Detection robot capable of telescoping and reducing

Abstract

The invention discloses a telescopic reducing detection robot which comprises a robot mechanical structure module, a driving module, a telescopic reducing module, a surface defect detection module, an internal defect detection module, a data transmission module and a control module. The detection robot transmits detection data to the upper computer through the data transmission module. The telescopic reducing detection robot solves the problems that an existing pipeline interior detection robot is short in work period, incomplete in pipeline interior defect detection and low in precision, and has the advantages of being high in efficiency and detection precision and saving energy.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline detection, and in particular to a telescopic and diameter-variable detection robot. Background Art

[0002] As the "lifeline" of modern urban life, the safe supply and operation of urban gas pipelines play an irreplaceable role in protecting people's livelihood and maintaining social stability. However, as the service life of urban gas medium and low-pressure underground pipelines increases, the inner or outer walls of the pipelines may corrode, and the pipeline materials may also deform due to aging, such as shrinkage, expansion or bending. These pipeline defects will lead to the risk of gas leakage.

[0003] With the development of artificial intelligence technology, pipeline inspection robots based on artificial intelligence technology have replaced manual labor for regular inspection and maintenance of pipelines. However, the diameters of pipelines vary and the situation is complicated. In particular, underground cables, thermal pipelines or other high-temperature equipment outside the pipelines may generate heat, which is conducted through the soil to the vicinity of the gas pipelines, forming abnormal heat sources that affect the normal operation of the pipelines, especially polyethylene pipelines. Therefore, the internal inspection of medium and low-pressure underground pipelines for urban gas is bound to face the situation of multiple sensors working together. In addition, the inspection robot works in medium and low-pressure underground pipelines for urban gas, and the working time is short and the battery needs to be replaced. The working cycle inside the pipeline is short, which cannot meet the needs of long-term work. Summary of the invention

[0004] In view of the above technical problems, the present invention proposes a high-efficiency, high-detection-precision and energy-saving retractable and variable-diameter detection robot to solve the problems of short working cycle, incomplete and low-precision defect detection in pipelines of existing in-pipeline detection robots.

[0005] The technical solution provided by the present invention is as follows: A telescopic and variable diameter inspection robot, comprising a robot mechanical structure module, a driving module, a telescopic and variable diameter module, a surface defect inspection module, an internal defect inspection module, a data transmission module and a control module, wherein the inspection robot transmits inspection data to a host computer through the data transmission module; The robot mechanical structure module comprises a first body, a second body and a third body which are interconnected and independent of each other, wherein the end of the first body is fixedly connected to the front end of the second body and has a first degree of freedom, and the end of the second body is fixedly connected to the front end of the third body and has a second degree of freedom; The driving module includes a first vehicle body driving structure part, a third vehicle body driving structure part, and a second vehicle body driven structure part, and the third vehicle body driving structure part is completely the same as the first vehicle body driving structure part; The telescopic variable diameter module comprises a first body variable diameter part, a second body variable diameter part and a third body variable diameter part of the same structure, the first body variable diameter part comprises a plurality of steering gears and a bracket, and the plurality of steering gears are controlled to rotate by the control module to adapt to pipes of different diameters; The surface defect detection module includes a plurality of different cameras arranged on the first vehicle body, the second vehicle body or the third vehicle body, and collects pipeline information at different positions through different cameras; The internal defect detection module includes a signal generator and an eddy current sensor arranged on the first vehicle body, the second vehicle body or the third vehicle body; The data transmission module is used to realize information transmission between the driving module, the telescopic and variable diameter module, the surface defect detection module, the internal defect detection module and the control module; The control module is used to control the operation of the detection robot.

[0006] Furthermore, the first vehicle body driving structure part includes six driving groups, of which three driving groups are installed at the front of the first vehicle body, and the other three driving groups are installed at the rear of the first vehicle body, and the three driving groups at the front and rear are distributed around the vehicle body at 120 degrees and at the same horizontal position; The driven structure of the second vehicle body includes six driven groups, three of which are installed at the front of the second vehicle body, and the other three are installed at the rear of the second vehicle body, and the front and rear driven groups are distributed around the second vehicle body at 120 degrees and at the same horizontal position as the driving groups on the first vehicle body; The drive structure of the third vehicle body is arranged in the same manner as the drive structure of the first vehicle body, and the driving group arranged on the third vehicle body and the driven group arranged on the second vehicle body are correspondingly distributed at the same horizontal position.

