Self-crawling detection robot

Abstract

The invention discloses a self-crawling detection robot, and relates to the technical field of pipeline detection, the self-crawling detection robot comprises a rack, a walking device, an adsorption device and a cavity detection device, the walking device, the adsorption device and the cavity detection device are arranged on the rack, the walking device comprises a driving structure and a walking structure, the driving structure is used for driving the walking structure to move, and the adsorption device is used for adsorbing the cavity detection device. The adsorption device is used for realizing adsorption between the self-crawling detection robot and a to-be-detected structure, the cavity detection device comprises a detection structure and a marking structure, the detection structure is used for detecting whether a cavity exists or not, and the marking structure is used for marking the position of the cavity when the cavity is detected to exist. The self-crawling detection robot disclosed by the invention can be used for carrying out omnibearing detection on the pipeline.

Description

Technical Field

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

[0002] With the rapid development of my country's economy, large-diameter pipelines have been used more and more, which requires stricter inspection. In the existing pumped storage power station projects, the method of sharing pressure between steel pipes and surrounding concrete is adopted during the design process. In this case, if a large gap is formed between the steel pipe and the concrete, the steel pipe alone will bear the internal pressure, which will cause the steel pipe to be stressed and deformed unevenly, and even cause the steel pipe to break, resulting in serious production safety accidents.

[0003] The manual tapping method is a commonly used inspection method for large-diameter pipelines. By using a hammer or other iron device to tap the surface of the steel pipe, the echo obtained after the tapping is used to determine whether there is a cavity and the depth of the cavity. The manual tapping inspection method has many disadvantages. Since the inspection process mainly depends on the subjective judgment of the workers, the inspection accuracy is low. In addition, due to the large size of the pipeline, it is impossible to crawl to the pipe wall during manual inspection, so there is a problem of incomplete inspection. Summary of the invention

[0004] The purpose of the present invention is to provide a self-crawling inspection robot to solve the problems existing in the above-mentioned prior art and to be able to perform all-round inspection of pipelines.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a self-crawling detection robot, comprising: a frame and a walking device, an adsorption device and a cavity detection device arranged on the frame, the walking device comprising a driving structure and a walking structure, the driving structure is used to drive the walking structure to move, the adsorption device is used to realize the adsorption of the self-crawling detection robot and a structure to be detected, the cavity detection device comprises a detection structure and a marking structure, the detection structure is used to detect whether there is a cavity, and when the existence of a cavity is detected, the marking structure is used to mark the position of the cavity.

[0007] Preferably, the adsorption device includes a mounting plate and a magnetic structure, the magnetic structure is arranged on the mounting plate, the mounting plate is connected to the frame by bolts, and the distance between the magnetic structure and the structure to be detected can be adjusted by adjusting the bolts.

[0008] Preferably, the walking structure comprises a crawler track, and a plurality of magnetic bodies are arranged on the crawler track.

[0009] Preferably, the detection structure is a capsule array ultrasonic detection structure, which includes a plurality of ultrasonic probes arranged in sequence, and the ultrasonic probes are used to detect whether a cavity exists; the plurality of ultrasonic probes are located in the same plane, and the distance between adjacent ultrasonic probes is the same; each of the ultrasonic probes corresponds to a universal wheel structure, and the universal wheel structure is used to contact the surface of the structure to be detected.

[0010] Preferably, the cavity detection device also includes a coupling structure, the detection structure and the coupling structure are used to transport a coupling medium to the ultrasonic probe so that the ultrasonic probe and the structure to be detected fit together, the coupling structure includes a storage structure and a plurality of coupling medium pipelines, the storage structure is used to hold the coupling medium, the coupling medium pipelines correspond to the ultrasonic probe one-to-one, one end of the coupling medium pipeline is connected to the storage structure, and the other end of the coupling medium pipeline corresponds to the position of the ultrasonic probe, and a water pump and a valve are provided on the coupling medium pipeline.

[0011] Preferably, the marking structure includes a plurality of paint spray bottles, which correspond one to one with the ultrasonic probe, the nozzle of the paint spray bottle is connected to one end of a paint spray pipeline, the other end of the paint spray pipeline corresponds to the position of the ultrasonic probe, the paint spray bottle presses the spray head through a telescopic rod to spray paint, and the marking paint in the paint spray bottle passes through the spray head and the paint spray pipeline and is sprayed on the cavity position of the structure to be measured.

