speed and travel at a constant speed. The pipeline detection robot includes a robot body, a walking mechanism installed on the robot body, and a camera. During the walking process of the pipeline detection robot inside the natural gas pipeline, the camera captures the inside of the pipeline in real time. A technician connects the camera through a terminal device and observes the images of the inside of the pipeline captured by the camera. If the images show that the inside of the pipeline is severely corroded or has cracks, personnel are assigned to maintain the damaged location of the pipeline. However, there is a serious problem with the robot's walking speed control in actual use, which mainly manifests in the following aspects:

[0004] 1. When the robot detects that the inside of the pipeline is severely corroded or has cracks, the robot needs to slow down until the damaged area is completely captured by the camera, and then the robot can speed up and travel normally. Some current pipeline detection robots mainly travel at a constant speed. When the camera feeds back that the inside of the pipeline is severely corroded or has cracks, the robot cannot adjust its speed according to the on-site conditions, so the camera cannot capture the details of the damaged area inside the natural gas pipeline clearly, which may result in blind spots and incomplete feedback of the on-site scene.

[0005] 2. During the detection process, the pipeline detection robot may also encounter a pipe blockage problem (when a local position of the pipeline collapses, it may cause a blockage inside the pipeline). The current pipeline detection robot directly collides with the blockage when it encounters a blockage, which causes the pipeline detection robot to stop. If the blockage is strong, it may easily cause the pipeline detection robot to be damaged due to the collision. SUMMARY

[0006] The purpose of the present application is to solve the defects in the prior art and provide a speed control system for a pipeline detection robot.

[0007] To achieve the above object, the technical scheme adopted by the present application is as follows:

[0008] A speed control system of a pipeline detection robot, comprising:

[0009] A shooting picture acquisition unit is configured to extract multiple frames of pictures shot by a camera on the robot body at intervals;

[0010] A shooting picture recognition unit is configured to recognize the pictures acquired by the shooting picture acquisition unit, wherein the recognized pictures include pipeline corrosion trace pictures, pipeline crack pictures, pipeline internal obstacle blockage pictures and pipeline corner obstacle pictures;

[0011] A first image template storage module is configured to store a plurality of pictures of pipeline interiors with corrosion traces;

[0012] A second image template storage module is configured to store a plurality of pictures of pipeline inner walls with cracks;

[0013] A third image template storage module is configured to store a plurality of pictures of pipeline interiors with obstacle blockage;

[0014] A fourth image template storage module is configured to store a plurality of pipeline corner pictures of pipeline corners in the pipeline interiors;

[0015] An image comparison module is configured to compare the pictures stored in the first image template storage module, the second image template storage module, the third image template storage module and the fourth image template storage module with the pictures recognized by the shooting picture recognition unit;

[0016] A central control unit is connected to the shooting picture recognition unit and the image comparison module, configured to store the pictures recognized by the shooting picture recognition unit, and simultaneously transmit the picture signals to the image comparison module for comparison, and feed back the comparison results to the central control unit;

[0017] A positioning module is configured to position the position of the pipeline detection robot in the pipeline;

[0018] A speed reduction control unit is configured to, after the image comparison module compares the pictures stored in the first image template storage module, the second image template storage module, the third image template storage module and the fourth image template storage module with the pictures recognized by the shooting picture recognition unit, if the pictures recognized by the shooting picture recognition unit are one of the pipeline corrosion trace pictures, the pipeline crack pictures and the corner obstacle pictures, control the walking mechanism on the robot body to be in an idle state, and feed back the position of the pipeline detection robot to the background monitoring system, and the position of the pipeline detection robot is transmitted by the positioning module;

[0019] The emergency stop control unit controls the walking mechanism to stop moving forward when the image comparison module compares the image stored in the first image template storage module, the second image template storage module, the third image template storage module and the fourth image template storage module with the image identified by the shooting image identification unit, and the image identified by the shooting image identification unit is the image in which the inside of the pipeline is blocked by an obstacle.

[0020] Further, the camera is installed at the end of the robot body, and a transparent protective cover is arranged outside the camera, the protective cover is buckled with the end of the robot body, and a pressure sensor is arranged at the connection between the robot body and the transparent protective cover, and the pressure sensor is connected with the central control unit.

[0021] Further, the control system further comprises a secondary start module, and after the emergency stop control unit controls the walking mechanism to stop moving forward, the secondary start module controls the walking mechanism to start again after 3 seconds, and the walking mechanism is ensured to move forward at an idle speed.