[0007] Further, the six drive groups arranged on the first vehicle body include a first drive group, a second drive group, a third drive group, a fourth drive group, a fifth drive group and a sixth drive group; The first drive group includes a first inner drive bracket, a first outer drive bracket, a first inner drive motor, a first outer drive motor, a first inner drive wheel, a first outer drive wheel, an outer motor fixing bracket and an inner motor fixing bracket, the first inner drive bracket is fixed to the outside of the first vehicle body, the first inner drive motor is installed at the bottom of the first inner drive bracket through the inner motor fixing bracket, and is directly fixed to the first inner drive wheel at the rotating shaft of the first inner drive motor, the first outer drive bracket is fixedly connected to the first inner drive bracket through a steering gear, the first outer drive motor is installed at the bottom of the first outer drive bracket through the outer motor fixing bracket, and is directly fixed to the first outer drive wheel at the rotating shaft of the first outer drive motor; The structural composition and installation method of the second drive group, the third drive group, the fourth drive group, the fifth drive group and the sixth drive group are the same as those of the first drive group.

[0008] Further, the six driven groups arranged on the second vehicle body include a first driven group, a second driven group, a third driven group, a fourth driven group, a fifth driven group and a sixth driven group; The first driven group includes a first inner driven bracket, a first outer driven bracket, a first inner driven wheel, a first outer driven wheel, an outer driven wheel fixing bracket and an inner driven wheel fixing bracket, the first inner driven bracket is fixed to the outside of the second vehicle body, the first inner driven wheel is directly mounted on the bottom of the first inner driven bracket through the inner driven wheel fixing bracket, the first outer driven bracket is fixedly connected to the first inner driven bracket through a steering gear, and the first outer driven wheel is mounted on the bottom of the first outer driven bracket through the outer driven wheel fixing bracket; The structural composition and installation method of the second driven group, the third driven group, the fourth driven group, the fifth driven group and the sixth driven group are the same as those of the first driven group.

[0009] Further, the first body diameter-changing portion includes a first inner steering gear, a first outer steering gear, a second inner steering gear, a second outer steering gear, a third inner steering gear, a third outer steering gear, a fourth inner steering gear, a fourth outer steering gear, a fifth inner steering gear, a fifth outer steering gear, a sixth inner steering gear, and a sixth outer steering gear; The first inner steering gear is installed outside the first vehicle body, and one end of the rotating shaft is fixed to the first inner driving bracket, driving the first inner driving bracket to rotate; the first outer steering gear is installed on the first inner driving bracket, and one end of the rotating shaft is fixed to the first outer driving bracket, driving the first outer driving bracket to rotate; The second inner steering gear, the second outer steering gear, the third inner steering gear, the third outer steering gear, the fourth inner steering gear, the fourth outer steering gear, the fifth inner steering gear, the fifth outer steering gear, the sixth inner steering gear and the sixth outer steering gear have the same mounting structure as the first inner steering gear and the first outer steering gear, so as to realize the fixation and control of all inner driving brackets and outer driving brackets, inner driven brackets and outer driven brackets to adapt to pipes of different diameters.

[0010] Furthermore, the number of the cameras is four, including a first camera, a second camera, a third camera and a fourth camera. The first camera, the second camera, the third camera and the fourth camera are installed around the second vehicle body through a camera bracket. Each camera has a separate channel to collect pipeline information at different positions.

[0011] Furthermore, the signal generator is installed inside the second vehicle body through copper columns and screws, and the eddy current sensors are respectively fixed around the outside of the second vehicle body, and the eddy current sensors collect defect signals inside the pipeline.

[0012] Furthermore, the control module includes a Raspberry Pi and a Raspberry Pi fixing bracket, the lower end of the Raspberry Pi fixing bracket is connected to the second car body by screws, and the upper end is connected to the Raspberry Pi by screws, so as to fix the Raspberry Pi inside the second car body; the Raspberry Pi controls and transmits signals to the drive motors installed on the first car body and the third car body, the eddy current sensor and the camera installed on the second car body, respectively, and transmits signals to the host computer.

[0013] Furthermore, the host computer receives the surface defect detection image and internal defect detection data transmitted by the control module via wifi, and processes the data using the YOLO neural network algorithm and the BP neural network algorithm respectively, analyzes the types of surface defects and internal defects, and locates the defect positions.

[0014] Furthermore, the end of the first vehicle body is fixedly connected to the front end of the second vehicle body by means of screws using a first universal joint, and the end of the second vehicle body is fixedly connected to the front end of the third vehicle body by means of screws using a second universal joint.