[0012] Preferably, it also includes a mileage wheel, which is used to record the detection mileage of the self-crawling detection robot.

[0013] Preferably, the driving structure is a brushless DC motor.

[0014] Preferably, it also includes a motor drive module;

[0015] The motor drive module is connected to the drive structure; the motor drive module is used to receive motion instructions and control the torque of the DC brushless motor based on the motion instructions; the motion instructions include forward instructions, steering instructions and backward instructions; the motion instructions are sent by a wireless remote control.

[0016] Preferably, it also includes a power supply box power supply;

[0017] The power supply box power supply is respectively connected to the walking device, the cavity detection device and the motor drive module.

[0018] Compared with the prior art, the present invention has achieved the following technical effects:

[0019] The self-climbing detection robot of the present invention moves on the surface of the structure to be detected through the walking device, and provides adsorption force through the adsorption device, so that the self-climbing detection robot can be adsorbed on the structure to be detected during the detection process, ensuring that the self-climbing detection robot can perform comprehensive detection on the surface of the structure to be detected, realize cavity detection through the cavity detection device, and mark the cavity position. The present invention realizes the omnidirectional pipeline of the structure to be detected, and solves the complex cavity detection problem in the super-large diameter pipeline, ensuring the accuracy of the detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 Axonometric measurement of the self-climbing inspection robot of the present invention Figure 1 ;

[0022] Figure 2 Axonometric measurement of the self-climbing inspection robot of the present invention Figure 2 ;

[0023] Figure 3 A top view of the self-climbing detection robot of the present invention;

[0024] Figure 4 A bottom view of the self-climbing detection robot of the present invention;

[0025] Figure 5 It is a schematic diagram of the adsorption device of the present invention;

[0026] Figure 6 A schematic diagram of a detection pipeline of the self-crawling detection robot of the present invention;

[0027] Figure 7 It is a schematic diagram of the detection principle of the cavity detection device of the present invention;

[0028] Figure 8 It is a schematic diagram of the relationship between the cavity detection device of the present invention and the host computer;

[0029] Fig. 9 It is a schematic diagram of the cross section of the detection area of ​​the pipeline;

[0030] Fig.10 This is a schematic diagram of the detection area of ​​the pipeline;

[0031] Fig.11 Open a plan view of the inspection area of ​​the pipeline;

[0032] Fig.12 It is a module connection diagram of the cavity detection device of the present invention;

[0033] Fig.13 This is a basic principle diagram of the acquisition and storage system of the present invention;

[0034] Fig.14 It is the principle diagram of the alarm circuit of the present invention;

[0035] Fig.15 This is the motor drive module diagram;

[0036] Fig.16 It is the PCB schematic diagram;

[0037] Fig.17 This is a flow chart of the cavity detection method of the present invention.

[0038] In the figure: 100-self-crawling inspection robot, 200-structure to be inspected, 1-ultrasonic probe, 2-paint bottle, 3-telescopic rod, 4-paint pipeline, 5-mileage wheel, 6-universal wheel structure, 7-coupling layer, 8-frame, 9-mounting plate, 10-magnetic structure, 11-driving structure, 12-track, 13-magnetic body, 14-bolt, 15-cavity, 16-host computer, 17-storage and acquisition system, 18-concrete. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] The purpose of the present invention is to provide a self-crawling inspection robot to solve the problems existing in the above-mentioned prior art and to be able to perform all-round inspection of pipelines.