[0022] Further, after the secondary start module controls the walking mechanism to start again, the robot body continues to move forward at a low speed to enter the obstacle area in the pipeline, and the transparent protective cover at the end of the robot body contacts the obstacle in the pipeline, at this time, the transparent protective cover is extruded, and the pressure sensor senses the pressure.

[0023] Further, the control system further comprises a reverse control unit for controlling the walking mechanism to move reversely.

[0024] The pressure signal receiving module receives the pressure signal sensed by the pressure sensor.

[0025] The pressure threshold setting module sets the pressure threshold value as 0-aPa, when the pressure value fed back by the pressure signal received by the pressure signal receiving module is greater than a, it indicates that the resistance of the obstacle in the obstacle area to the pipeline detection robot is greater than the upper limit value borne by the pipeline detection robot, at this time, the central control unit controls the reverse control unit to control the walking mechanism of the pipeline detection robot to move reversely, and the pipeline detection robot can exit from the pipeline.

[0026] The pipeline detection robot walks on the inner wall of the natural gas pipeline, and the robot moves at a uniform speed in the pipeline. During the moving process, the camera at the end of the robot body captures the scene in front of it in real time. The shooting picture acquisition unit of the control system extracts multiple frames of pictures captured by the camera at intervals. The interval duration range can be set to 0-0.5s. After the picture is extracted, the shooting picture recognition unit identifies the picture obtained by the shooting picture acquisition unit to determine whether the picture is one of a pipeline corrosion trace picture, a pipeline crack picture, a pipeline internal obstacle blockage picture, and a pipeline corner obstacle picture. If the picture recognized by the shooting picture recognition unit is one of the pipeline corrosion trace picture, the pipeline crack picture, the pipeline internal obstacle blockage picture, and the pipeline corner obstacle picture, the image comparison module compares the pictures stored in the first image template storage module, the second image template storage module, the third image template storage module, and the fourth image template storage module with the picture recognized by the shooting picture recognition unit. If the picture recognized by the shooting picture recognition unit is one of the pipeline corrosion trace picture, the pipeline crack picture, and the corner obstacle picture, the speed control unit controls the walking mechanism on the robot body to be in an idle state. This facilitates the camera to capture the details and clarity of the damaged area (pipeline corrosion trace and pipeline crack) in the natural gas pipeline. At the same time, the central control unit feeds back the position of the pipeline detection robot to the background monitoring system through the positioning module. The background maintenance personnel can record the damaged position of the pipeline according to the positioning position, which is convenient for later maintenance.

[0027] In addition, when the picture recognized by the shooting picture recognition unit is a corner obstacle picture, the walking mechanism is in an idle state. The advantage is that the robot idles at the position of the internal corner of the pipeline, which facilitates the robot to turn and avoids collision during the turning process due to the high speed of the robot.

[0028] The image comparison module compares the pictures stored in the first image template storage module, the second image template storage module, the third image template storage module and the fourth image template storage module with the picture identified by the shooting picture identification unit. If the picture identified by the shooting picture identification unit is a picture of an obstacle blocking in the pipeline, the emergency stop control unit controls the walking mechanism to stop moving forward. The central control unit feeds back the position of the pipeline detection robot to the background monitoring system through the positioning module. After the emergency stop control unit controls the walking mechanism to stop moving forward, the stopping time interval is 3 seconds. Then, the secondary start module controls the walking mechanism to start again, while ensuring that the walking mechanism moves forward at idle speed. The advantage of this design is that the camera can shoot the picture of the obstacle blocking, which can be seen by the maintenance personnel of the background system. The 3-second time interval is the time for the maintenance personnel to make a judgment. If the maintenance personnel thinks that the blocking situation reflected by the picture of the obstacle blocking is serious, the maintenance personnel can directly control the pipeline detection robot to exit from the natural gas pipeline. If the maintenance personnel does not intervene in the action of the robot after the 3-second judgment time interval has passed, the robot will try to pass through the obstacle area. The secondary start module controls the walking mechanism to start again. The robot main body will continue to move forward at low speed into the obstacle area in the pipeline. The transparent protective cover at the end of the robot main body will contact the obstacle in the pipeline. At this time, the transparent protective cover will be squeezed, and the pressure sensor will sense the pressure. The pressure signal receiving module receives the pressure signal sensed by the pressure sensor. The pressure threshold setting module sets the pressure threshold to 0-aPa. When the pressure value fed back by the pressure signal received by the pressure signal receiving module is greater than a, it indicates that the resistance of the obstacle in the obstacle area to the pipeline detection robot is greater than the upper limit value that the pipeline detection robot can withstand. At this time, the central control unit controls the reverse control unit to control the walking mechanism of the pipeline detection robot to move in reverse. The pipeline detection robot can exit from the pipeline. At this time, the robot cannot pass through the obstacle area for self-protection and returns automatically.

