A pipeline inspection robot capable of variable posture obstacle crossing and a pipeline defect detection method

Abstract

This invention discloses a variable-posture obstacle-crossing pipeline inspection robot and a pipeline defect detection method, belonging to the field of pipeline defect detection. The invention includes two identical support and drive units and one steering unit. The support and drive unit includes a detection device, a body, and an adaptive diameter-changing mechanism for walking and support. The detection device includes an infrared camera, an ultrasonic detection probe, a laser rangefinder, and a GPS positioning device; the adaptive diameter-changing mechanism includes a slider guide rod, connecting rods, a support frame, springs, a lead screw, a lead screw nut, a slider, a pressure sensor, a first drive assembly, and a second drive motor; the steering unit includes a universal joint assembly and two sets of electric push rods. Addressing the problems of current pipeline robots having a small adaptability range for pipe diameters, poor obstacle-crossing ability, and low detection efficiency, the inspection robot of this invention has a large adaptability range for pipe diameters, strong obstacle-crossing ability, and can efficiently and accurately locate pipeline defects.

Description

Technical Field

[0001] This invention relates to the field of pipeline defect detection, and more specifically, to a pipeline inspection robot capable of changing posture and overcoming obstacles, and a pipeline defect detection method. Background Technology

[0002] Pipelines are widely used in various industries and sectors as an efficient method of material transportation. To extend the service life of pipelines, regular and effective inspection and maintenance of the pipeline's inner walls are necessary. Due to the confined space and complex internal structure of pipelines, conventional inspection methods are inefficient, thus necessitating the use of pipeline inspection robots.

[0003] A pipeline inspection robot is a device that can automatically walk along the inside of narrow pipes, carrying one or more sensors and operating mechanisms, and performing a series of pipeline operations under the remote control of staff or automatic computer control.

[0004] However, existing pipeline inspection robots still have some shortcomings in terms of inspection efficiency, pipe diameter adaptability, and obstacle crossing ability. Therefore, developing a robot that can autonomously walk in pipelines, cross obstacles, and perform inspection tasks is of great significance and value. Summary of the Invention

[0005] (I) Problem Solving

[0006] The main objective of this invention is to propose a pipeline inspection robot with variable posture and obstacle crossing capability, as well as a pipeline defect detection method, in order to solve the problems of current pipeline inspection robots, such as small adaptability to pipe diameter, poor obstacle crossing ability, and low detection efficiency and accuracy.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the present invention provides the following technical solution: a variable posture obstacle-crossing pipeline inspection robot and a pipeline defect detection method, wherein the variable posture obstacle-crossing pipeline inspection robot comprises three parts: two sets of support and drive units with identical front and rear structures, and a set of steering units, wherein the support and drive units include a detection device, a body, and an adaptive diameter-changing mechanism for walking and support.

[0009] Furthermore, the machine body includes a front baffle, a rear baffle, a central support, and three sets of first and second side baffles. The front and rear baffles are circular and are respectively arranged at the front and rear positions of the machine body. The first and second side baffles are square, with three sets of each set evenly distributed at 120° around the perimeter of the machine body. One end of each baffle is bolted to the front and rear baffles, and the other end is fixed to the central support. The central support is trident-shaped, with a bearing seat hole at its central axis.

[0010] Furthermore, the adaptive variable diameter mechanism for walking and support includes three sets of first slider guide rods, second slider guide rods, first connecting rods, second connecting rods, support frames, first springs, pressure sensors, and first drive components, which are evenly distributed at 120° within the machine body; two sets of lead screw and nut assemblies, second springs, and sliders, which are symmetrically distributed on the front and rear sides of the central support; and one lead screw and second drive motor.

[0011] Furthermore, one end of the first slider guide rod is fixedly connected to the front end baffle of the machine body, and the other end is fixedly connected to the central support. There are three first slider guide rods evenly distributed at 120° intervals between the front end baffle and the central support. One end of the first connecting rod is hinged to the lug of the support frame, and the other end is hinged to the lug of the slider. The support frame is cylindrical, with lugs on both sides that mate with the first and second connecting rods, and a through hole in the middle. The second connecting rod and the first connecting rod are symmetrically distributed on both sides of the central support. The slider is triangular in shape, with a guide hole in the center that mates with the lead screw nut assembly, and three guide holes at the rounded corners of the edges that mate with the slider guide rods. The slider is loosely fitted onto the lead screw nut assembly. One end of the second slider guide rod is fixedly connected to the rear end baffle of the machine body, and the other end is fixedly connected to the central support. There are three second slider guide rods evenly distributed at 120° between the rear end baffle and the central support. There are two sets of the second spring, symmetrically distributed on both sides of the slider, and fitted onto the lead screw nut assembly. The lead screw is located at the center of the machine body and is supported by the bearing assembly located at the bearing seat hole of the central support and the bearing assembly in the front end baffle. The left and right sides of the lead screw are respectively provided with threads of different directions of rotation, and one end of the lead screw is fixedly connected to the output shaft of the second drive motor through a coupling. The second drive motor is fixedly connected to the center of the rear end baffle of the machine body. The pressure sensor and the first spring are placed sequentially on the bottom surface of the central hole of the central support.