[0041] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] At present, there is no automatic detection system for large-diameter pipeline hollow defects on the market, and the on-site detection method still uses the traditional manual tapping method. There are many disadvantages in the manual tapping detection method. Since the hollow detection process mainly depends on the subjective judgment of the workers, the detection accuracy is low. At the same time, due to the height of the pipeline, it is difficult to transport workers to the top of the pipeline for detection, and the detection results of the traditional detection method are not comprehensive. In the process of manual tapping detection, some hollow defects are small in area and are easily missed, affecting the accuracy of the detection. Therefore, under the problem of being unable to accurately and automatically detect whether the pipeline and concrete are completely filled, it is necessary to develop an internal detection system that can automatically detect and record data in the pipeline to provide a guarantee for the judgment of the hollow part of the pipeline. The impact echo method acts on a single test surface, but when detecting the cavity in a large-diameter pipeline, due to the limitations of mechanical impact, multiple surface detections will cause stress waves to be superimposed, resulting in errors in the detection. Therefore, the impact echo method is not very suitable for multiple test surfaces or large-area detection surfaces. In the ultrasonic detection method, electromagnetic ultrasound and piezoelectric ultrasound are usually used for cavity detection. However, since it is a field operation, electromagnetic ultrasound is greatly interfered by external signals. Although the traditional single-probe piezoelectric ultrasonic detection is not subject to external interference, it is not strictly combined in some places when working on the curved surface, resulting in inaccurate detection. Infrared thermal imaging method requires more preparation work, and the steel pipe area is large, which is not suitable for large-scale operations. And the method needs to expose the structure to be detected to the external environment, which is greatly affected by the environment. All of the above methods can only be applied to small-area detection of a single test surface. The impact echo method and the electromagnetic ultrasonic detection method have high requirements for the on-site environment, and there should be no noise on the site. The piezoelectric ultrasonic detection method probe is not very ideal for the detection effect on the curved surface. Therefore, the present invention proposes a self-climbing detection robot that can realize all-round detection of the structure to be detected. The self-climbing detection robot can detect at any position on the surface of the structure to be detected through an adsorption device. By setting a spherical flexible water-sealed coupling probe, the sensitivity of the probe detection and the stability of the coupling environment are guaranteed. That is, it solves the disadvantage of only being able to detect on a single test surface, and can accurately fit the surface of the steel pipe for real-time detection. At the same time, there is no need to consider the mutual influence between ultrasonic signals. A cavity alarm system is also set up. By setting appropriate thresholds in the system to issue real-time alarms, the purpose of real-time detection of pipeline cavity conditions and real-time recording is achieved.

[0043] Example 1

[0044] like Figures 1 to 14As shown, this embodiment provides a self-crawling detection robot 100, including: a frame 8 and a walking device, an adsorption device and a cavity detection device arranged on the frame 8, the frame 8 can be made of a mixed material of stainless steel and aluminum alloy, the walking device includes a driving structure 11 and a walking structure, the driving structure 11 is used to drive the walking structure to move, the adsorption device is used to realize the adsorption of the self-crawling detection robot 100 and the structure 200 to be detected (a pipe with a diameter of more than 6 meters), the cavity detection device includes a detection structure and a marking structure, the detection structure is used to detect whether there is a cavity 15, when the presence of the cavity 15 is detected, the marking structure is used to mark the position of the cavity 15.

[0045] Specifically, in this embodiment, the adsorption device includes a mounting plate 9 and a magnetic structure 10. The magnetic structure 10 includes a plurality of permanent magnets, preferably six permanent magnets. The magnetic structure 10 is arranged on the mounting plate 9. The mounting plate 9 is connected to the frame 8 by bolts 14. By adjusting the bolts 14, the distance between the magnetic structure 10 and the structure to be detected 200 is adjusted. The distance between the magnetic structure 10 and the structure to be detected 200 is 3-5 cm. The closer the distance between the magnetic structure 10 and the structure to be detected 200, the better the adsorption effect of the magnetic structure 10 on the structure to be detected 200. In this embodiment, the adsorption device provides adsorption force to ensure that the self-crawling detection robot 100 can achieve all-round detection of the pipeline.

[0046] In this embodiment, the driving structure 11 is preferably a motor, and the walking structure includes a crawler 12, and the crawler 12 is a plastic elastic crawler. Since the material of the pipeline is a ferromagnetic material, a plurality of magnetic bodies 13 are provided on the crawler 12, and the magnetic bodies 13 are permanent magnets. The plurality of magnetic bodies 13 are arranged along the length direction and the width direction of the crawler 12. The crawler 12 with permanent magnets in this embodiment can use the curvature of the pipe wall to provide adsorption force during the walking process of the self-crawling detection robot 100, and the crawling efficiency of the self-crawling detection robot 100 on the inner wall of the pipe is improved through the walking structure, and friction loss is reduced.

