An underwater pipeline external inspection robot system and an inspection method

Abstract

The application discloses an underwater pipeline external detection robot system and a detection method. The system comprises a work mother ship, a drive device, a laying device, a robot, a multiple sensing device, a searchlight, a protective frame, a tail rudder, a main propeller, a side propeller, a clamping jaw, a body signal receiver, a detection rod, a plurality of laser detection heads, a detection wheel, a landing frame, a laying device, a camera, a signal transmitting and receiving device, an electronic bin, a control device, a motion control module, a detection module and a signal module. The application can realize high-quality underwater pipeline surface damage detection under different water depths and different illumination environments.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, and in particular to an underwater pipeline external inspection robot system and inspection method. Background Technology

[0002] In recent years, international competition in the deep sea and open ocean has intensified, and my country has continuously strengthened its exploration and development of underwater resources. The deep sea is rich in metallic mineral resources, oil and gas resources, and natural gas hydrate resources. With my country's continuous development of energy and resources in the South China Sea, my country possesses a vast number of underwater pipelines for the development and utilization of marine resources, making them a crucial transportation route. Currently, pipeline inspection mainly relies on manual inspection and in-pipe inspection robots. However, the complex factors of the deep-sea environment, such as delays, high pressure, low temperatures, and strong corrosion, make manual inspection impossible. Furthermore, in-pipe inspection of existing underwater pipelines is difficult to perform to a certain extent, making the inspection and maintenance of underwater pipelines an extremely challenging task. Therefore, there is an urgent need for a robot, system, and inspection method capable of external inspection of underwater pipelines. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention proposes an underwater pipeline external inspection robot system and inspection method. The system and method enable high-quality underwater pipeline surface damage detection under varying water depths and lighting conditions in the deep sea.

[0004] To achieve the above objectives, the technical solution of the present invention is as follows:

[0005] An underwater pipeline external inspection robot system, comprising:

[0006] The mother ship is equipped with a drive device for deploying and retrieving the deployment device.

[0007] The robot has multiple sensors and a searchlight at its head, as well as a protective frame to protect the sensors and searchlight. Its tail has a tail rudder and a main propeller. Side propellers are located on both sides of the robot. A gripper and a body signal receiver are located on the top of the robot. A detection rod is located at the bottom of the robot, with one end extending into the robot and fixedly connected to it. The other end of the detection rod has several laser detectors and detection wheels arranged symmetrically at a preset tilt angle. Landing frames are fixedly connected to the robot on both sides of the detection rod.

[0008] The deployment device includes a deployment frame and a camera, a signal receiving and transmitting device, and a deployment device electronic compartment mounted on the deployment frame. The deployment device electronic compartment includes a battery, a deployment device positioning signal generator, and a robot posture correction control device. The robot posture correction control device is used to adjust the robot's posture according to the images captured by the camera and assists in connecting the deployment device with the robot.

[0009] A control device, located within the robot, includes a motion control module, a detection module, and a signal module. The motion control module is used for path planning and posture adjustment of the robot. The detection module is used for preliminary anomaly judgment of the underwater pipeline based on information returned by multiple sensors, and for judging the state and damage type of the underwater pipeline based on information returned by several laser detectors and multiple sensors. The signal module is used for transmitting positioning and judgment information.

[0010] Preferably, the multi-sensor device includes an underwater high-definition camera and a sonar.

[0011] Preferably, steel cables are provided at all four corners of the deployment frame, and steel cables are installed in the steel cables, which are connected to the drive device.

[0012] Preferably, the deployment rack is equipped with at least two cameras, which are distributed at different positions on the deployment rack.

[0013] Preferably, the deployment rack is equipped with a warning light.

[0014] Preferably, the detection rod includes a base, a servo motor, a first connecting rod, a second connecting rod, a third connecting rod, a large connecting rod, a small connecting rod, a connecting base, and a detection head. The base is disposed inside the robot. The servo motor is mounted on the base, and the output end of the servo motor is sequentially connected to the first connecting rod, the large connecting rod, and the detection head. The second connecting rod passes through the large connecting rod and is connected to the bottom of the connecting base on the base. The small connecting rod is connected to the detection head and the third connecting rod respectively. The third connecting rod is connected to the top of the connecting base.