[0012] Furthermore, the lead screw nut assembly includes a set of lead screw nuts and two sets of identical first lead screw nut end caps and second lead screw nut end caps. The lead screw nut is cylindrical, with threads on its left and right sides that mate with the lead screw nut end caps, and a threaded hole in the center that mates with the lead screw. The first and second lead screw nut end caps have threads on one side surface that mate with the lead screw nut, and a through hole in the center. The threaded end of each end cap is connected to the lead screw nut. The two sets of lead screw nut end caps are symmetrically installed on both sides of the lead screw nut.

[0013] Furthermore, the first drive assembly includes an axle, a first bearing assembly, a driven bevel gear, a drive wheel, an axle mounting bracket, a driving bevel gear, a second bearing assembly, a motor mounting bracket, a first drive motor, a protective cover, and an electromagnetic clutch assembly.

[0014] Furthermore, the axle is supported by a first bearing assembly arranged in holes on both sides of the axle mounting bracket; the driven bevel gear is fixedly connected to the axle; the drive wheels are symmetrically mounted at both ends of the axle; the axle mounting bracket is generally concave in shape, with a square bottom and a through hole in the center that mates with the output shaft of the first drive motor, and U-shaped sides with through holes that mate with the first bearing assembly, and is fixedly connected to the electromagnetic clutch assembly at the bottom; the driving bevel gear is connected to the driven bevel gear in a transmission connection; the first drive motor is fixedly connected to the motor mounting bracket; the output shaft of the first drive motor is supported by a second bearing assembly and connected to the driving bevel gear; the motor mounting bracket is generally square and fixedly connected to the first drive motor, with a through hole in the center; the electromagnetic clutch assembly is generally cylindrical and is located between the motor mounting bracket and the axle mounting bracket, with its bottom fixedly connected to the motor mounting bracket and its top fixedly connected to the axle mounting bracket; the protective cover is U-shaped and fixedly connected to the axle mounting bracket by bolts.

[0015] Furthermore, the electromagnetic clutch assembly includes a return spring plate, a driven friction plate, a driving friction plate, and a magnetic yoke. The magnetic yoke is fixedly connected to the motor mounting bracket; the driving friction plate is fixedly connected to the motor shaft; the driven friction plate and the return spring plate are fixed to the bottom end of the wheel axle mounting bracket and have no contact with the output shaft of the first drive motor, adopting a coaxial mounting assembly form.

[0016] Furthermore, the steering unit includes a first universal joint assembly, a first electric push rod, a second electric push rod, a second universal joint assembly, a steering baffle, and a third universal joint assembly; the first and second electric push rods have identical structures and are hinged and symmetrically mounted between the rear end baffle and the steering baffle; the second universal joint assembly is located between the rear end baffle and the steering baffle of the machine body, with one end fixedly connected to the center of the rear end baffle of the machine body and the other end fixedly connected to the center of the steering baffle; the third universal joint assembly is located between the steering baffle and the rear end baffle of the machine body, with one end fixedly connected to the center of the steering baffle and the other end fixedly connected to the center of the rear end baffle of the machine body.

[0017] Furthermore, the detection device includes an infrared camera, an ultrasonic detection probe, a laser rangefinder, a GPS positioning device, a data processor, a PLC, a controller, and a power supply. The infrared camera is positioned at the central axis of the machine body and is fixedly connected to the front end baffle of the machine body. The ultrasonic detection probe is positioned above the infrared camera, with one end fixedly connected to the machine body. The laser rangefinder is positioned above the ultrasonic detection probe, with one end fixedly connected to the machine body. The GPS positioning device is square and installed on the second side baffle of the machine body, located in front of the power supply. The data processor, PLC, and controller are sequentially installed on the rear end baffle of the machine body. The power supply is installed on the second side baffle of the machine body. The data processor includes a data analysis unit, a data storage unit, a signal unit, and a detection control unit. The controller includes a first motion control unit, a second motion control unit, a communication unit, a drive control unit, a steering control unit, a pressure sensor control unit, and an electromagnetic clutch control unit.

[0018] Furthermore, the robot's specific adaptive diameter-changing process is as follows:

[0019] S1. Manually control the robot to the designated position on the pipeline. The first motion control unit controls the first drive motor to run, driving the robot forward.

[0020] S2. During the journey, the data processor receives status signals, image information or location data from the infrared camera, ultrasonic detection probe, laser rangefinder and GPS positioning device. If a change in the pipe diameter of the section ahead is detected, the second control unit controls the second drive motor to operate, and through the screw nut transmission system, the drive wheel is opened or retracted along the circumference of the pipe.

[0021] S3. The pressure sensor receives the pressure signal and determines whether the drive wheel is pressed against the inner wall of the pipe. If the drive wheel is pressed against the inner wall, the active diameter change control process ends. If the drive wheel is not pressed against the inner wall of the pipe, the data processor outputs a control signal, and the second control unit controls the second drive motor to continue running, so that the drive wheel is finally pressed against the inner wall of the pipe.

[0022] Furthermore, the specific methods for detecting pipeline defects using robots are as follows:

[0023] S1. Manually control the robot to the designated position on the pipeline. The first motion control unit controls the first drive motor to move the robot forward and start the inspection.

[0024] S2. During the movement, the data processor receives status signals, image information, or position data from the infrared camera, ultrasonic detection probe, laser rangefinder, and GPS positioning device. If the signal is normal, the robot continues to move forward. If the signal is abnormal, the data processor sends an instruction to the PLC, which then controls the controller to stop the first drive motor. The data processor records the image, posture, position, and other information at that location and analyzes the image data at that location.