[0047] This embodiment uses an adsorption device and a walking structure to enable the self-crawling inspection robot 100 to complete adsorption inspection on the top of the pipeline, achieving 360° full coverage inspection, and solving the problem that ultra-large diameter pipelines cannot fully cover the inspection of whether there is a cavity 15 defect between the pipeline and the concrete 18.

[0048] In this embodiment, the detection structure is a capsule array ultrasonic detection structure, which includes several ultrasonic probes 1 arranged in sequence, preferably three ultrasonic probes 1, and the ultrasonic probe 1 is used to detect whether there is a cavity 15, and can detect the surface and internal cavity 15; the ultrasonic probe 1 is preferably an ultrasonic flexible water-sealed coupling probe, preferably a pocket wheel probe produced by Shantou Ultrasonic Electronics Co., Ltd., with an outer diameter of 15mm and made of PZT piezoelectric material, a chip diameter of 10mm, and a central resonant frequency of 5MHz. The ultrasonic probe 1 transmits and receives ultrasonic waves to the inner wall of the pipe it passes through, transmits them to the computer software for real-time observation, and then judges whether there is a gap in the concrete 18 according to the change of ultrasonic echo. The external shape of the ultrasonic probe 1 is similar to a wheel, and the arc surface of the ultrasonic probe 1 is used to contact the surface of the structure 200200 to be detected; several ultrasonic probes 1 are located in the same plane, and the distance between adjacent ultrasonic probes 1 is the same, and the distance between adjacent ultrasonic probes 1 is determined according to the size of the cavity 15 with hidden dangers, for example, the area of ​​the cavity 15 is 0.5m 2 There are hidden dangers when the ultrasonic probes 1 are adjacent to each other, and the distance between them is set to be less than 0.5m, which can improve the detection accuracy. When the self-crawling detection robot 100 of this embodiment moves, the ultrasonic probes 1 rotate, and each ultrasonic probe 1 always moves in a single direction along the structure to be detected 200, that is, it detects along the circumference of the pipeline. Fig. 9 As shown, the cavity detection is performed on the area corresponding to the 120° central angle, such as Fig.11 As shown, the detection area is expanded, wherein the horizontal arrow is the travel route of the self-climbing detection robot 100, and the inclined arrow is the retreat route of the self-climbing detection robot 100. Through multiple movements, step by step, it is ensured that the filling status of the concrete 18 can be detected at all angles, and the detection of the entire area also saves time and cost; each ultrasonic probe 1 corresponds to a universal wheel structure 6, each universal wheel structure 6 includes two universal wheels, and the universal wheel structure 6 is located behind the ultrasonic probe 11. The universal wheel structure 6 is used to contact the surface of the structure 200 to be detected (i.e., the inner surface of the super-large diameter pipe), and the universal wheel structure 6 ensures that the self-climbing detection robot 100 detects along a straight line during the walking process.

[0049] In this embodiment, the cavity detection device also includes a coupling structure. The detection structure coupling structure is used to transport coupling medium to the ultrasonic probe 1 so that a coupling layer 7 is formed between the ultrasonic probe 1 and the structure to be detected 200, so as to achieve the fit between the ultrasonic probe 1 and the structure to be detected 200. The coupling structure includes a storage structure and a plurality of coupling medium pipelines. The storage structure is used to hold the coupling medium. The coupling medium is preferably water. The coupling medium pipeline corresponds to the ultrasonic probe 1 one by one. One end of the coupling medium pipeline is connected to the storage structure, and the other end of the coupling medium pipeline corresponds to the position of the ultrasonic probe 1. A water pump and a valve are arranged on the coupling medium pipeline. During detection, the water pump and the valve are turned on, and the coupling medium in the storage structure is transported to the surface of the ultrasonic probe 1 through the coupling medium pipeline by the water pump, so that the ultrasonic probe 1 and the structure to be detected 200 are fully coupled. The flow rate of water can be controlled as needed, and the adjustable flow rate range of the water flow rate is 0-500ml / min. In this embodiment, the coupling structure is used to ensure that the ultrasonic probe 1 and the structure to be detected 200 are always in a fully water-coupled state during detection, thereby ensuring the accuracy of detection.