[0029] If the pressure value fed back by the pressure signal received by the pressure signal receiving module is always between 0-aPa, after the secondary start module controls the walking mechanism to start again, the robot main body will always move forward at low speed until it passes through the obstacle area. This can not only avoid damage to the robot due to collision, but also ensure that the robot can smoothly enter the next area to shoot the picture of the inside of the pipeline.

[0030] Further, the number of walking mechanisms is three. The three walking mechanisms are evenly arranged on the circumference of the robot main body.

[0031] Further, the walking mechanism comprises two support plates, a driving gear and a driven gear connected between the two support plates, and a plurality of support gears arranged between the driving gear and the driven gear.

[0032] The driving gear, the driven gear and the supporting gear are rotatably installed on the supporting plate, the driving gear is connected with the driving motor on one side.

[0033] Further, the side of the supporting plate is connected with the robot body through the supporting assembly, the supporting assembly comprises a first supporting head installed on the side of the supporting plate, a supporting plate sleeved on the outside of the robot body, a second supporting head installed on the supporting plate, a supporting rod arranged between the first supporting head and the second supporting head, both ends of the supporting rod are inserted into the first supporting head and the second supporting head respectively, and the outside of the supporting rod is sleeved with a first buffer spring.

[0034] Further, the supporting assembly further comprises a fixing plate fixed on the robot body, and the fixing plate is connected with the side of the supporting plate through a connecting arm.

[0035] The fixing plate is provided with a guide groove, the supporting plate is provided with a pin shaft, the pin shaft penetrates through the guide groove, the end of the robot body is provided with a supporting seat, the supporting seat is hinged with a guide rod, the end of the guide rod penetrates through the supporting plate, the outside of the guide rod is sleeved with a sleeve and a second buffer spring, one end of the second buffer spring is in contact with the bottom of the sleeve, and the other end is in contact with the supporting plate.

[0036] Through the above technical scheme, the supporting assembly plays a role of elastic support for the walking mechanism, and can play a role of shock absorption and buffering during the walking of the walking mechanism.

[0037] Further, one end of the fixing plate close to the camera is provided with a lamp bead, a storage battery is installed in the robot body, and the storage battery is connected with the lamp bead, the camera and the pressure sensor through a circuit.

[0038] The beneficial effects of the present application are: 1, the pipeline detection robot walks in the natural gas pipeline, the walking mechanism is supported on the inner wall of the natural gas pipeline, the robot uniformly advances in the pipeline, in the process of advancing, the camera at the end of the robot body shoots the scene in front in real time, the shooting picture acquisition unit of the control system extracts multiple frames of pictures shot by the camera at intervals, the interval time range can be set to 0-0.5s, after picture extraction, at the same time, the shooting picture recognition unit recognizes the picture acquired by the shooting picture acquisition unit, whether the acquired picture is one of pipeline corrosion trace picture, pipeline crack picture, pipeline internal obstacle blockage picture and pipeline corner obstacle picture, if the shooting picture recognition unit identifies that the acquired picture is one of pipeline corrosion trace picture, pipeline crack picture, pipeline internal obstacle blockage picture and pipeline corner obstacle picture, at this time, the image comparison module compares the pictures stored in the first image template storage module, the second image template storage module, the third image template storage module and the fourth image template storage module with the picture recognized by the shooting picture recognition unit, if the picture recognized by the shooting picture recognition unit is one of pipeline corrosion trace picture, pipeline crack picture and corner obstacle picture, the speed reduction control unit controls the walking mechanism on the robot body to be in an idle state, so that the camera cannot shoot the damaged area (pipeline corrosion trace and pipeline crack) in the natural gas pipeline in detail and clearly, at the same time, the central control unit feeds back the position of the pipeline detection robot to the background monitoring system through the positioning module, and the background maintenance personnel can record the damaged position of the pipeline according to the positioning position, which is convenient for later maintenance;

[0039] 2, in the process of detection, the pipeline detection robot will also encounter pipeline blockage problems, which can be controlled to exit from the pipeline by manual intervention, when there is no manual intervention, the robot will automatically try to pass through the obstacle area, the robot controls the pressure felt when passing through the obstacle area through the pressure sensor at the end, if the pressure exceeds the set range, the robot will automatically stop advancing and return, if the pressure borne by the robot during the process of passing through the obstacle area is lower than the set pressure limit value, the robot can continuously advance at low speed until passing through the obstacle area, which can avoid damage of the robot caused by collision, and also can ensure that the robot can smoothly enter the next area to shoot the scene in the pipeline. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 It is a structural schematic view of the pipeline detection robot of the present application;