[0025] S3. The data processor automatically identifies the type of anomaly by the image transmitted back from the infrared camera. If the anomaly is a pipeline defect, the GPS positioning device records the current location data and transmits the defect image back. If the anomaly is a foreign object accumulation in the pipeline, the robot switches to obstacle crossing control mode.

[0026] Furthermore, the specific obstacle-crossing control method for the robot is as follows:

[0027] S1. The robot enters obstacle-crossing mode. The data processor continuously receives data from the infrared camera, ultrasonic detection probe, laser rangefinder and GPS positioning device. The first motion control unit controls the first drive motor to stop, and the robot stops moving forward.

[0028] S2. The data processor analyzes the robot's current state through the returned information and sends a control signal to the electromagnetic clutch control unit to energize the electromagnetic clutch. At this time, the first motion control unit controls the first drive motor to run, so that the drive wheel can rotate 0 to 90° along the central axis of the pipeline.

[0029] S3. The data processor continuously receives and analyzes the posture data transmitted back by the robot. When it detects that the drive wheel has rotated to a specified angle, it sends a control signal to the electromagnetic clutch control unit to de-energize the electromagnetic clutch. At this time, the data processor sends a control signal to the first motion control unit to control the first drive motor to rotate forward. The robot will then move spirally along the inner wall of the pipe to avoid obstacles. The obstacle-crossing process of the robot ends here.

[0030] (III) Beneficial Effects

[0031] Compared with the prior art, the present invention provides a pipeline inspection robot with variable posture and obstacle crossing capability and a pipeline defect detection method, which has the following beneficial effects:

[0032] (1) The pipeline inspection robot with variable posture and obstacle crossing proposed in this invention has a diameter changing mechanism with threads of different directions on the left and right sides of the lead screw, so that one motor controls two sliders to move synchronously in opposite directions, thereby enabling the robot's drive wheels to open and retract synchronously along the circumference of the pipeline, completing the active diameter changing action, which greatly improves the robot's operational stability; the diameter changing mechanism adopts a combination of the first spring and the second spring and pre-tightens them together to make the structure more reasonable and improve the robot's ability to adapt to changes in pipe diameter.

[0033] (2) The pipeline inspection robot with variable posture and obstacle crossing proposed in this invention has an electromagnetic clutch in its first drive component, which is placed between the wheel axle mounting frame and the motor mounting frame. Through the operation of the electromagnetic clutch, the robot drive wheel can rotate a certain angle along the pipeline axis, thereby realizing the robot's variable posture and obstacle crossing, which greatly improves the robot's obstacle crossing ability in the pipeline. By setting the same drive structure at the front and rear of the robot, the robot can realize various complex movements such as forward and backward movement in the pipeline, which greatly improves the robot's pipeline passability.

[0034] (3) The pipeline defect detection method of the pipeline inspection robot with variable posture and obstacle crossing proposed in this invention includes multiple infrared cameras and ultrasonic detection probes; the head infrared camera and tail infrared camera can be used to observe the pipeline terrain and foreign objects, as well as to observe and identify pipeline surface defects, and can record and transmit images of the robot inspection process; the ultrasonic detection probe is used to perform non-destructive detection of internal pipeline defects; the whole system can achieve accurate positioning of pipeline defects. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the overall structure of the pipeline inspection robot of the present invention;

[0036] Figure 2 This is a schematic diagram of the structure of the pipeline inspection robot of the present invention;

[0037] Figure 3 This is a schematic diagram of the adaptive diameter-changing mechanism of the pipeline inspection robot of the present invention;

[0038] Figure 4 This is a schematic diagram of the internal parts installation of the central support of the pipeline inspection robot of the present invention;

[0039] Figure 5 This is a schematic diagram of the lead screw and nut assembly of the pipeline inspection robot of the present invention;

[0040] Figure 6 This is a schematic diagram of the structure of the first drive component of the pipeline inspection robot of the present invention;

[0041] Figure 7This is an assembly diagram of the electromagnetic clutch assembly of the pipeline inspection robot of the present invention;

[0042] Figure 8 This is a schematic diagram of the steering mechanism of the pipeline inspection robot of the present invention;

[0043] Figure 9 This is a schematic diagram of the installation of the pipeline inspection robot detection device of the present invention;

[0044] Figure 10 This is a block diagram of the control system for the pipeline inspection robot of the present invention;

[0045] Figure 11 This is a flowchart of the active diameter change process control of the pipeline inspection robot of the present invention;

[0046] Figure 12 This is a flowchart of the inspection and anomaly type identification control process of the pipeline inspection robot of the present invention;

[0047] Figure 13 This is a flowchart illustrating the obstacle-crossing process control of the pipeline inspection robot of the present invention.

[0048] Figure 14 This is a schematic diagram of the posture change and obstacle crossing process of the pipeline inspection robot of the present invention.