[0015] Compared with the prior art, the present invention has the following beneficial effects: (1) The telescopic and variable-diameter inspection robot provided by the present invention uses a universal joint to connect three vehicle bodies to ensure that the robot can turn smoothly in the pipeline.

[0016] (2) The retractable and variable-diameter inspection robot provided by the present invention uses a first body and a third body to drive a second body, which can reduce energy consumption, increase the working cycle, and ensure that the robot can move in both forward and reverse directions when working in the pipeline, thereby ensuring the flexibility of movement. At the same time, it also saves space and facilitates the layout and installation of the defect collection device.

[0017] (3) The retractable and variable diameter inspection robot provided by the present invention uses a servo to control the rotation angle of the connecting bracket, so that the inspection robot can better adapt to pipes of different diameters.

[0018] (4) The retractable and variable-diameter inspection robot provided by the present invention uses multiple cameras and eddy current sensors to respectively collect surface defect image information and internal defect eddy current signals, thereby ensuring the integrity of the information and realizing accurate positioning of surface defects and internal defects through information transmission between the host computer and the inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The structure of the detection robot in the embodiment of the present invention is shown in FIG. Figure 1 ; Figure 2 The structure of the detection robot in the embodiment of the present invention is shown in FIG. Figure 2 ; Figure 3 The end surface structure of the detection robot in the embodiment of the present invention is shown in FIG. Figure 1 ; Figure 4 The end surface structure of the detection robot in the embodiment of the present invention is shown in FIG. Figure 2 ; Figure 5 This is a schematic diagram of the end structure of the second vehicle body in an embodiment of the present invention; Figure 6 is a schematic structural diagram of a first drive group in an embodiment of the present invention; Figure 7 Schematic diagram of the structure of the first driven group in an embodiment of the present invention.

[0020] The reference numerals are as follows: 11-first vehicle body, 12-second vehicle body, 13-third vehicle body, 14-first universal joint, 15-second universal joint, 16-first drive group, 17-second drive group, 19-fourth drive group, 20-fifth drive group, 22-first driven group, 23-second driven group, 25-fourth driven group, 26-fifth driven group, 101-first inner drive bracket, 102-first outer drive bracket, 103-first inner drive motor, 104-first outer drive motor, 105-first inner drive wheel, 106-first outer drive wheel, 107-outer motor fixing bracket, 108-inner motor fixing bracket, 109-first inner driven bracket, 110-first outer driven bracket, 111-first Inner driven wheel, 112-first outer driven wheel, 113-outer driven wheel fixing bracket, 114-inner driven wheel fixing bracket, 115-first inner servo, 116-first outer servo, 117-second inner servo, 118-second outer servo, 119-third inner servo, 120-third outer servo, 121-fourth inner servo, 122-fourth outer servo, 123-fifth inner servo, 124-fifth outer servo, 127-first camera, 128-second camera, 129-third camera, 130-fourth camera, 131-camera bracket, 132-signal generator, 133-eddy current sensor, 134-copper column, 135-Raspberry Pi, 136-Raspberry Pi fixing bracket. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the embodiments described below are part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0022] Therefore, the detailed description of the embodiments of the present application provided below in conjunction with the accompanying drawings is intended to represent only selected embodiments of the present application, and is not intended to limit the scope of protection claimed in the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0023] It should be understood that in the description of the embodiments of the present invention, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features.

[0024] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0025] The present invention provides a telescopic and variable-diameter inspection robot, which includes a robot mechanical structure module, a drive module, a telescopic and variable-diameter module, a surface defect inspection module, an internal defect inspection module, a data transmission module and a control module. The inspection robot transmits inspection data to a host computer through the data transmission module, and a data processing module for data processing is provided in the host computer.

[0026] like Figure 1 , Figure 2 As shown, the robot mechanical structure module includes a first body 11, a second body 12 and a third body 13 which are interconnected and independent of each other. The end of the first body 11 is fixedly connected to the front end of the second body 12 and has a first degree of freedom. The end of the second body 12 is fixedly connected to the front end of the third body 13 and has a second degree of freedom.

[0027] The driving module comprises a first vehicle body driving structure part, a third vehicle body driving structure part, and a second vehicle body driven structure part, and the third vehicle body driving structure part is completely the same as the first vehicle body driving structure part.

[0028] The telescopic variable diameter module includes a first body variable diameter part, a second body variable diameter part and a third body variable diameter part with the same structure. The first body variable diameter part includes multiple servos and brackets. The control module controls the rotation of the multiple servos to adapt to pipes with different diameters.