[0041] Figure 2 It is a use effect drawing in the pipeline of the present application;

[0042] Figure 3 It is Figure 2side view schematic diagram of the pipe detection robot;

[0043] Figure 4 is a schematic diagram of the local structure of the present application; Figure 3 is a schematic diagram of the cross section along line A-A of the present application;

[0044] Figure 5 is a schematic diagram of the local structure of the present application;

[0045] Figure 6 is a schematic diagram of the walking mechanism of the present application;

[0046] Figure 7 is a schematic diagram of the speed control system of the present application.

[0047] Figure legend: 1, speed control system; 11, shot picture acquisition unit; 12, shot picture recognition unit; 13, first image template storage module; 14, second image template storage module; 15, third image template storage module; 16, fourth image template storage module; 17, image comparison module; 18, central control unit; 19, positioning module; 110, speed reduction control unit; 111, emergency stop control unit; 112, secondary start module; 113, reverse control unit; 114, pressure signal receiving module; 115, pressure threshold setting module; 2, robot main body; 21, pressure sensor; 3, camera; 31, protective cover; 4, pipeline;

[0048] 5, walking mechanism; 51, support plate; 52, drive gear; 53, driven gear; 54, support gear; 55, track unit; 56, drive motor; 57, first support head; 58, support plate; 59, second support head; 510, support rod; 511, first buffer spring; 512, fixed plate; 513, connecting arm; 514, guide groove; 515, pin shaft; 516, support seat; 517, guide rod; 518, sleeve; 519, second buffer spring;

[0049] 6, lamp bead; 7, storage battery. Embodiment

[0050] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 7 , a speed control system of a pipeline detection robot, the speed control system 1 comprises:

[0051] The shot picture acquisition unit 11 is used for interval extraction of multiple frames of pictures shot by the camera 3 on the robot main body 2;

[0052] The shooting picture recognition unit 12 is used for recognizing the picture acquired by the shooting picture acquisition unit. The recognized picture includes a pipeline corrosion trace picture, a pipeline crack picture, a pipeline internal obstacle blockage picture and a pipeline corner obstacle picture.

[0053] The first image template storage module 13 is used for storing a plurality of pictures of the pipeline 4 with corrosion traces in the inside.

[0054] The second image template storage module 14 is used for storing a plurality of pictures of the pipeline 4 with cracks on the inner wall.

[0055] The third image template storage module 15 is used for storing a plurality of pictures of the pipeline 4 with obstacle blockage in the inside.

[0056] The fourth image template storage module 16 is used for storing a plurality of pipeline corner pictures of the pipeline 4 at the corner in the inside.

[0057] The image comparison module 17 compares the pictures stored in the first image template storage module 13, the second image template storage module 14, the third image template storage module 15 and the fourth image template storage module 16 with the picture recognized by the shooting picture recognition unit 12.

[0058] The central control unit 18 is connected with the shooting picture recognition unit 12 and the image comparison module 17. The central control unit 18 stores the picture recognized by the shooting picture recognition unit 12 and transmits the picture signal to the image comparison module 17 for comparison. The image comparison module 17 feeds back the comparison result to the central control unit 18.

[0059] The positioning module 19 is used for positioning the position of the pipeline detection robot in the pipeline 4.

[0060] The speed reduction control unit 110 controls the walking mechanism 5 on the robot main body to be in an idle state if the picture recognized by the shooting picture recognition unit 12 is one of the pipeline corrosion trace picture, the pipeline crack picture and the corner obstacle picture after the image comparison module 17 compares the pictures stored in the first image template storage module 13, the second image template storage module 14, the third image template storage module 15 and the fourth image template storage module 16 with the picture recognized by the shooting picture recognition unit 12. The central control unit 18 feeds back the position of the pipeline detection robot to the background monitoring system. The position of the pipeline detection robot is transmitted through the positioning module 19.

[0061] The emergency stop control unit 111, the image comparison module 17 compares the pictures stored in the first image template storage module 13, the second image template storage module 14, the third image template storage module 15 and the fourth image template storage module 16 with the picture identified by the shooting picture identification unit, and if the picture identified by the shooting picture identification unit is a picture in which an obstacle appears in the pipeline, the emergency stop control unit controls the walking mechanism to stop moving forward, and the central control unit feeds back the position of the pipeline detection robot to the background monitoring system. The position of the pipeline detection robot is transmitted by the positioning module.