[0049] Explanation of the labels in the diagram:

[0050] 1. Front end baffle; 2. Central support; 3. First side baffle; 4. Second side baffle; 5. Rear end baffle; 6. Adaptive diameter changing mechanism; 7. First spring assembly; 8. Lead screw and nut assembly; 9. First drive assembly; 10. Electromagnetic clutch assembly; 11. First universal joint assembly; 12. First electric push rod; 13. Second electric push rod; 14. Second universal joint assembly; 15. Steering baffle; 16. Third universal joint assembly; 17. Infrared camera; 18. Ultrasonic detection probe; 19. Laser rangefinder; 20. GPS positioning device; 21. Data processor; 22. PLC; 23. Controller; 24. Power supply equipment; 601. First slider guide rod; 602. First connecting rod; 603. Support frame; 604. Second connecting rod; 605, slider; 606, second slider guide rod; 607, second drive motor; 608, second spring; 609, lead screw; 701, first spring; 702, pressure sensor; 801, first lead screw nut end cap; 802, lead screw nut; 803, second lead screw nut end cap; 9001, wheel axle; 9002, first bearing assembly; 9003, driven bevel gear; 9004, drive wheel; 9005, wheel axle mounting bracket; 9006, driving bevel gear; 9007, second bearing assembly; 9008, motor mounting bracket; 9009, first drive motor; 9010, protective cover; 1001, return spring plate; 1002, driven friction plate; 1003, driving friction plate; 1004, magnetic yoke. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] The present invention will be further described below with reference to embodiments.

[0053] Example 1

[0054] like Figure 1-9 As shown in the figure, this embodiment of the pipeline inspection robot and pipeline defect detection method with variable posture and obstacle crossing are provided. The pipeline inspection robot with variable posture and obstacle crossing includes three parts: two sets of support and drive units with identical structures at the front and rear, and a set of steering units. The support and drive units include a detection device, a body, and an adaptive diameter changing mechanism for walking and support.

[0055] In this embodiment, the adaptive variable diameter mechanism 6 for walking and support includes three sets of first slider guide rods 601, first connecting rods 602, support frames 603, second connecting rods 604, second slider guide rods 606, first springs 701, pressure sensors 702, and first drive components 9, evenly distributed at 120° angles within the machine body; two sets of sliders 605, second springs 608, and lead screw and nut assemblies 8 symmetrically distributed on the front and rear sides of the central support 2; and one set of second drive motors 607 and lead screws 609. One end of the first slider guide rod 601 is fixedly connected to the front end baffle 1 of the machine body, and the other end is fixedly connected to the central support 2. Three slider guide rods 601 are evenly distributed at 120° intervals between the front end baffle 1 and the central support 2; one end of the first connecting rod 602 is hinged to the lug of the support frame 603, and the other end is hinged to the lug of the slider 605; the support frame 603 is cylindrical with a through hole in the middle and lugs on both sides that cooperate with the first connecting rod 602 and the second connecting rod 604; the second connecting rod 604 and the first connecting rod 602 are symmetrically distributed on both sides of the central support 2; the slider 605 is triangular in shape, with a guide hole in the center that cooperates with the lead screw nut assembly 8, and three guide rods at the rounded corners that cooperate with the slider guide rod. The slider 605 is loosely fitted onto the lead screw nut assembly 8; one end of the second slider guide rod 606 is fixedly connected to the rear end baffle 5 of the machine body, and the other end is fixedly connected to the central support 2. There are three second slider guide rods 606 evenly distributed at 120° between the rear end baffle 5 and the central support 2; there are two sets of second springs 608, symmetrically distributed on both sides of the slider 605, and fitted onto the lead screw nut assembly 8; the lead screw 609 is located at the center of the machine body and is supported by the bearing assembly located at the bearing seat hole of the central support 2 and the bearing assembly in the front end baffle 1. The lead screw 609 has screws with different directions of rotation on its left and right sides. One end of the spring is fixedly connected to the output shaft of the second drive motor 607 via a coupling; the second drive motor 607 is fixedly connected to the center of the rear end baffle 5 of the machine body; the pressure sensor 702 and the first spring 701 are placed sequentially on the bottom surface of the center hole of the center bracket 2; the pressure sensor 702 and the first spring 701 form the first spring assembly 7; during operation, when the robot encounters an obstacle while running in the pipe, the first spring 701 and the second spring 608 are compressed, and the robot performs flexible obstacle avoidance. After the robot passes the obstacle, the adaptive diameter changing mechanism 6 returns to its original state under the action of the first spring 701 and the second spring 608;When the pipe diameter changes abruptly, the pressure sensor 702 detects the large-scale change in pipe diameter. At this time, the second drive motor 607 transmits power to the lead screw 609 through its output shaft. The lead screw 609 rotates, causing the lead screw nut 802 to move linearly. Under the compression of the second spring 608, this causes the two symmetrical sliders 605 to move linearly. The first connecting rod 602 and the second connecting rod 604 follow the sliders 605 and move in the opposite direction along the lead screw 609, causing the motor mounting bracket 9008 to move up and down. This, in turn, causes the drive wheel 9004 to open or retract radially, realizing a large-range adaptive diameter change function.