[0029] The surface defect detection module includes a plurality of different cameras arranged on the first vehicle body 11, the second vehicle body 12 or the third vehicle body 13, and the pipeline information at different positions is collected by different cameras.

[0030] The internal defect detection module includes a signal generator 132 and an eddy current sensor 133 which are arranged on the first vehicle body 11 , the second vehicle body 12 or the third vehicle body 13 .

[0031] The data transmission module is used to realize information transmission between the driving module, the telescopic and variable diameter module, the surface defect detection module, the internal defect detection module and the control module.

[0032] The detection robot controls the normal operation of the above-mentioned various working parts through a control module.

[0033] Optionally, the first vehicle body drive structure includes six drive groups, three of which are installed at the front of the first vehicle body 11, and the other three are installed at the rear of the first vehicle body 11, and the three front and rear drive groups are distributed around the vehicle body at 120° and at the same horizontal position.

[0034] The driven structure of the second vehicle body includes six driven groups, three of which are installed at the front of the second vehicle body 12, and the other three are installed at the rear of the second vehicle body 12. The front and rear driven groups are distributed at 120° around the second vehicle body 12 and are distributed at the same horizontal position as the driving groups on the first vehicle body 11.

[0035] The drive structure of the third vehicle body is arranged in the same manner as that of the first vehicle body, and the driving group arranged on the third vehicle body 13 and the driven group arranged on the second vehicle body 12 are correspondingly distributed at the same horizontal position.

[0036] The driving group of the third car body 13 is completely consistent with the driving group of the first car body 11, so that the first car body 11 and the third car body 13 drive the second car body 12 to move. The driving group and the driven group are distributed by a symmetrical mechanism, so that the center of gravity of the robot as a whole is always maintained on the geometric center of gravity line of the robot, and the problem of the robot constantly swinging during the movement due to the unstable center of gravity is prevented. And ensure that the second car body 12 has sufficient space to carry the camera and eddy current sensor 133, as well as the signal generator 132, under the premise of ensuring stable operation, so as to ensure the comprehensiveness of the subsequent collection of surface defect and internal defect information and the detection accuracy of defect detection.

[0037] Optionally, the six drive groups arranged on the first vehicle body 11 include a first drive group 16 , a second drive group 17 , a third drive group, a fourth drive group 19 , a fifth drive group 20 and a sixth drive group (not shown in the figure).

[0038] like Figure 2 As shown, the first vehicle body driving part includes a first drive group 16, a second drive group 17, a third drive group, a fourth drive group 19, a fifth drive group 20, and a sixth drive group installed on the first vehicle body 11, wherein the first drive group 16, the second drive group 17, and the third drive group are installed at the front of the first vehicle body 11 with a 120° distribution pattern, and the fourth drive group 19, the fifth drive group 20, and the sixth drive group are installed at the rear of the first vehicle body 11 with a 120° distribution pattern, to ensure the symmetry of the first vehicle body 11 so that the center of gravity of the first vehicle body 11 is always maintained at the geometric center of the first vehicle body 11.

[0039] The first drive group 16 includes a first inner drive bracket 101, a first outer drive bracket 102, a first inner drive motor 103, a first outer drive motor 104, a first inner drive wheel 105, a first outer drive wheel 106, an outer motor fixing bracket 107 and an inner motor fixing bracket 108. The first inner drive bracket 101 is fixed to the outside of the first vehicle body 11, the first inner drive motor 103 is installed at the bottom of the first inner drive bracket 101 through the inner motor fixing bracket 108, and is directly fixed to the first inner drive wheel 105 at the rotating shaft part of the first inner drive motor 103. The first outer drive bracket 102 is fixedly connected to the first inner drive bracket 101 through a steering gear, and the first outer drive motor 104 is installed at the bottom of the first outer drive bracket 102 through the outer motor fixing bracket 107, and is directly fixed to the first outer drive wheel 106 at the rotating shaft part of the first outer drive motor 104.

[0040] The structural composition and installation method of the second drive group 17 , the third drive group, the fourth drive group 19 , the fifth drive group 20 , and the sixth drive group are the same as those of the first drive group 16 .