[0062] The camera 3 is installed at the end of the robot body 2, and a transparent protective cover 31 is arranged outside the camera 3. The protective cover 31 is buckled with the end of the robot body 2. A pressure sensor 21 is arranged at the connection between the robot body 2 and the transparent protective cover 31, and the pressure sensor 21 is connected to the central control unit 18.

[0063] Further, the speed control system 1 further comprises a secondary start module 112. After the emergency stop control unit 111 controls the walking mechanism to stop moving forward, the secondary start module 112 controls the walking mechanism 5 to start again after 3 seconds, and ensures that the walking mechanism 5 moves at an idle speed.

[0064] After the secondary start module 112 controls the walking mechanism 5 to start again, the robot body 2 continues to move at a low speed into the obstacle area in the pipeline 4, and the transparent protective cover 31 at the end of the robot body 2 contacts the obstacle in the pipeline 4. At this time, the transparent protective cover 31 is extruded, and the pressure sensor 21 senses the pressure.

[0065] Further, the speed control system 1 further comprises a reverse control unit 113 for controlling the walking mechanism 5 to move in reverse.

[0066] The pressure signal receiving module 114 receives the pressure signal sensed by the pressure sensor 21.

[0067] The pressure threshold setting module 115 sets the pressure threshold value to 0-aPa. When the pressure value fed back by the pressure signal received by the pressure signal receiving module 114 is greater than a, it indicates that the resistance of the obstacle in the obstacle area to the pipeline detection robot is greater than the upper limit value that the pipeline detection robot can withstand. At this time, the central control unit 18 controls the reverse control unit 113 to control the walking mechanism 5 of the pipeline detection robot to move in reverse, and the pipeline detection robot can exit from the pipeline 4.

[0068] The pipeline detection robot walks in the natural gas pipeline, the walking mechanism 5 is supported on the inner wall of the natural gas pipeline, the robot walks uniformly in the pipeline, in the process of walking, the camera at the end of the robot body 2 shoots the scene in front of it in real time, the shooting picture acquisition unit 11 of the control system extracts multiple frames of pictures shot by the camera at intervals, the interval time range can be set to 0-0.5s, after the picture extraction, at the same time, the shooting picture recognition unit 12 identifies the picture acquired by the shooting picture acquisition unit 11, whether the acquired picture is one of the pipeline corrosion trace picture, the pipeline crack picture, the pipeline internal obstacle blockage picture and the pipeline corner obstacle picture, if the shooting picture recognition unit 12 identifies that the acquired picture is one of the pipeline corrosion trace picture, the pipeline crack picture, the pipeline internal obstacle blockage picture and the pipeline corner obstacle picture, at this time, the image comparison module 17 compares the picture stored in the first image template storage module 13, the second image template storage module 14, the third image template storage module 15 and the fourth image template storage module 16 with the picture identified by the shooting picture recognition unit 12, if the picture identified by the shooting picture recognition unit 12 is one of the pipeline corrosion trace picture, the pipeline crack picture and the corner obstacle picture, the speed control unit 18 controls the walking mechanism 5 on the robot body to be in the idle speed state, so that the camera 3 cannot shoot the damaged area (pipeline corrosion trace and pipeline crack) in the natural gas pipeline in detail and clearly, at the same time, the central control unit 18 feeds back the position of the pipeline detection robot to the background monitoring system through the positioning module 19, the background maintenance personnel can record the damaged position of the pipeline according to the positioning position, which is convenient for later maintenance.

[0069] In addition, when the picture identified by the shooting picture recognition unit 12 is the corner obstacle picture, the walking mechanism 5 is in the idle speed state, which has the advantages that the robot idles through the position of the internal corner of the pipeline, which is convenient for the robot to turn, and avoids the collision of the robot in the turning process due to the too high speed.