[0015] Preferably, the connecting rod includes a front connector, a first long rod, an intermediate connector, a second long rod, and an end connector connected in sequence, and the intermediate connector is provided with a through hole.

[0016] Preferably, the robot is provided with a tail hook at its tail.

[0017] Preferably, the detection head further includes a detection head connector, a detection head connecting rod, a first spring, a second spring, and a detection head mounting component. The detection head connector is provided with a first connecting rod of the detection head that is connected to the small connecting rod. The detection head connecting rod is provided at the opening of the detection head connector. The first spring, the detection head mounting component, and the second spring are sequentially sleeved on the detection head connecting rod. The detection head mounting component is horizontally provided with a first laser detector and a second laser detector and a third laser detector that are symmetrically arranged on both sides of the first detection head at a preset tilt angle.

[0018] Based on the above, the present invention also discloses an external inspection method for underwater pipelines, comprising the following steps:

[0019] Step 1: The mother ship sails to the designated water area and controls the drive unit to slowly deploy the deployment device along with the robot to the preset water depth. The grippers on the robot open, allowing the robot to separate from the deployment device.

[0020] Step two: The robot records the current position coordinates of the deployment device and locates the underwater pipe. After determining the location of the underwater pipe, the robot plans its path and adjusts its attitude to position the robot directly above the underwater pipe.

[0021] Step 3: The robot moves forward along the underwater pipe and makes a preliminary judgment on the underwater pipe anomalies based on the information returned by the underwater high-definition camera and sonar. If no anomalies are found, it continues to move forward to explore. If anomalies are found, it controls the detection rod to swing downward so that the detection wheels on both sides contact the surface of the underwater pipe. Several laser detection heads are brought close to the surface of the pipe and conduct detection. The robot judges the condition and damage type of the underwater pipe based on the information returned by several laser detection heads and multiple sensing devices, and records the coordinates of the damage location.

[0022] Step four: When the robot has traveled a preset distance or detected a preset number of pipeline damage points, the robot returns via a positioning signal emitted by the deployment device positioning signal generator. After returning, the robot's posture is observed and adjusted by the camera so that the robot reaches directly below the deployment device and controls the gripper to clamp the deployment device. The mother ship controls the drive device to move and retrieve the deployment device along with the robot. The data information, including the damage type and location coordinates of the damage points in the underwater pipeline, is sent to the mother ship or ground receiving terminal via the signal receiving and transmitting device.

[0023] Step 5: Repeat steps 1 to 4 until the damage type and location coordinates of all damaged points in the underwater pipeline are determined. Based on the damage type and location coordinates of all damaged points, formulate a pipeline damage treatment plan.

[0024] Based on the above technical solution, the beneficial effects of the present invention are:

[0025] 1) By setting up robots and deployment devices, this invention can more accurately guide robots to the working water area, while improving the efficiency of robot retrieval and reducing operating costs.

[0026] 2) The structural design of the detection rod in this invention allows the robot to perform detection work better, and the retraction of the detection rod can also better realize the efficient movement of the underwater robot;

[0027] 3) By fusing detection information from multiple sensors such as underwater high-definition cameras, sonar, and laser detectors, this invention can improve the accuracy and efficiency of underwater pipeline inspection and achieve high-quality underwater pipeline damage detection. Attached Figure Description

[0028] Figure 1 A schematic diagram of the structure of a robot, inspection rod, and deployment device in an underwater pipeline external inspection robot system according to one embodiment. Figure 1 ;

[0029] Figure 2 A schematic diagram of the structure of a robot, inspection rod, and deployment device in an underwater pipeline external inspection robot system according to one embodiment. Figure 2 ;

[0030] Figure 3 This is a schematic diagram of the deployment device in an underwater pipeline external inspection robot system according to one embodiment;

[0031] Figure 4 This is a schematic diagram of the structure of a robot in an underwater pipeline external inspection robot system, as shown in one embodiment.