[0041] like Figure 4As shown, the first drive group 16 includes a first inner drive bracket 101, a first outer drive bracket 102, a first inner drive motor 103, a first outer drive motor 104, a first inner drive wheel 105, a first outer drive wheel 106, an outer motor fixing bracket 107 and an inner motor fixing bracket 108. One end of the first inner drive bracket 101 is connected to the first vehicle body 11 by screws, and one end is connected to the first inner drive motor 103 by the inner motor fixing bracket 108. The first inner drive wheel 105 is directly mounted on the shaft of the first inner drive motor 103. One end of the first outer drive bracket 102 is fixed to the first outer steering gear 116 by screws, thereby being fixed to the first inner drive bracket 101, and the other end is installed with the first outer drive motor 104 by the outer motor fixing bracket 107. The first outer drive wheel 106 is directly mounted on the shaft of the first outer drive motor 104, so that the motor drives the wheel to rotate, thereby realizing the driving detection robot. All motors are GHR-GM25-BK370-ABHL.

[0042] Optionally, the six driven groups arranged on the second vehicle body 12 include a first driven group 22, a second driven group 23, a third driven group (not shown in the figure), a fourth driven group 25, a fifth driven group 26 and a sixth driven group (not shown in the figure).

[0043] like Figure 1 As shown, the driven part of the second body includes a first driven group 22, a second driven group 23, a third driven group, a fourth driven group 25, a fifth driven group 26, and a sixth driven group installed on the second body 12, wherein the first driven group 22, the second driven group 23, and the third driven group are installed at the front of the second body 12 with a 120° distribution pattern, and the fourth driven group 25, the fifth driven group 26, and the sixth driven group are installed at the rear of the second body 12 with a 120° distribution pattern to ensure the symmetry of the second body 12, and the movement is driven by the driving groups of the first body 11 and the third body 13. Under the premise of ensuring stable movement, the energy consumption of the robot is reduced and the working time of the robot is increased each time.

[0044] like Figure 7 As shown, the first driven group 22 includes a first inner driven bracket 109, a first outer driven bracket 110, a first inner driven wheel 111, a first outer driven wheel 112, an outer driven wheel fixing bracket 113 and an inner driven wheel fixing bracket 114. The first inner driven bracket 109 is fixed to the outside of the second vehicle body 12, the first driven wheel is directly installed on the bottom of the first inner driven bracket 109 through the inner driven wheel fixing bracket 114, the first outer driven bracket 110 is fixedly connected to the first outer driven bracket 110 through a steering gear, and the first outer driven wheel is installed on the bottom of the first outer driven bracket 110 through the outer driven wheel fixing bracket 113.

[0045] The structural composition and installation method of the second driven group 23 , the third driven group, the fourth driven group 25 , the fifth driven group 26 and the sixth driven group are the same as those of the first driven group 22 .

[0046] Optionally, the first vehicle body variable diameter part includes a first inner servo 115, a first outer servo 116, a second inner servo 117, a second outer servo 118, a third inner servo 119, a third outer servo 120, a fourth inner servo 121, a fourth outer servo 122, a fifth inner servo 123, a fifth outer servo 124, a sixth inner servo, and a sixth outer servo.

[0047] The first inner servo 115 is installed on the outside of the first vehicle body 11, and one end of the rotating shaft is fixed to the first inner driving bracket 101, driving the first inner driving bracket 101 to rotate; the first outer servo 116 is installed on the first inner driving bracket 101, and one end of the rotating shaft is fixed to the first outer driving bracket 102, driving the first outer driving bracket 102 to rotate.

[0048] The second inner steering gear 117, the second outer steering gear 118, the third inner steering gear 119, the third outer steering gear 120, the fourth inner steering gear 121, the fourth outer steering gear 122, the fifth inner steering gear 123, the fifth outer steering gear 124, the sixth inner steering gear, and the sixth outer steering gear (not shown in the figure) have the same installation structure as the first inner steering gear 115 and the first outer steering gear 116, so as to fix and control all the inner driving brackets and the outer driving brackets, the inner driven brackets and the outer driven brackets to adapt to pipes with different diameters.

[0049] like Figure 6 As shown, the first diameter-changing group of the first body diameter-changing part includes a first inner steering gear 115 and a first outer steering gear 116. The first outer steering gear 116 is installed on the first inner driving bracket 101, and one end of its rotating shaft is fixed to the first outer driving bracket 102, driving the first outer driving bracket 102 to rotate. The control angle of the steering gear is in the range of 0° to 180°. When the detection robot moves forward, the main controller sends a signal to control all steering gears to drive the bracket to rotate in the opposite direction of the movement, presenting an "umbrella-shaped" structure. When the detection robot moves backward, the main controller sends a signal to control all steering gears to drive the bracket to rotate in the same direction of the movement, presenting an "inverted umbrella-shaped" structure, which can change at the fastest speed to adapt to the robot moving in any direction. The second diameter-changing group includes a second inner steering gear 117 and a second outer steering gear 118, and the third diameter-changing group includes a third inner steering gear 119 and a third outer steering gear 120. By analogy, the installation structure of the remaining diameter-changing groups is exactly the same as that of the first diameter-changing group.