[0070] Moreover, the image comparison module 17 compares the pictures stored in the first image template storage module 13, the second image template storage module 14, the third image template storage module 15, and the fourth image template storage module 16 with the pictures identified by the shooting picture identification unit 12, and if the pictures identified by the shooting picture identification unit 12 are pictures of the pipeline interior blocked by obstacles, the emergency stop control unit controls the walking mechanism 5 to stop moving forward, the central control unit 18 feeds back the position of the pipeline detection robot to the background monitoring system through the positioning module 19, after the emergency stop control unit 111 controls the walking mechanism 5 to stop moving forward, the stopping time interval is 3 seconds, then the secondary start module 112 controls the walking mechanism 5 to start again, and the walking mechanism 5 is ensured to move forward at an idle speed. The advantage of this design is that the picture of the obstacle blockage taken by the camera 3 after the emergency stop control unit 111 controls the walking mechanism 5 to stop moving forward can be seen by the maintenance personnel of the background system, and the 3-second time interval is the time for the maintenance personnel to make a judgment. If the maintenance personnel thinks that the blockage situation reflected by the picture of the obstacle blockage is relatively serious, the pipeline detection robot can be directly controlled to exit from the natural gas pipeline. The maintenance personnel can reach the location positioned by the positioning module 19 to dredge the interior of the natural gas pipeline. If the 3-second judgment time has passed and the maintenance personnel does not intervene in the action of the robot, the robot will try to pass through the obstacle area. The secondary start module 112 controls the walking mechanism 5 to start again, and the robot main body will continue to move forward at a low speed to enter the obstacle area in the pipeline interior. The transparent protective cover 31 at the end of the robot main body will contact the obstacle in the pipeline interior. At this time, the transparent protective cover 31 will be squeezed, and the pressure sensor 21 will sense the pressure. The pressure signal receiving module 114 receives the pressure signal sensed by the pressure sensor 21, and the pressure threshold setting module 115 sets the pressure threshold to 0-aPa. When the pressure value fed back by the pressure signal received by the pressure signal receiving module 114 is greater than a, it indicates that the resistance of the obstacle in the obstacle area to the pipeline detection robot is greater than the upper limit value that the pipeline detection robot can bear. At this time, the central control unit 18 controls the reverse control unit 113 to control the walking mechanism 5 of the pipeline detection robot to move in the reverse direction, so that the pipeline detection robot can exit from the pipeline 4. At this time, the robot cannot pass through the obstacle area for self-protection and returns automatically.

[0071] If the pressure value fed back by the pressure signal received by the pressure signal receiving module 114 is always between 0-aPa, after the secondary start module 112 controls the walking mechanism 5 to start again, the robot main body will always move forward at a low speed until it passes through the obstacle area, which can avoid damage to the robot caused by collision and ensure that the robot can smoothly enter the next area to shoot the interior of the pipeline.

[0072] In this embodiment, the number of walking mechanisms 5 is three, and the three walking mechanisms 5 are evenly arranged on the circumferential surface of the robot main body 2.

[0073] Further, as shown in Figure 4 , Figure 5 , Figure 6 The walking mechanism 5 includes two support plates 51, a driving gear 52 and a driven gear 53 connected between the two support plates 51, and a plurality of support gears 54 arranged between the driving gear 52 and the driven gear 53.

[0074] The driving gear 52, the driven gear 53 and the support gear 54 are rotatably installed on the support plate 51, the outer side of the driving gear 52, the driven gear 53 and the support gear 54 is sleeved with a track unit 55, and one side of the driving gear 52 is connected with a driving motor 56.

[0075] The side of the support plate 51 is connected with the robot body 2 through a support assembly, the support assembly includes a first support head 57 installed on the side of the support plate 51, a supporting plate 58 sleeved on the outer side of the robot body 2, a second support head 59 installed on the supporting plate 58, a support rod 510 arranged between the first support head 57 and the second support head 59, both ends of the support rod 510 are inserted into the first support head 57 and the second support head 59 respectively, and the outer side of the support rod 510 is sleeved with a first buffer spring 511.

[0076] Further, the support assembly further includes a fixed plate 512 fixed on the robot body 2, and the fixed plate 512 is connected with the side of the support plate 51 through a connecting arm 513.

[0077] The fixed plate 512 is provided with a guide groove 514, the supporting plate 58 is provided with a pin shaft 515, the pin shaft 515 penetrates through the guide groove 514, the end of the robot body 2 is installed with a support seat 516, the support seat 516 is hinged with a guide rod 517, the end of the guide rod 517 penetrates through the supporting plate 58, the outer side of the guide rod 517 is sleeved with a sleeve 518 and a second buffer spring 519, one end of the second buffer spring 519 is in contact with the bottom of the sleeve 518, and the other end is in contact with the supporting plate 58.

[0078] The support assembly plays a role of elastic support for the walking mechanism 5, and can play a role of shock absorption and buffering during the walking of the walking mechanism 5.

[0079] Further, one end of the fixed plate 512 close to the camera 3 is provided with a lamp bead 6, a storage battery 7 is installed in the robot body 2, and the storage battery 7 is connected with the lamp bead 6, the camera 3 and the pressure sensor 21 through a circuit.