[0050] Since the acoustic impedance of ultrasonic signals in concrete and air is different, the acoustic impedance in air is much greater than that in concrete. When it is detected that the gap between the pipeline and the mountain is not filled with concrete and there is air, a more obvious ultrasonic echo signal can be detected. This embodiment uses a capsule array ultrasonic detection structure for cavity detection, and transmits a coupling medium to the ultrasonic probe 1 through a coupling structure, so that the ultrasonic probe 1 is fully coupled with the structure to be detected 200, ensuring the sensitivity of the ultrasonic probe 1 detection and the stability of the coupling environment, and using a marking structure to mark the cavity position, solving the complex cavity detection problem in ultra-large diameter pipelines.

[0051] In this embodiment, the marking structure includes a plurality of paint spray bottles 2, and the paint spray bottles 2 correspond to the ultrasonic probes 1 one by one. The nozzle of the paint spray bottle 2 is connected to one end of the paint spray pipe 4, and the other end of the paint spray pipe 4 corresponds to the position of the ultrasonic probe 1. The paint spray bottle 2 presses the nozzle through the telescopic rod 3 to spray paint, and the marking paint in the paint spray bottle 2 passes through the nozzle and the paint spray pipe 4 and is sprayed on the cavity position of the structure to be tested. When the ultrasonic probe 1 detects the cavity, the telescopic rod 3 extends and presses the nozzle of the paint spray bottle 2, so that the marking paint in the paint spray bottle 2 is sprayed to the position of the cavity. The marking structure also includes a relay and an alarm signal output circuit. As an electrical control device, the relay causes the telescopic rod 3 of the spray gun to undergo a predetermined telescopic change in the electrical output circuit when it detects that the change of the ultrasonic echo signal exceeds the specified threshold range requirement. The two cooperate with each other to achieve defect marking. Fig.14Alarm signal output circuit: used for alarm signal output, controlling the back-end relay switch, and detecting paint marks in problem areas. The QS3VH861 thermal switch with 10-bit pass-through pin output is a high-bandwidth bus switch with very low on-resistance, and the propagation delay through the switch is less than 250ps. The QS3VH861 has near-zero propagation delay, high off impedance, and overvoltage tolerance, making it ideal for high-performance communication applications. The operating temperature range of the QS3VH861 is -40°C to +85°C. The tag structure transfers the data to the data acquisition storage system for data processing and storage, and displays the detection results through the host computer 16.

[0052] This embodiment also includes a mileage wheel 5, which records the kilometers traveled by the detection structure by rolling circles. There will be numerical records when moving forward or backward, and the numerical records will be uploaded to the upper computer display interface in real time.

[0053] According to the actual pipeline conditions, this embodiment adopts the ultrasonic probe 1 to avoid the troubles caused by the limitations of the external environment of the pipeline. After the internal cleaning of the pipeline, the pipeline can be fully inspected in all directions and with high precision without damaging the pipeline.

[0054] This embodiment uses a capsule array ultrasonic detection structure to effectively identify the cavity 15 of a large-diameter pipeline, and accurately records and determines the position of the cavity 15 by connecting to a computer system, thereby providing a complete technical solution for timely eliminating pipeline operation hazards and evaluating the integrity of the pipeline.

[0055] During the detection process, each ultrasonic probe 1 works independently, and each coupling medium pipeline transports coupling medium to the detection area under the corresponding ultrasonic probe 1, ensuring that the ultrasonic probe 1 is fully coupled during the detection process. Through ultrasonic detection technology, the pulse echo method is used to perform all-round detection of the pipe wall. When encountering a cavity area during travel, the telescopic rod 3 in the marking structure extends and squeezes the paint can to form a mark, until after passing the cavity area, the telescopic rod 3 shrinks and the paint marking ends. The mileage wheel 5 always records the mileage and position of the detection path, and transmits it to the computer system together with the detection data and marks.