[0050] Optionally, the number of cameras is four, including a first camera 127, a second camera 128, a third camera 129 and a fourth camera 130. The first camera 127, the second camera 128, the third camera 129 and the fourth camera 130 are installed around the second vehicle body 12 through a camera bracket 131. Each camera has a separate channel to collect pipeline information at different positions.

[0051] like Figure 3 As shown, the surface defect detection module includes a first camera 127, a second camera 128, a third camera 129, a fourth camera 130 and a camera bracket 131. The first camera 127, the second camera 128, the third camera 129 and the fourth camera 130 are connected to one end of the camera bracket 131 by screws, and the other end of the camera bracket 131 is connected and fixed around the outside of the second vehicle body 12. Since the range of image information collected by the camera is 120°, in order to prevent the loss of collected information, the four cameras are distributed around the upper, lower, left and right parts of the second vehicle body 12 at a distance of 90°, and there are overlapping areas with each other to avoid incomplete information collected, thereby affecting the detection accuracy of surface defects.

[0052] Optionally, the signal generator 132 is installed inside the second car body 12 through the copper column 134 and the screws, and the eddy current sensors 133 are fixed on the four sides of the outside of the second car body 12. The eddy current sensors 133 collect defect signals inside the pipeline. Multiple eddy current sensors 133 are installed to collect defect signals at multiple locations in the pipeline, thereby ensuring the integrity of the collection of defect information inside the pipeline.

[0053] Optionally, the control module includes a Raspberry Pi 135 and a Raspberry Pi fixing bracket 136, the lower end of the Raspberry Pi fixing bracket 136 is connected to the second car body 12 by screws, and the upper end is connected to the Raspberry Pi 135 by screws, so that the Raspberry Pi 135 is fixed inside the second car body 12; the Raspberry Pi 135 controls and transmits signals to the drive motors installed on the first car body 11 and the third car body 13, the eddy current sensor 133 and the camera installed on the second car body 12, respectively, and transmits signals to the host computer.

[0054] Optionally, the data processing module of the host computer receives the surface defect detection image and internal defect detection data transmitted by the control module via wifi, and uses the YOLO neural network algorithm and the BP neural network algorithm to process the data respectively, analyzes the types of surface defects and internal defects, and locates the defect positions.

[0055] Optionally, the end of the first body 11 is fixedly connected to the front end of the second body 12 by screws using a first universal joint 14, and the end of the second body 12 is fixedly connected to the front end of the third body 13 by screws using a second universal joint 15. The three bodies are connected by the first universal joint 14 and the second universal joint 15 to provide two degrees of freedom, which not only realizes the connection of the three bodies as a whole, but also ensures that the three bodies are independent of each other, preventing the detection robot from being unable to achieve normal steering due to the length process during the movement inside the pipeline. At the same time, when the pipeline is bent, the two degrees of freedom provided by the universal joint enable the robot to better adapt to various conditions of the pipeline.

[0056] like Figure 5 As shown, in this embodiment, the control module is composed of a Raspberry Pi 135 as the main controller, including a Raspberry Pi 135 and a Raspberry Pi fixing bracket 136. The Raspberry Pi 135 is fixed by one end of the Raspberry Pi bracket 136, and the other end of the Raspberry Pi bracket 136 is fixed inside the second vehicle body 12 by screws. The Raspberry Pi 135 of the main controller sends a signal that is transmitted to the drive structure module through a wire to control the motor speed. The main controller is also used to control the image information collected by the camera in the surface defect detection module and the eddy current signal collected by the eddy current sensor in the internal defect detection module to be transmitted to the host computer for signal analysis and processing. The main controller realizes the automation of the whole process by controlling the operation of sensors in different modules.

[0057] The data processing module of the host computer is installed on the PC side, receives the defect information transmitted by the control module, pre-processes the transmitted image information and transmits it to the YOLO neural network detection algorithm, and transmits the transmitted eddy current signal to the BP neural network detection algorithm, using the neural network detection algorithm to improve the detection accuracy and positioning accuracy of surface defects and internal defects.