[0056] In this embodiment, the first drive assembly 9 includes an axle 9001, a first bearing assembly 9002, a driven bevel gear 9003, a drive wheel 9004, an axle mounting bracket 9005, a driving bevel gear 9006, a second bearing assembly 9007, a motor mounting bracket 9008, a first drive motor 9009, a protective cover 9010, and an electromagnetic clutch assembly 10; the axle 9001 is supported by the first bearing assembly 9002 arranged in holes on both sides of the axle mounting bracket 9005; the driven bevel gear 9006, the driven bevel gear 9007, the second bearing assembly 9008, the motor mounting bracket 9009, the first drive motor 9009, the protective cover 9010, and the electromagnetic clutch assembly 10; the axle 9001 is supported by the first bearing assembly 9002 arranged in holes on both sides of the axle mounting bracket 9005; the driven bevel gear 9006, the second bearing assembly 9007, the second drive assembly 9008, the first drive motor 9009, the driven bevel gear 9003, the drive wheel 9004, the axle mounting bracket 9005, the first drive bevel gear 9006, the second drive assembly 9007, the second drive assembly 9008, the first drive motor 9009, the driven bevel gear 9003, the first drive motor 9009, the second drive assembly 9001, the third drive assembly 9002, the fourth drive assembly 9003, the fifth drive assembly 9004, the sixth drive assembly 9005, the seventh drive assembly 9006, the eighth drive assembly 9007, the ninth drive assembly 9008, the elliptical motor 9009, the elliptical motor 9001 The moving bevel gear 9003 is fixedly connected to the axle 9001; the drive wheel 9004 is symmetrically installed at both ends of the axle 9001; the axle mounting bracket 9005 is generally concave in shape, with a square bottom and a through hole at the center to mate with the output shaft of the first drive motor 9009, and U-shaped sides with through holes to mate with the first bearing assembly 9002, and is fixedly connected to the electromagnetic clutch assembly 10 at the bottom; the driving bevel gear 9006... The first drive motor 9009 is connected to the driven bevel gear 9003 via a transmission connection; the first drive motor 9009 is fixedly connected to the motor mounting bracket 9008; the output shaft of the first drive motor 9009 is supported by the second bearing assembly 9007 and connected to the drive bevel gear 9006; the motor mounting bracket 9008 is generally square and is fixedly connected to the first drive motor 9010, with a through hole in the middle; the electromagnetic clutch assembly 10 is generally cylindrical and is located between the motor mounting bracket 9008 and the wheel axle mounting bracket 9005, with its lower part fixedly connected to the motor mounting bracket 9008 and its upper part fixedly connected to the wheel axle mounting bracket 9005; the protective cover 9010 is U-shaped and is fixedly connected to the wheel axle mounting bracket 9005 by bolts; during operation, the first drive motor 9009 transmits power through its output shaft to the mechanical transmission system in which the drive bevel gear 9006 and the driven bevel gear 9003 mesh, thereby driving the wheel axle 9001 to rotate, and further driving the drive wheel 9004 to rotate, thus enabling the robot to move forward in the pipeline.

[0057] In this embodiment, the electromagnetic clutch assembly 10 includes a return spring plate 1001, a driven friction plate 1002, an active friction plate 1003, and a magnetic yoke 1004. The magnetic yoke 1004 is fixedly connected to the motor mounting bracket 9009. The active friction plate 1003 is fixedly connected to the output shaft of the first drive motor 9009. The driven friction plate 1002 and the return spring plate 1001 are fixed to the bottom end of the wheel axle mounting bracket 9005 and do not contact the output shaft of the first drive motor 9009, adopting a coaxial mounting assembly. During operation, when the robot needs to overcome complex obstacles, the electromagnetic clutch assembly 10 is energized, and the magnetic yoke 1004 generates a magnetic force to attract the driven friction plate 1002 downwards. The driven friction plate 1002 and the active friction plate 1003 are then in contact. At this time, there is no relative movement between the four parts: the driven friction plate 1002, the active friction plate 1003, the return spring plate 1001, and the wheel axle mounting bracket 9005. When the output shaft of the first drive motor 9009 rotates, the active friction plate 1003 drives the driven friction plate 1002 and the wheel axle mounting bracket 9005 to rotate together, so that the drive wheel 9004 deflects around the output shaft of the first drive motor 9009 by a certain angle. At this time, the electromagnetic clutch assembly 10 is de-energized, the magnetic force of the magnetic yoke 1004 disappears, and the driven friction plate 1002 moves upward under the action of the return spring plate 1001. The driven friction plate 1002 separates from the active friction plate 1003. When the output shaft of the first drive motor 9009 rotates, the rotation of the active friction plate 1003 will not affect the driven friction plate 1002. At the same time, since the drive wheel 9004 is supported on the pipe wall, there is mutual constraint between the wheel and the inside of the pipe. The torque of the output shaft of the first drive motor 9009 is transmitted to the driven bevel gear 9003 through the active bevel gear 9006, thereby driving the drive wheel 9004 to roll forward and realize the posture change and obstacle crossing function.

[0058] In this embodiment, the steering unit includes a first universal joint assembly 11, a first electric push rod 12, a second electric push rod 13, a second universal joint assembly 14, a steering baffle 15, and a third universal joint assembly 16. The first electric push rod 12 and the second electric push rod 13 have the same structure and are mounted symmetrically and parallelly between the rear end baffle 5 and the steering baffle 15 by hinges. The second universal joint assembly 14 is located between the rear end baffle 5 and the steering baffle 15 of the machine body, with one end fixedly connected to the center of the rear end baffle 5 of the machine body and the other end fixedly connected to the center of the steering baffle 15. The third universal joint assembly 16 is located between the steering baffle 15 and the rear end baffle 5 of the machine body, with one end fixedly connected to the center of the steering baffle 15 and the other end fixedly connected to the center of the rear end baffle 5 of the machine body. During operation, when the robot encounters a bend in the pipe, the robot can be steered by controlling the extension and retraction of the first electric push rod 12 and the second electric push rod 13.