[0056] like Figure 8 and Fig.12As shown, a storage and acquisition system 17 is integrated in the detection structure; the storage and acquisition system 17 is connected to the mileage wheel 5; the storage and acquisition system 17 is also connected to the host computer 16; the storage and acquisition system 17 is used to obtain the data of the mileage wheel 5; the mileage wheel 5 data includes the cumulative forward rotation number and the cumulative reverse rotation number of the mileage wheel 5 at any time; the storage and acquisition system 17 is also used to obtain multi-channel ultrasonic callback signals; the ultrasonic callback signal corresponds to the ultrasonic probe 1 one by one; the ultrasonic callback signal is collected after the ultrasonic signal emitted by the corresponding ultrasonic probe 1 is reflected by the pipe wall or the object behind the pipe wall cavity 15; the storage and acquisition system 17 is used to transmit the mileage wheel 5 data and the ultrasonic callback signal to the host computer 16. Preferably, it also includes a power supply system node; the power supply system node is respectively connected to the ultrasonic probe 1, the paint spray bottle 2 and the storage and acquisition system 17.

[0057] The principle of storage and acquisition system 17 is as follows Fig.13 The data acquisition and storage system consists of data transmission lines and data processing boards. The upper computer display system is implemented through computer software programming and communicates with the detection system through Ethernet to realize data visualization display.

[0058] The acquisition and storage system includes a small phased array module, a conventional thickness probe adapter board, a small computer, a thickness probe and Windows computer application software. The instrument end and the computer end are connected through a network cable for control and data communication. During the detection, the water pump controls the water spray flow rate to realize the probe detection water coupling environment, and the detection equipment moves along the inner wall of the pipeline. By comparing the intensity of the secondary echo signal, it can be determined whether there is a gap between the outer wall of the pipeline and the mountain. In addition, the system adopts the automatic search and tracking function of the thickness gate. The A and B gates track the primary and secondary bottom waves, which effectively improves the detection efficiency and measurement accuracy. Among them, the synchronization circuit ensures that all parts of the acquisition and storage system can work under the same time reference. The transmitting circuit provides an excitation signal for the ultrasonic probe, the receiving circuit receives the ultrasonic echo signal, and the corresponding echo signal processing circuit further processes the received echo signal, and then the processed signal is scanned and analyzed by the time base circuit. Finally, the final waveform is displayed on the display screen, thereby completing the waveform display work.

[0059] The acquisition and storage system has the following features: Display mode: A scan + B scan + C scan, real-time and automatic acquisition of detection images and thickness measurement data; Thickness measurement and imaging method: In the A scan image, the C gate covers the interface wave, the A gate covers the primary bottom wave of the outer wall of the pipe, and the B gate covers the secondary bottom wave of the outer wall of the pipe. The sound path of the B gate minus the sound path of the A gate can get the wall thickness. Different color values ​​are used for imaging according to the range of wall thickness values. 128 channels form 128 thickness lines, and all thickness lines are arranged together to form a thickness measurement C scan image; Process parameter saving and calling function: The adjusted process parameters can be saved for future calls; Data transfer and playback function: The saved detection records can be transferred to other computers through U disk, network, etc., and the detection records (including detection parameters and C scan image data, etc.) can be played back and analyzed; It has a thickness data search function. In the playback state, the thickness measurement data can be searched by adjusting the search lower limit and search upper limit, and then playback analysis can be performed; The equipment supports data transmission control capabilities of more than 50 meters; The minimum measurement accuracy can reach 0.1mm. The upper computer display system is realized through computer software programming, and communicates with the detection system via Ethernet to realize data visualization display.

[0060] In addition, the cavity detection device also includes a power supply system section, which is respectively connected to the ultrasonic probe 1, the paint spray bottle 2 and the storage acquisition system 17. The power supply system section includes a power supply and a voltage overload protection device.

[0061] The present invention is based on piezoelectric ultrasound for air gap detection, and combines advanced ultrasonic detection technology with an alarm spray control system to detect whether cement is fully filled at the construction site. During the detection process, ultrasonic echo comparison is used to determine whether there is a gap between the concrete 18 and the pipeline. Using self-programmed acquisition and processing software, data acquisition and processing software is developed, which has the functions of real-time processing of detection data and displaying the result graphs of ultrasonic A scan, B scan and C scan. An automatic alarm unit is set to realize instant alarm of defect detection data and real-time spray control, thereby achieving the purpose of real-time detection of pipeline cavities. The judgment process is as follows: the ultrasonic wave is emitted, and the energy of the second echo is used to determine whether there is a gap. The echo energy is large, that is, the peak value is very high, indicating that there is air between the concrete 18 and the pipeline. The ultrasonic wave cannot propagate in the air, so it is all reflected back at the bottom of the steel plate, so the energy is very high. If there is no cavity 15, that is, the steel plate and the concrete 18 are in close contact, part of the ultrasonic wave will pass through the steel plate into the concrete 18, resulting in less energy of the echo at the bottom of the steel plate. Therefore, the size of the echo energy is used to determine whether there is a gap.