[0058] The invention provides a retractable and variable-diameter inspection robot, wherein multiple sections of the vehicle body are connected by universal joints, and each section of the vehicle body is equipped with 6 drive groups. Each drive group includes a two-stage steering gear that respectively controls two sections of the bracket to change the distance between the inspection robot and the inner wall of the pipeline, so as to adapt to pipelines with different diameters.

[0059] Assuming that the vehicle body adopts the working operation mode with the left direction as the positive direction, the first vehicle body is at the left end and the third vehicle body is at the right end. When the defect detection robot operates normally, each servo controls the drive group to rotate right, and the first and third vehicles drive the second vehicle body to run right as a whole, presenting an "umbrella shape" as a whole, to avoid the collision between the detection robot body and the pipeline when the pipe diameter suddenly decreases. When the pipe diameter increases, the servo drives the drive group to rotate left, increasing the distance between the drive group and the pipeline, increasing the pressure between the drive wheel and the pipeline, and thus achieving stable operation; when the pipe diameter decreases, the servo drives the drive group to rotate right, reducing the distance between the drive group and the pipeline, and thus adapting to the smaller pipe diameter.

[0060] When there is a dead zone at one end of the pipeline, it is necessary to detect the reverse movement of the robot. By directly utilizing the rotation range of the servo from 0° to 180°, the drive group is controlled to rotate in the opposite direction, presenting an "inverted umbrella" structure. Since the first body is exactly the same and symmetrical as the third body, the motor can be directly reversed, which is more conducive to adapting to different pipeline conditions.

[0061] The above is only the best specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application shall be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A retractable and variable diameter inspection robot, characterized in that: The detection robot includes a robot mechanical structure module, a driving module, a telescopic variable diameter module, a surface defect detection module, an internal defect detection module, a data transmission module and a control module. The detection robot transmits the detection data to the host computer through the data transmission module; The robot mechanical structure module comprises a first body, a second body and a third body which are interconnected and independent of each other, wherein the end of the first body is fixedly connected to the front end of the second body and has a first degree of freedom, and the end of the second body is fixedly connected to the front end of the third body and has a second degree of freedom; The driving module includes a first vehicle body driving structure part, a third vehicle body driving structure part, and a second vehicle body driven structure part, and the third vehicle body driving structure part is completely the same as the first vehicle body driving structure part; The telescopic variable diameter module comprises a first body variable diameter part, a second body variable diameter part and a third body variable diameter part of the same structure, the first body variable diameter part comprises a plurality of steering gears and a bracket, and the plurality of steering gears are controlled to rotate by the control module to adapt to pipes of different diameters; The surface defect detection module includes a plurality of different cameras arranged on the first vehicle body, the second vehicle body or the third vehicle body, and collects pipeline information at different positions through different cameras; The internal defect detection module includes a signal generator and an eddy current sensor arranged on the first vehicle body, the second vehicle body or the third vehicle body; The data transmission module is used to realize information transmission between the driving module, the telescopic and variable diameter module, the surface defect detection module, the internal defect detection module and the control module; The control module is used to control the operation of the detection robot.

2. The retractable and variable diameter detection robot according to claim 1, characterized in that: The first vehicle body driving structure part includes six driving groups, three of which are installed at the front of the first vehicle body, and the other three are installed at the rear of the first vehicle body, and the three driving groups at the front and rear are distributed around the vehicle body at 120 degrees and at the same horizontal position; The driven structure of the second vehicle body includes six driven groups, three of which are installed at the front of the second vehicle body, and the other three are installed at the rear of the second vehicle body, and the front and rear driven groups are distributed around the second vehicle body at 120 degrees and at the same horizontal position as the driving groups on the first vehicle body; The drive structure of the third vehicle body is arranged in the same manner as the drive structure of the first vehicle body, and the driving group arranged on the third vehicle body and the driven group arranged on the second vehicle body are correspondingly distributed at the same horizontal position.