[0032] Figure 5 This is a schematic diagram of the structure of a detection rod in an underwater pipeline external inspection robot system, as described in one embodiment. Figure 1 ;

[0033] Figure 6 This is a schematic diagram of the structure of a detection rod in an underwater pipeline external inspection robot system, as described in one embodiment. Figure 2 ;

[0034] Figure 7 This is a schematic diagram of the structure of a large connecting rod in an underwater pipeline external inspection robot system according to one embodiment;

[0035] Figure 8 This is a schematic diagram of the structure of the detection head in an underwater pipeline external inspection robot system, as shown in one embodiment.

[0036] In the figure, the attached figures are labeled as follows:

[0037] 1. Robot; 111. Underwater HD camera; 112. Sonar; 113. Searchlight; 114. Body signal receiver; 115. Gripper; 116. Tail rudder; 117. Side propeller; 118. Main propeller; 119. Tailhook; 120. Landing rack; 121. Protective frame;

[0038] 2. Detection rod; 21. Detection head; 211. Laser detector head; 212. Detection wheel; 213. First connecting rod of the detection head; 214. Detection head connector; 215. First spring; 216. Second spring; 217. Detection head connecting rod; 218. Detection head mounting part; 22. Base; 23. Servo motor; 24. First connecting rod; 25. Main connecting rod; 251. Front connector; 252. Intermediate connector; 2521. Through hole; 253. First long rod; 254. Second long rod; 255. End connector; 26. Small connecting rod; 27. Second connecting rod; 28. Connecting base; 29. ​​Third connecting rod;

[0039] 3. Deployment device; 31. Deployment frame; 32. Camera; 33. Steel cable; 34. Steel cable; 35. Warning light; 36. Signal receiving and transmitting device; 37. Electronic compartment of deployment device. Detailed Implementation

[0040] To more clearly illustrate the present invention, the following description, in conjunction with preferred embodiments, further clarifies the invention. Those skilled in the art should understand that the specific descriptions below are illustrative rather than restrictive, and should not be construed as limiting the scope of protection of the present invention.

[0041] In the description of this invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0042] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0043] like Figures 1 to 8 As shown, this embodiment provides an underwater pipeline external inspection robot system, including:

[0044] The mother ship is equipped with a drive device, which is used to deploy and retrieve the deployment device 3.

[0045] Robot 1 has an underwater high-definition camera 111 and a sonar 112 mounted on its head. Searchlights 113 are positioned on either side of the underwater high-definition camera 111. A protective frame 121 is installed at the front of the robot 1, protecting its body from direct impacts from obstacles or underwater creatures. The searchlights 113 can be adjusted in angle during operation. The tail of the robot 1 has a tail rudder 116 and a main propeller 118. The tail rudder 116 has one vertical rudder and two symmetrically distributed horizontal rudders. Side propellers 117 are mounted on both sides of the robot 1. The tail rudder 116 and side propellers 117 enable the underwater pipeline inspection robot 1 to turn and maintain self-stability during operation (when the underwater robot 1 encounters currents or marine life and experiences slight horizontal swaying, the side propellers 117 control the robot 1 to return to its upright position; when the working environment is favorable, the side propellers 117 can stop operating). Two grippers 115 are arranged at appropriate intervals on the top of the robot 1. The grippers 115 can clamp and release, and mainly cooperate with the deployment device 3 to deploy and retrieve the robot 1. A body signal receiver 114 is installed on the upper part of the robot's head to receive control signals from other devices. A detection rod 2 is provided at the bottom of the robot 1. One end of the detection rod 2 extends into the robot 1 and is fixedly connected to the robot 1. The other end of the detection rod 2 is provided with three laser detectors 211 and detection wheels 212 arranged symmetrically on the left and right at a preset tilt angle. The detection wheels 212 allow the three laser detectors 211 on the detection rod 2 to be located on the surface of the detection pipe to complete the underwater pipe data collection, and can slide on the pipe by relying on the detection wheels 212, making the robot 1 more stable during movement. Landing racks 120 are provided on both sides of the detection rod 2 and are fixedly connected to the robot 1 for landing of the robot 1 in special situations in the water.