[0080] In summary, when the pipeline detection robot walks in the natural gas pipeline, the walking mechanism 5 is supported on the inner wall of the natural gas pipeline, the robot walks forward at a uniform speed, and the camera 3 at the end of the robot body 2 takes pictures of the scene in front of it in real time. The shooting picture acquisition unit 11 of the control system extracts multiple frames of pictures taken by the camera at intervals, and the interval time range can be set to 0-0.5s. After the picture is extracted, the shooting picture recognition unit 12 recognizes the picture obtained by the shooting picture acquisition unit 11 to determine whether it is one of the pipeline corrosion trace picture, the pipeline crack picture, the pipeline internal obstacle blockage picture, and the pipeline corner obstacle picture. If the picture recognized by the shooting picture recognition unit 12 is one of the pipeline corrosion trace picture, the pipeline crack picture, the pipeline internal obstacle blockage picture, and the pipeline corner obstacle picture, the image comparison module 17 compares the pictures stored in the first image template storage module 13, the second image template storage module 14, the third image template storage module 15, and the fourth image template storage module 16 with the picture recognized by the shooting picture recognition unit 12. If the picture recognized by the shooting picture recognition unit 12 is one of the pipeline corrosion trace picture, the pipeline crack picture, and the corner obstacle picture, the speed control unit 18 controls the walking mechanism 5 on the robot body to be in an idle state, which facilitates the camera 3 to take detailed and clear pictures of the damaged area (pipeline corrosion trace and pipeline crack) in the natural gas pipeline. At the same time, the central control unit 18 feeds back the position of the pipeline detection robot to the background monitoring system through the positioning module 19, and the background maintenance personnel can record the damaged position of the pipeline according to the positioning position, which is convenient for later maintenance.

[0081] Moreover, the pipeline detection robot may encounter pipeline blockage during detection. The robot can be controlled to exit the pipeline through manual intervention. When there is no manual intervention, the robot will automatically attempt to pass through the obstacle area. The robot monitors the pressure sensed when passing through the obstacle area through the pressure sensor 21 at the end. If the pressure exceeds the set range, the robot will automatically stop moving forward and return. If the pressure the robot bears during the process of passing through the obstacle area is lower than the set pressure limit, the robot can continue to move forward at a low speed until it passes through the obstacle area, which can avoid damage to the robot and ensure that the robot can smoothly enter the next area to take pictures of the inside of the pipeline.

[0082] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only the principles of the present application. Various changes and improvements can be made without departing from the spirit and scope of the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A speed control system for a pipeline inspection robot, characterized in that, include: The image acquisition unit (11) is used to extract multiple frames of images captured by the camera (3) on the robot body (2) at intervals; the image recognition unit (12) is used to recognize the images acquired by the image acquisition unit (11), and the recognized images include images of pipe corrosion marks, images of pipe cracks, images of obstacles blocking the inside of the pipe, and images of obstacles at pipe corners; the first image template storage module (13) is used to store several images of corrosion marks inside the pipe (4); the second image template storage module (14) is used to store several images of cracks appearing on the inner wall of the pipe (4); The third image template storage module (15) is used to store several images of obstacles blocking the inside of the pipe (4); the fourth image template storage module (16) is used to store several images of pipe corners at bends inside the pipe (4); the image comparison module (17) compares the images stored by the first image template storage module (13), the second image template storage module (14), the third image template storage module (15) and the fourth image template storage module (16) with the images recognized by the shooting image recognition unit (12); the central control unit (18) is connected to the shooting image recognition unit (12) and the image comparison module (17), stores the images recognized by the shooting image recognition unit (12), and transmits the image signal to the image comparison module (17) for comparison, and the image comparison module (17) feeds back the comparison result to the central control unit (18); the positioning module (19) is used to locate the position of the pipe inspection robot inside the pipe (4); The deceleration control unit (110) compares the images stored in the first image template storage module (13), the second image template storage module (14), the third image template storage module (15) and the fourth image template storage module (16) with the images identified by the shooting image recognition unit (12). If the images identified by the shooting image recognition unit (12) are one of the following: pipe corrosion marks, pipe cracks, or corner obstacles, the deceleration control unit (110) controls the walking mechanism (5) on the robot body to be in an idle state. The central control unit (18) feeds back the location of the pipe inspection robot to the background monitoring system. The location of the pipe inspection robot is transmitted through the positioning module (19). The emergency stop control unit (111) compares the images stored in the first image template storage module (13), the second image template storage module (14), the third image template storage module (15) and the fourth image template storage module (16) with the images identified by the shooting image recognition unit (12). If the images identified by the shooting image recognition unit (12) are images of obstacles blocking the inside of the pipe, the emergency stop control unit (111) controls the walking mechanism (5) to stop moving forward. The central control unit (18) feeds back the location of the pipe inspection robot to the background monitoring system. The location of the pipe inspection robot is transmitted through the positioning module (19). The camera (3) is installed at the end of the robot body (2). A transparent protective cover (31) is provided on the outside of the camera (3). The protective cover (31) is fastened to the end of the robot body (2). A pressure sensor (21) is provided at the connection between the robot body (2) and the protective cover (31). The pressure sensor (21) is connected to the central control unit (18).The speed control system (1) further includes: a reversal control unit (113) for controlling the walking mechanism (5) to walk in the opposite direction; The pressure signal receiving module (114) receives the pressure signal sensed by the pressure sensor (21); the pressure threshold setting module (115) sets the pressure threshold to 0-aPa. When the pressure value fed back by the pressure signal received by the pressure signal receiving module (114) is greater than a, it indicates that the obstruction force of the obstacle in the obstacle area on the pipeline inspection robot is greater than the upper limit that the pipeline inspection robot can withstand. At this time, the central control unit (18) controls the reverse control unit (113) to control the walking mechanism (5) of the pipeline inspection robot to walk in the opposite direction.