[0062] Specifically, the driving structure is a brushless DC motor. In addition, the self-crawling detection robot also includes a motor drive module and a power supply box power supply; the motor drive module is connected to the driving structure; the motor drive module is used to receive motion instructions and control the torque of the DC brushless motor based on the motion instructions; the driver adopts an improved motor drive module to achieve precise control of the motor torque, and is matched with the DC brushless motor to form a powerful power kit. Motion instructions include forward instructions, steering instructions and backward instructions; motion instructions are sent by a wireless remote control. The power supply box power supply is respectively connected to the walking device, the cavity detection device and the motor drive module. Power supply box power supply: provides driving force for the inner crawling robot, and it can run by clicking the switch. The operating temperature of the driver is: -10°-+60°, and the humidity is <80RH. The main relay coil voltage is 24V, the main contact overcurrent is 80A, and the normal working temperature rise is 60°

[0063] The crawling robot can move forward, turn and retreat by manual remote control, and can detect the pipeline in all directions. The body is made of a mixture of stainless steel and aluminum alloy, and the DC brushless motor is controlled by wireless remote control to control the crawling robot to move forward and turn. It has a load capacity of 30kg, which meets the weight requirements of load equipment such as ultrasonic detection devices, automatic alarm and marking systems in the detection. The power supply voltage is 24V, the robot has a battery capacity of 70A / h, and the maximum working time can reach 8 hours, which fully meets the requirements of continuous operation of pipeline inner wall detection.

[0064] The remote control and drive of the crawling robot chassis are configured as a mixed mode within the drive. The remote control channel and channel independently control the straight and steering channels of the vehicle body. The joystick on the right side of the remote control is the vehicle body motion control joystick, corresponding to the 8 directions of the vehicle body front, back, left, right, left front, right front, left rear, and right rear. All 8 directions are proportionally controlled. The joystick offset angle corresponds to the speed of the vehicle body movement. The larger the joystick offset angle, the greater the movement speed.

[0065] The crawling robot can move forward, turn and move backward by remote control. The principle is: STM32F103C8T6 core board, TB6612FNG motor driver module are used. Bluetooth is connected to the core board. The core board is connected to two left and right motor modules, and then an external switch is connected. Fig.15 , PCB principle as Fig.16 The pin definitions and functions are shown in Table 1. In the figure, motor 1 controls the left motor, and motor 2 controls the right motor. So AO1 and AO2 can control the left motor (motor 1). Similarly, BO1 and BO2 can control the right motor (motor 2).

[0066] Table 1 Definition and function of each pin

[0067]

[0068] The principle of self-crawling control to realize forward, turning and backward movement is as follows:

[0069] 0: The pin outputs a low level. 1: The pin outputs a high level.

[0070] The pin signals when driving the left motor are shown in Table 2.

[0071] Table 2 Pin signal table when driving the left motor

[0072]

[0073] Similarly, the same principle applies to driving the right motor; so to make the self-crawling robot move forward, both the left and right motors rotate forward at the same time, and to move backward, both motors rotate in reverse. To turn left, the left motor stops and the right motor moves forward. To turn right, the left motor moves forward and the right motor stops.

[0074] Example 2

[0075] This embodiment discloses a cavity detection method, which is applied to the cavity detection device as described in Embodiment 1.

[0076] like Fig.17 , cavity detection methods, including:

[0077] Step 201: obtaining an ultrasonic callback signal corresponding to any ultrasonic probe 1 at the current moment as a current ultrasonic callback signal.

[0078] Step 202: determine whether the current ultrasonic callback signal reaches a preset ultrasonic callback signal risk value, and obtain a determination result; if the determination result is yes, execute step 203; if the determination result is no, execute step 206.