[0046] The deployment device 3 includes a deployment frame 31 and a camera 32, a signal receiving and transmitting device 36, and a deployment device electronic compartment 37 mounted on the deployment frame 31. The deployment device electronic compartment 37 includes a battery, a deployment device 3 positioning signal generator, and a robot 1 posture correction control device. The robot 1 posture correction control device is used to adjust the posture of the robot 1 according to the image collected by the camera 32, and to assist the deployment device 3 in connecting with the robot 1.

[0047] The control device, located within the robot 1, includes a motion control module, a detection module, and a signal module. The motion control module is used for path planning and attitude adjustment of the robot 1. The detection module is used to perform preliminary anomaly assessment of the underwater pipeline based on information transmitted from the underwater high-definition camera 111 and sonar 112, and to determine the state and damage type of the underwater pipeline based on information transmitted from the underwater high-definition camera 111, sonar 112, and three laser detectors 211. The signal module is used for transmitting positioning and assessment information.

[0048] In this embodiment, an underwater pipeline damage model is established on the control device, and the underwater pipeline damage model is used to make preliminary judgments on anomalies, status and damage types.

[0049] In one embodiment of an underwater pipeline external inspection robot system, steel cables 33 are set at the four corners of the deployment frame 31, and steel cables 34 can be installed on the steel cables 33. The steel cables 34 are connected to the drive device to realize the deployment and retrieval of the deployment device 3 and the robot 1.

[0050] In one embodiment of an underwater pipeline external inspection robot system, two cameras 32 are installed on the deployment frame 31. The two cameras 32 are distributed at different positions on the deployment frame 31 to facilitate the acquisition of images from different perspectives of the robot 1, so that the robot 1 can be better retrieved.

[0051] In one embodiment of an underwater pipeline external inspection robot system, a warning light 35 is provided on the deployment frame 31.

[0052] In one embodiment of an underwater pipeline external inspection robot system, the inspection rod 2 includes a base 22, a servo motor 23, a first connecting rod 24, a second connecting rod 27, a third connecting rod 29, a large connecting rod 25, a small connecting rod 26, a connecting base 28, and an inspection head 21. The base 22 is disposed inside the robot 1. The servo motor 23 is mounted on the base 22, and the output end of the servo motor 23 is sequentially connected to the first connecting rod 24, the large connecting rod 25, and the inspection head 21. The second connecting rod 27 passes through the large connecting rod 25 and is connected to the bottom of the connecting base 28 on the base 22. The small connecting rod 26 is connected to the inspection head 21 and the third connecting rod 29 respectively. The third connecting rod 29 is connected to the top of the connecting base 28.

[0053] In one embodiment of an underwater pipeline external inspection robot system, the large connecting rod 25 includes a front connector 251, a first long rod 253, an intermediate connector 252, a second long rod 254, and an end connector 255 connected in sequence. The first long rod 253 and the second long rod 254 are respectively welded to the intermediate connector 252. The intermediate connector 252 is a square connector and is provided with a through hole 2521. The second connecting rod 27 can pass through the through hole 2521 and connect to the bottom of the connecting base 28 on the base 22.

[0054] In one embodiment of an underwater pipeline external inspection robot system, the inspection head 21 further includes an inspection head connector 214, an inspection head connecting rod 217, a first spring 215, a second spring 216, and an inspection head mounting component 218. The inspection head connector 214 is provided with a first connecting rod 213 connected to a small connecting rod 26. The inspection head connecting rod 217 is located at the opening of the inspection head connector 214. The first spring 215, the inspection head mounting component 218, and the second spring 216 are sequentially mounted on the connecting rod. The first spring 215 and the second spring 216 allow the inspection head 21 to be adjusted within a certain range during operation. The inspection head mounting component 218 has three laser detectors 211: a horizontally positioned first laser detector 211, and a second and third laser detector 211 symmetrically arranged on either side of the first inspection head 21 at a preset tilt angle.