[0059] Example 2

[0060] Based on Example 1, the robot's control system block diagram, active diameter change process, defect detection, and obstacle crossing control flow are as follows: Figure 10-13 As shown, the obstacle-crossing process is as follows Figure 14 As shown. The detection device includes an infrared camera 17, an ultrasonic detection probe 18, a laser rangefinder 19, a GPS positioning device 20, a data processor 21, a PLC 22, a controller 23, and a power supply device 24. The infrared camera 17 is located at the central axis of the machine body and is fixedly connected to the front end baffle 1 of the machine body. The ultrasonic detection probe 18 is located above the infrared camera 17 and is fixedly connected to the front end baffle 1 of the machine body. The laser rangefinder 19 is located above the ultrasonic detection probe 18 and is fixedly connected to the front end baffle 1 of the machine body. The GPS positioning device 20 is square and is installed on the second side baffle 4 of the machine body, located in front of the power supply device 24. The data processor 21, PLC 22, and controller 23 are sequentially installed on the rear end baffle 5 of the machine body. The power supply device 24 is installed on the second side baffle 4 of the machine body. The data processor 21 includes a data analysis unit, a data storage unit, a signal unit, and a detection control unit. The controller 23 includes a first motion control unit, a second motion control unit, a communication unit, a drive control unit, a steering control unit, a pressure sensor control unit, and an electromagnetic clutch control unit.

[0061] In this embodiment, the robot's adaptive diameter-changing process is as follows: ① The robot is manually controlled to move to a designated position on the pipe. The first motion control unit controls the first drive motor 9009 to operate, driving the robot forward. ② During the movement, the data processor 21 receives status signals, image information, or position data from the infrared camera 17, ultrasonic detection probe 18, laser rangefinder 19, and GPS positioning device 20. If a change in the pipe diameter of the preceding section is detected, the second control unit controls the second drive motor 607 to operate. Through the screw nut transmission system, the drive wheel 9004 is extended or retracted along the circumference of the pipe. ③ The pressure sensor 702 receives the pressure signal and determines whether the drive wheel 9004 is pressed against the inner wall of the pipe. If the drive wheel 9004 is pressed against the inner wall, the active diameter-changing control process ends. If the drive wheel 9004 is not pressed against the inner wall, the data processor 21 outputs a control signal, and the second control unit controls the second drive motor 607 to continue operating, so that the drive wheel 9004 is finally pressed against the inner wall of the pipe.

[0062] The specific inspection process of the robot in this embodiment is as follows: ① The robot is manually controlled to move to the designated position on the pipeline. The first motion control unit controls the first drive motor 9009 to operate, driving the robot forward to start the inspection; ② During the movement, the data processor 21 receives status signals, image information, or position data from the infrared camera 17, ultrasonic detection probe 18, laser rangefinder 19, and GPS positioning device 20; if the signal is normal, the robot continues to move forward; if the signal is abnormal, the data processor 21 sends an instruction to the PLC 22, and the PLC 22 controls the controller 23 to stop the first drive motor 9009. The data processor 21 records the image, posture, position, and other information of the position, and analyzes the image data of the position; ③ The data processor 21 automatically identifies the type of abnormality through the image transmitted by the infrared camera 17. If the abnormality is a pipeline defect, the GPS positioning device 20 records the position data at this moment and transmits the defect image; if the abnormality is a foreign object accumulation in the pipeline, the robot switches to obstacle crossing control mode. The specific obstacle-crossing control method of the robot in this embodiment is as follows: ① The robot enters the obstacle-crossing mode. The data processor 21 continuously receives data from the infrared camera 17, ultrasonic detection probe 18, laser rangefinder 19, and GPS positioning device 20. The first motion control unit controls the first drive motor 9009 to stop rotating, and the robot stops moving forward. ② The data processor 21 analyzes the robot's current state through the returned information and sends a control signal to the electromagnetic clutch control unit to energize the electromagnetic clutch assembly 10. At this time, the first motion control unit controls the first drive motor 9009 to run, realizing the rotation of the drive wheel 9004 along the central axis of the pipe from 0 to 90°. ③ The data processor 21 continuously receives and analyzes the posture data returned by the robot. When it detects that the drive wheel 9004 has rotated to a specified angle, it sends a control signal to the electromagnetic clutch control unit to de-energize the electromagnetic clutch assembly 10. At this time, the data processor 21 sends a control signal to the first motion control unit to control the first drive motor 9009 to rotate forward. The robot will move spirally along the inner wall of the pipe to avoid obstacles. The obstacle-crossing process of the robot ends here.