3. The telescopic and variable diameter detection robot according to claim 2, characterized in that: The six drive groups arranged on the first vehicle body include a first drive group, a second drive group, a third drive group, a fourth drive group, a fifth drive group and a sixth drive group; The first drive group includes a first inner drive bracket, a first outer drive bracket, a first inner drive motor, a first outer drive motor, a first inner drive wheel, a first outer drive wheel, an outer motor fixing bracket and an inner motor fixing bracket, the first inner drive bracket is fixed to the outside of the first vehicle body, the first inner drive motor is installed at the bottom of the first inner drive bracket through the inner motor fixing bracket, and is directly fixed to the first inner drive wheel at the rotating shaft of the first inner drive motor, the first outer drive bracket is fixedly connected to the first inner drive bracket through a steering gear, the first outer drive motor is installed at the bottom of the first outer drive bracket through the outer motor fixing bracket, and is directly fixed to the first outer drive wheel at the rotating shaft of the first outer drive motor; The structural composition and installation method of the second drive group, the third drive group, the fourth drive group, the fifth drive group and the sixth drive group are the same as those of the first drive group.

4. The telescopic and variable diameter detection robot according to claim 3, characterized in that: The six driven groups arranged on the second vehicle body include a first driven group, a second driven group, a third driven group, a fourth driven group, a fifth driven group and a sixth driven group; The first driven group includes a first inner driven bracket, a first outer driven bracket, a first inner driven wheel, a first outer driven wheel, an outer driven wheel fixing bracket and an inner driven wheel fixing bracket, the first inner driven bracket is fixed to the outside of the second vehicle body, the first inner driven wheel is directly mounted on the bottom of the first inner driven bracket through the inner driven wheel fixing bracket, the first outer driven bracket is fixedly connected to the first inner driven bracket through a steering gear, and the first outer driven wheel is mounted on the bottom of the first outer driven bracket through the outer driven wheel fixing bracket; The structural composition and installation method of the second driven group, the third driven group, the fourth driven group, the fifth driven group and the sixth driven group are the same as those of the first driven group.

5. The telescopic and variable diameter detection robot according to claim 4, characterized in that: The first body diameter-changing portion includes a first inner steering gear, a first outer steering gear, a second inner steering gear, a second outer steering gear, a third inner steering gear, a third outer steering gear, a fourth inner steering gear, a fourth outer steering gear, a fifth inner steering gear, a fifth outer steering gear, a sixth inner steering gear, and a sixth outer steering gear; The first inner steering gear is installed outside the first vehicle body, and one end of the rotating shaft is fixed to the first inner driving bracket, driving the first inner driving bracket to rotate; the first outer steering gear is installed on the first inner driving bracket, and one end of the rotating shaft is fixed to the first outer driving bracket, driving the first outer driving bracket to rotate; The second inner steering gear, the second outer steering gear, the third inner steering gear, the third outer steering gear, the fourth inner steering gear, the fourth outer steering gear, the fifth inner steering gear, the fifth outer steering gear, the sixth inner steering gear and the sixth outer steering gear have the same mounting structure as the first inner steering gear and the first outer steering gear, so as to realize the fixation and control of all inner driving brackets and outer driving brackets, inner driven brackets and outer driven brackets to adapt to pipes of different diameters.

6. The telescopic and variable diameter detection robot according to claim 5, characterized in that: There are four cameras, including a first camera, a second camera, a third camera and a fourth camera. The first camera, the second camera, the third camera and the fourth camera are installed around the second vehicle body through camera brackets. Each camera has a separate channel to collect pipeline information at different positions.

7. The telescopic and variable diameter detection robot according to claim 6, characterized in that: The signal generator is installed inside the second vehicle body through copper columns and screws, and the eddy current sensors are respectively fixed around the outside of the second vehicle body. The eddy current sensors collect defect signals inside the pipeline.

8. The telescopic and variable diameter detection robot according to claim 6, characterized in that: The control module includes a Raspberry Pi and a Raspberry Pi fixing bracket, the lower end of the Raspberry Pi fixing bracket is connected to the second car body by screws, and the upper end is connected to the Raspberry Pi by screws, so that the Raspberry Pi is fixed inside the second car body; the Raspberry Pi controls and transmits signals to the drive motors installed on the first car body and the third car body, the eddy current sensor and the camera installed on the second car body, respectively, and transmits signals to the host computer.

9. The telescopic and variable diameter detection robot according to claim 7 or 8, characterized in that: The host computer receives the surface defect detection image and internal defect detection data transmitted by the control module via wifi, and uses the YOLO neural network algorithm and the BP neural network algorithm to process the data respectively, analyzes the types of surface defects and internal defects, and locates the defect positions.

10. The telescopic and variable diameter detection robot according to claim 9, characterized in that: The end of the first vehicle body is fixedly connected to the front end of the second vehicle body by a first universal joint through screws, and the end of the second vehicle body is fixedly connected to the front end of the third vehicle body by a second universal joint through screws.

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