2. The speed control system for a pipeline inspection robot according to claim 1, characterized in that, The speed control system (1) also includes a secondary start module (112). After the emergency stop control unit (111) controls the walking mechanism (5) to stop moving forward, after an interval of 3 seconds, the secondary start module (112) controls the walking mechanism (5) to start for the second time, and at the same time controls the walking mechanism (5) to move forward in an idling state.

3. The speed control system for a pipeline inspection robot according to claim 2, characterized in that, After the secondary start-up module (112) controls the walking mechanism (5) to start for the second time, the robot body (2) continues to move forward at low speed into the obstacle area inside the pipe (4). When the protective cover (31) at the end of the robot body (2) comes into contact with the obstacle inside the pipe (4), the protective cover (31) is squeezed and the pressure sensor (21) senses the pressure.

4. The speed control system for a pipeline inspection robot according to claim 1, characterized in that, The number of the walking mechanism (5) is three, and the three walking mechanisms (5) are evenly arranged in a circumferential direction on the periphery of the robot body (2).

5. The speed control system for a pipeline inspection robot according to claim 4, characterized in that, The walking mechanism (5) includes two support plates (51), a drive gear (52) and a driven gear (53) connected between the two support plates (51), and a plurality of support gears (54) disposed between the drive gear (52) and the driven gear (53); the drive gear (52), the driven gear (53) and the support gears (54) are rotatably mounted on the support plates (51), and track units (55) are sleeved on the outside of the drive gear (52), the driven gear (53) and the support gears (54), and a drive motor (56) is connected to one side of the drive gear (52).

6. The speed control system for a pipeline inspection robot according to claim 5, characterized in that, The side of the support plate (51) is connected to the robot body (2) through a support assembly. The support assembly includes a first support head (57) installed on the side of the support plate (51), a tray (58) sleeved on the outside of the robot body (2), a second support head (59) installed on the tray (58), and a support rod (510) disposed between the first support head (57) and the second support head (59). The two ends of the support rod (510) are respectively inserted into the first support head (57) and the second support head (59). A first buffer spring (511) is sleeved on the outside of the support rod (510).

7. The speed control system for a pipeline inspection robot according to claim 6, characterized in that, The support assembly also includes a fixing plate (512) fixed on the robot body (2), the fixing plate (512) being connected to the side of the support plate (51) via a connecting arm (513); the fixing plate (512) is provided with a guide groove (514), the support plate (58) is provided with a pin (515), the pin (515) passing through the guide groove (514), a support seat (516) is installed at the end of the robot body (2), the support seat (516) is hinged to a guide rod (517), the end of the guide rod (517) passing through the support plate (58), a sleeve (518) and a second buffer spring (519) are sleeved on the outside of the guide rod (517), one end of the second buffer spring (519) is in contact with the bottom of the sleeve (518), and the other end is in contact with the support plate (58).

8. The speed control system for a pipeline inspection robot according to claim 7, characterized in that, The fixed plate (512) has an LED bead (6) at one end near the camera (3), and a storage battery (7) is installed inside the robot body (2). The storage battery (7) is connected to the LED bead (6), the camera (3) and the pressure sensor (21) through a circuit.

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