[0055] In one embodiment of an underwater pipeline external inspection robot system, the robot 1 is provided with a tail hook 119 at its tail end, which is used to hook the small connecting rod 26 after the inspection rod 2 finishes working and is retracted, so as to realize the retraction of the inspection rod 2.

[0056] A method for providing an underwater pipeline external inspection robot system in one embodiment includes the following steps:

[0057] Step 1: The mother ship sails to the designated water area and controls the drive unit to run, slowly deploying the deployment device 3 together with the robot 1 to the preset water depth. The gripper 115 on the robot 1 opens, allowing the robot 1 to separate from the deployment device 3.

[0058] Step 2: Robot 1 records the current position coordinates of the deployment device 3 and locates the underwater pipe. After determining the location of the underwater pipe, Robot 1 performs path planning and attitude adjustment to position Robot 1 directly above the underwater pipe.

[0059] Step 3: Robot 1 moves forward along the underwater pipe and makes a preliminary judgment on the underwater pipe anomalies based on the information returned by the underwater high-definition camera 111 and sonar 112. If no anomalies are found, it continues to move forward to explore. If anomalies are found, it controls the detection rod 2 to swing downward so that the detection wheels on both sides contact the surface of the underwater pipe. Several laser detection heads 211 are brought close to the surface of the pipe and conduct detection. The status and damage type of the underwater pipe are judged based on the information returned by several laser detection heads 211 and multiple sensing devices, and the coordinates of the damage location are recorded.

[0060] Step four: When robot 1 has traveled a preset distance or detected a preset number of pipeline damage points, robot 1 returns via a positioning signal emitted by the positioning signal generator of deployment device 3. After returning, the robot 1's posture is observed and adjusted via camera 32, so that robot 1 reaches directly below deployment device 3 and then controls gripper 115 to clamp deployment device 3. The drive device is controlled by the mother ship to move and retrieve deployment device 3 along with robot 1. Data information is sent to the mother ship or ground receiving terminal via signal receiving device 36. The data information includes the damage type and location coordinates of the damage points in the underwater pipeline.

[0061] Step 5: Repeat steps 1 to 4 until the damage type and location coordinates of all damaged points in the underwater pipeline are determined. Based on the damage type and location coordinates of all damaged points, formulate a pipeline damage treatment plan.

[0062] The above are merely preferred embodiments of the present application and are not intended to limit the embodiments of the present application. For those skilled in the art, the embodiments of the present application can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of the present application should be included within the protection scope of the embodiments of the present application.

Claims

1. An underwater pipeline external inspection robot system, characterized in that, include: The mother ship is equipped with a drive device for deploying and retrieving the deployment device. The robot has multiple sensors and a searchlight at its head, as well as a protective frame to protect the sensors and searchlight. Its tail has a tail rudder and a main propeller. Side propellers are located on both sides of the robot. A gripper and a body signal receiver are located on the top of the robot. A detection rod is located at the bottom of the robot, with one end extending into the robot and fixedly connected to it. The other end of the detection rod has several laser detectors and detection wheels arranged symmetrically at a preset tilt angle. Landing frames are fixedly connected to the robot on both sides of the detection rod. The deployment device includes a deployment frame and a camera, a signal receiving and transmitting device, and a deployment device electronic compartment mounted on the deployment frame. The deployment device electronic compartment includes a battery, a deployment device positioning signal generator, and a robot posture correction control device. The robot posture correction control device is used to adjust the robot's posture according to the images captured by the camera and assists in connecting the deployment device with the robot. A control device, located within the robot, includes a motion control module, a detection module, and a signal module. The motion control module is used for path planning and posture adjustment of the robot. The detection module is used for preliminary anomaly judgment of the underwater pipeline based on information returned by multiple sensors, and for judging the state and damage type of the underwater pipeline based on information returned by several laser detectors and multiple sensors. The signal module is used for transmitting positioning and judgment information.