[0063] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A variable posture obstacle crossing pipeline inspection robot, characterized in that: The robot consists of three parts: two sets of identical support and drive units at the front and rear, and a steering unit. The support and drive units include the body and an adaptive variable diameter mechanism for walking and support. The adaptive diameter changing mechanism includes lead screws (609) with different helical threads. The rotation of the lead screws (609) drives the two sliders (605) to move synchronously in opposite directions, thereby enabling the robot's drive wheels (9004) to open and retract synchronously along the circumference of the pipe. The steering unit includes a first electric push rod (12) and a second electric push rod (13), and the extension and retraction of the first electric push rod (12) and the second electric push rod (13) drive the robot to steer. The adaptive variable diameter mechanism (6) for walking and support includes three sets of first slider guide rods (601), first connecting rods (602), support frame (603), second connecting rods (604), second slider guide rods (606), first springs (701), pressure sensors (702), and first drive components (9) evenly distributed in 120° on the body; two sets of sliders (605), second springs (608), and lead screw and nut assemblies (8) symmetrically distributed on the front and rear sides of the central support (2); and a second drive motor (607) and lead screw (609). One end of the first slider guide rod (601) is fixedly connected to the front end baffle (1) of the machine body, and the other end is fixedly connected to the central support (2). There are three first slider guide rods (601) evenly distributed at 120° between the front end baffle (1) and the central support (2). One end of the first connecting rod (602) is hinged to the lug of the support frame (603), and the other end is hinged to the lug of the slider (605). The support frame (603) is cylindrical with a through hole in the middle and lugs on both sides that cooperate with the first connecting rod (602) and the second connecting rod (604). The second connecting rod (604) and the first connecting rod (602) are symmetrically distributed on both sides of the central support (2). The slider (605) is triangular in shape, with a guide hole in the center that cooperates with the lead screw nut assembly (8), and three guide holes at the rounded corners of the edge that cooperate with the slider guide rod. The slider (605) is loosely fitted on the lead screw nut assembly (8). One end of the two slider guide rods (606) is fixedly connected to the rear end baffle (5) of the machine body, and the other end is fixedly connected to the central support (2). There are three second slider guide rods (606) evenly distributed at 120° between the rear end baffle (5) and the central support (2). There are two sets of second springs (608), which are symmetrically distributed on both sides of the slider (605) and sleeved on the screw nut assembly (8). The screw (609) is placed at the center of the machine body and is supported by the bearing assembly located at the bearing seat hole of the central support (2) and the bearing assembly in the front end baffle (1). The screw (609) has threads with different directions of rotation on the left and right sides respectively, and one end is fixedly connected to the output shaft of the second drive motor (607) through a coupling. The second drive motor (607) is fixedly connected to the center of the rear end baffle (5) of the machine body. The pressure sensor (702) and the first spring (701) are placed in sequence on the bottom surface of the center hole of the central support (2).

2. The pipeline inspection robot with variable posture and obstacle crossing capability according to claim 1, characterized in that: The machine body includes a front baffle (1), a central support (2), a rear baffle (5), and three sets of side first baffles (3) and side second baffles (4). The front baffle (1) and the rear baffle (5) are circular in shape and are respectively arranged at the front and rear positions of the machine body. The central support (2) is trident-shaped and has a bearing seat hole at its central axis. The side first baffles (3) and the side second baffles (4) are square in shape, and three sets are evenly distributed around the machine body at 120°. One end is connected to the front baffle (1) and the rear baffle (5) by bolts, and the other end is fixed to the central support (2) by bolts.

3. The pipeline inspection robot with variable posture and obstacle crossing capability according to claim 2, characterized in that: The lead screw nut assembly (8) includes a set of lead screw nuts (802) and two sets of identical first lead screw nut end caps (801) and second lead screw nut end caps (803); the lead screw nut (802) is cylindrical, with external threads at its left and right ends that mate with the lead screw nut end caps, and a threaded hole at its center that mates with the lead screw (609); the first lead screw nut end caps (801) and the second lead screw nut end caps (803) are symmetrically installed on both sides of the lead screw nut (802) by threaded connection.

4. The pipeline inspection robot with variable posture and obstacle crossing capability according to claim 3, characterized in that: The first drive assembly (9) includes an axle (9001), a first bearing assembly (9002), a driven bevel gear (9003), a drive wheel (9004), an axle mounting bracket (9005), a driving bevel gear (9006), a second bearing assembly (9007), a motor mounting bracket (9008), a first drive motor (9009), a protective cover (9010), and an electromagnetic clutch assembly (10). The axle (9001) is supported by a first bearing assembly (9002) arranged in holes on both sides of the axle mounting bracket (9005); the driven bevel gear (9003) is fixedly connected to the axle (9001); the drive wheel (9004) is symmetrically installed at both ends of the axle (9001); the axle mounting bracket (9005) is generally concave in shape, with a square bottom and a through hole in the center that mates with the output shaft of the first drive motor (9009), and U-shaped sides with through holes that mate with the first bearing assembly (9002), and is fixedly connected to the electromagnetic clutch assembly (10) at the bottom; the drive bevel gear (9006) and the driven bevel gear (9003) drive each other. Connection; the first drive motor (9009) is fixedly connected to the motor mounting bracket (9008); the output shaft of the first drive motor (9009) is supported by the second bearing assembly (9007) and connected to the active bevel gear (9006); the motor mounting bracket (9008) is generally square and is fixedly connected to the first drive motor (9009), with a through hole in the middle; the electromagnetic clutch assembly (10) is generally cylindrical and is located between the motor mounting bracket (9008) and the wheel axle mounting bracket (9005), with its lower part fixedly connected to the motor mounting bracket (9008) and its upper part fixedly connected to the wheel axle mounting bracket (9005); the protective cover (9010) is U-shaped and is fixedly connected to the wheel axle mounting bracket (9005) by bolts.

5. A pipeline inspection robot capable of variable posture and obstacle crossing according to claim 4, characterized in that: The electromagnetic clutch assembly (10) includes a return spring plate (1001), a driven friction plate (1002), a driving friction plate (1003), and a magnetic yoke (1004); the magnetic yoke (1004) is fixedly connected to the motor mounting bracket (9008); the driving friction plate (1003) is fixedly connected to the output shaft of the first drive motor (9009); the driven friction plate (1002) and the return spring plate (1001) are fixed at the bottom end of the wheel and axle mounting bracket (9005) and do not contact the output shaft of the first drive motor (9009), adopting a coaxial mounting assembly form.