[0079] Step 203: If the judgment result is yes, the odometer wheel data at the current moment is obtained; the odometer wheel data includes the accumulated forward rotation number and the accumulated reverse rotation number of the odometer wheel at any moment.

[0080] Step 204 : According to the odometer data at the current moment, determine that the position of the cavity detection device at the current moment is the cavity position, and send the current moment and the cavity position to the storage and acquisition system 17 .

[0081] Step 205: Generate a cavity alarm signal and a paint spraying signal, and send the paint spraying signal to the paint spraying bottle 2 corresponding to the current ultrasonic callback signal.

[0082] Step 206: Update the current ultrasonic callback signal, and return to step 202 until all ultrasonic callback signals corresponding to the ultrasonic probe 1 at the current moment are traversed. Step 206 is executed after step 205 or when the judgment result is no.

[0083] Step 207: Update the current time and return to step 201.

[0084] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A self-crawling inspection robot, characterized in that: include: A frame and a walking device, an adsorption device and a cavity detection device arranged on the frame, the walking device including a driving structure and a walking structure, the driving structure is used to drive the walking structure to move, the adsorption device is used to realize the adsorption of the self-crawling detection robot and the structure to be detected, the cavity detection device includes a detection structure and a marking structure, the detection structure is used to detect whether there is a cavity, and when the existence of a cavity is detected, the marking structure is used to mark the position of the cavity.

2. The self-crawling detection robot according to claim 1, characterized in that: The adsorption device includes a mounting plate and a magnetic attraction structure, wherein the magnetic attraction structure is arranged on the mounting plate, and the mounting plate is connected to the frame by bolts. By adjusting the bolts, the distance between the magnetic attraction structure and the structure to be detected can be adjusted.

3. The self-crawling detection robot according to claim 1, characterized in that: The walking structure comprises a crawler track, and a plurality of magnetic bodies are arranged on the crawler track.

4. The self-crawling detection robot according to claim 1, characterized in that: The detection structure is a capsule array ultrasonic detection structure, which includes a plurality of ultrasonic probes arranged in sequence, and the ultrasonic probes are used to detect whether a cavity exists; the plurality of ultrasonic probes are located in the same plane, and the distances between adjacent ultrasonic probes are the same; each of the ultrasonic probes corresponds to a universal wheel structure, and the universal wheel structure is used to contact the surface of the structure to be detected.

5. The self-crawling detection robot according to claim 4, characterized in that: The cavity detection device also includes a coupling structure, and the detection structure and the coupling structure are used to transport a coupling medium to the ultrasonic probe so that the ultrasonic probe and the structure to be detected fit together. The coupling structure includes a storage structure and a plurality of coupling medium pipelines. The storage structure is used to hold the coupling medium. The coupling medium pipelines correspond to the ultrasonic probes one by one. One end of the coupling medium pipeline is connected to the storage structure, and the other end of the coupling medium pipeline corresponds to the position of the ultrasonic probe. A water pump and a valve are provided on the coupling medium pipeline.

6. The self-crawling detection robot according to claim 4, characterized in that: The marking structure includes a plurality of paint spray bottles, which correspond to the ultrasonic probes one by one. The spray nozzle of the paint spray bottle is connected to one end of a paint spray pipeline, and the other end of the paint spray pipeline corresponds to the position of the ultrasonic probe. The paint spray bottle sprays paint by pressing a spray head through a telescopic rod. The marking paint in the paint spray bottle passes through the spray head and the paint spray pipeline and is sprayed on the cavity position of the structure to be measured.

7. The self-crawling detection robot according to claim 1, characterized in that: It also includes a mileage wheel, which is used to record the detection mileage of the self-crawling detection robot.

8. The self-crawling detection robot according to claim 1, characterized in that: The driving structure is a brushless DC motor.

9. The self-crawling detection robot according to claim 8, characterized in that: Also includes a motor drive module; The motor drive module is connected to the drive structure; the motor drive module is used to receive motion instructions and control the torque of the DC brushless motor based on the motion instructions; the motion instructions include forward instructions, steering instructions and backward instructions; the motion instructions are sent by a wireless remote control.

10. The self-crawling detection robot according to claim 9, characterized in that: Also includes a power supply box power supply; The power supply box power supply is respectively connected to the walking device, the cavity detection device and the motor drive module.

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