2. The underwater pipeline external inspection robot system according to claim 1, characterized in that, The multiple sensing devices include an underwater high-definition camera and sonar.

3. The underwater pipeline external inspection robot system according to claim 1, characterized in that, Steel cables are installed at the four corners of the deployment frame, and steel cables are installed in the steel cables, which are connected to the drive device.

4. The underwater pipeline external inspection robot system according to claim 1, characterized in that, The deployment rack is equipped with at least two cameras, which are distributed at different positions on the deployment rack.

5. The underwater pipeline external inspection robot system according to claim 1, characterized in that, The deployment rack is equipped with warning lights.

6. The underwater pipeline external inspection robot system according to claim 1, characterized in that, The detection rod includes a base, a servo motor, a first connecting rod, a second connecting rod, a third connecting rod, a large connecting rod, a small connecting rod, a connecting base, and a detection head. The base is located inside the robot. The servo motor is mounted on the base, and its output end is connected sequentially to the first connecting rod, the large connecting rod, and the detection head. The second connecting rod passes through the large connecting rod and is connected to the bottom of the connecting base on the base. The small connecting rod is connected to the detection head and the third connecting rod respectively. The third connecting rod is connected to the top of the connecting base.

7. The underwater pipeline external inspection robot system according to claim 6, characterized in that, The connecting rod includes a front connector, a first long rod, an intermediate connector, a second long rod, and an end connector connected in sequence, and the intermediate connector has a through hole.

8. The underwater pipeline external inspection robot system according to claim 6, characterized in that, The robot is equipped with a tail hook at its tail.

9. The underwater pipeline external inspection robot system according to claim 6, characterized in that, The detection head also includes a detection head connector, a detection head connecting rod, a first spring, a second spring, and a detection head mounting component. The detection head connector is provided with a first connecting rod of the detection head that is connected to the small connecting rod. The detection head connecting rod is provided at the opening of the detection head connector. The first spring, the detection head mounting component, and the second spring are sequentially sleeved on the detection head connecting rod. The detection head mounting component is horizontally provided with a first laser detector and a second laser detector and a third laser detector that are symmetrically arranged on both sides of the first detection head at a preset tilt angle.

10. A method for external inspection of underwater pipelines, characterized in that, Includes the following steps: Step 1: The mother ship sails to the designated water area and controls the drive unit to slowly deploy the deployment device along with the robot to the preset water depth. The grippers on the robot open, allowing the robot to separate from the deployment device. Step two: The robot records the current position coordinates of the deployment device and locates the underwater pipe. After determining the location of the underwater pipe, the robot plans its path and adjusts its attitude to position the robot directly above the underwater pipe. Step 3: The robot moves forward along the underwater pipe and uses the information transmitted back by the underwater high-definition camera and sonar to make a preliminary judgment on the anomalies in the underwater pipe. If no anomalies are found, it continues to probe forward. If an abnormality is detected, the detection rod is controlled to swing downward so that the detection wheels on both sides come into contact with the surface of the underwater pipe. Several laser detection heads are brought close to the surface of the pipe for detection. The status and damage type of the underwater pipe are judged by the information returned by several laser detection heads and multiple sensing devices, and the coordinates of the damage location are recorded. Step four: When the robot has traveled a preset distance or detected a preset number of pipeline damage points, the robot returns via a positioning signal emitted by the deployment device positioning signal generator. After returning, the robot's posture is observed and adjusted by the camera so that the robot reaches directly below the deployment device and controls the gripper to clamp the deployment device. The mother ship controls the drive device to move and retrieve the deployment device along with the robot. The data information, including the damage type and location coordinates of the damage points in the underwater pipeline, is sent to the mother ship or ground receiving terminal via the signal receiving and transmitting device. Step 5: Repeat steps 1 to 4 until the damage type and location coordinates of all damaged points in the underwater pipeline are determined. Based on the damage type and location coordinates of all damaged points, formulate a pipeline damage treatment plan.

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