6. The pipeline inspection robot capable of variable posture and obstacle crossing according to claim 5, characterized in that: The steering unit includes a first universal joint assembly (11), a first electric push rod (12), a second electric push rod (13), a second universal joint assembly (14), a steering baffle (15), and a third universal joint assembly (16). The first electric push rod (12) and the second electric push rod (13) have the same structure and are installed in parallel and symmetrically between the rear end baffle (5) and the steering baffle (15) by hinge. The second universal joint assembly (14) is placed between the rear end baffle (5) and the steering baffle (15) of the body, with one end fixed to the center of the rear end baffle (5) of the body and the other end fixed to the center of the steering baffle (15). The third universal joint assembly (16) is placed between the steering baffle (15) and the rear end baffle (5) of the body, with one end fixed to the center of the steering baffle (15) and the other end fixed to the center of the rear end baffle (5) of the body.

7. A pipeline inspection robot capable of variable posture and obstacle crossing according to claim 6, characterized in that: It also includes a detection device, which includes an infrared camera (17), an ultrasonic detection probe (18), a laser rangefinder (19), a GPS positioning device (20), a data processor (21), a PLC (22), a controller (23), and a power supply device (24); the infrared camera (17) is placed at the central axis of the machine body and is fixedly connected to the front end baffle (1) of the machine body; the ultrasonic detection probe (18) is placed above the infrared camera (17) and is fixedly connected to the front end baffle (1) of the machine body; the laser rangefinder (19) is placed above the ultrasonic detection probe (18) and is fixedly connected to the front end baffle (1) of the machine body; the GPS positioning device (20) is also included. The positioning device (20) is square and is installed on the second side baffle (4) of the machine body, in front of the power supply equipment (24); the data processor (21), PLC (22), and controller (23) are installed sequentially on the rear baffle (5) of the machine body; the power supply equipment (24) is installed on the second side baffle (4) of the machine body; the data processor (21) includes a data analysis unit, a data storage unit, a signal unit, and a detection control unit; the controller (23) includes a first motion control unit, a second motion control unit, a communication unit, a drive control unit, a steering control unit, a pressure sensor control unit, and an electromagnetic clutch control unit.

8. A variable-posture obstacle-crossing pipeline inspection robot according to claim 7, characterized in that, The robot's specific adaptive diameter change process is as follows: S1. Manually control the robot to the designated position on the pipeline. The first motion control unit controls the first drive motor (9009) to run, driving the robot forward. S2. During the journey, the data processor (21) receives status signals, image information or location data from the infrared camera (17), ultrasonic detection probe (18), laser rangefinder (19) and GPS positioning device (20). If a change in the pipe diameter of the section ahead is detected, the second control unit controls the second drive motor (607) to operate, and through the screw nut transmission system, the drive wheel (9004) is opened or retracted along the circumference of the pipe. S3. The pressure sensor (702) receives the pressure signal and determines whether the drive wheel (9004) is pressed against the inner wall of the pipe. If the drive wheel (9004) is pressed, the active diameter change control process ends. If the drive wheel (9004) is not pressed against the inner wall of the pipe, the data processor (21) outputs a control signal, and the second control unit controls the second drive motor (607) to continue running, so that the drive wheel (9004) is finally pressed against the inner wall of the pipe.

9. A method for detecting pipeline defects using a variable-posture obstacle-crossing pipeline inspection robot, characterized in that, The pipeline inspection robot with variable posture and obstacle crossing as described in claim 8 includes the following steps: S1. Manually control the robot to the designated position on the pipeline. The first motion control unit controls the first drive motor (9009) to run, driving the robot forward and starting the detection. S2. During the movement, the data processor (21) receives status signals, image information or position data from the infrared camera (17), ultrasonic detection probe (18), laser rangefinder (19) and GPS positioning device (20). If there is no abnormality in the signal, the robot continues to move forward. If the signal is abnormal, the data processor (21) sends an instruction to the PLC (22), and the PLC (22) controls the controller (23) to stop the first drive motor (9009). The data processor (21) records the image, posture and position information of the position and analyzes the image data of the position. S3. The data processor (21) automatically identifies abnormal signals by the image transmitted back by the infrared camera (17). If the abnormality is a pipeline defect, the GPS positioning device (20) records the location data at this moment and transmits the defect image back. If the abnormality is a pipeline foreign object accumulation, the robot switches to obstacle crossing control mode. The specific obstacle crossing control methods are as follows: S4. The robot enters obstacle-crossing mode. The data processor (21) continuously receives data from the infrared camera (17), ultrasonic detection probe (18), laser rangefinder (19) and GPS positioning device (20). The first motion control unit controls the first drive motor (9009) to stop rotating, and the robot stops moving forward. S5. The data processor (21) analyzes the robot's current state through the returned information and sends a control signal to the electromagnetic clutch control unit to energize the electromagnetic clutch assembly (10). At this time, the first motion control unit controls the first drive motor (9009) to run, so that the drive wheel (9004) rotates 0~90° along the central axis of the pipeline. S6. The data processor (21) continuously receives and analyzes the posture data transmitted back by the robot. When it detects that the drive wheel (9004) has rotated to a specified angle, it sends a control signal to the electromagnetic clutch control unit to de-energize the electromagnetic clutch assembly (10). At this time, the data processor (21) sends a control signal to the first motion control unit to control the first drive motor (9009) to rotate forward. The robot will move spirally along the inner wall of the pipe to avoid obstacles. The obstacle crossing process of the robot ends here.

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