Pipeline robot, pipeline detection system and pipeline detection method

Abstract

The invention relates to the technical field of pipeline detection, in particular to a pipeline robot, a pipeline detection system and a pipeline detection method. The power generation device is arranged on the pipeline vehicle and converts kinetic energy of fluid in the target pipeline into electric energy; the energy storage device is arranged on the pipeline vehicle, stores the electric energy generated by the power generation device and supplies energy to the pipeline vehicle based on the electric energy; the acquisition assembly is arranged on the pipeline vehicle and is used for acquiring detection data in a target pipeline; and the communication module is arranged on the pipeline vehicle, sends the detection data to the remote control terminal, and controls the pipeline vehicle according to at least one of the control instruction and the target detection task issued by the remote control terminal. Therefore, the problems that in the prior art, a pipeline robot cannot support a long-time pipeline detection task, the pipeline detection efficiency is greatly reduced, and the detection cost is indirectly improved are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection, and in particular to a pipeline robot, a pipeline detection system and a pipeline detection method. Background Art

[0002] As an ideal pipeline inspection and maintenance equipment, pipeline robots are widely used in many fields such as pipeline cleaning, inspection, maintenance, welding, etc., and are of great significance to extending the service life of pipelines and reducing the risk of safety accidents.

[0003] Therefore, in order to improve the water environment and control water pollution, we want to control the water environment, among which river pollution control is particularly important. If we want to control pollution, we must understand the pollution situation of the river. In related technologies, pipeline robots can be used to inspect river pipelines to achieve pollution control.

[0004] However, river pipelines are usually long and complex, making it impossible to complete inspections in a short period of time. In addition, due to space limitations in river pipelines, miniaturized pipeline robots are usually required, which are inevitably unable to adapt to energy storage devices with larger energy storage capacities and have weak endurance. As a result, pipeline robots are unable to support long-term river pipeline inspection tasks, greatly reducing the efficiency of river pipeline inspections and indirectly increasing inspection costs. Summary of the invention

[0005] The present invention provides a pipeline robot, a pipeline detection system and a pipeline detection method to solve the problem that the pipeline robot in the related art cannot support long-term pipeline detection tasks, greatly reduces the efficiency of pipeline detection, and indirectly increases the detection cost.

[0006] A first aspect of the present invention provides a pipeline robot, comprising: a pipeline vehicle; a power generation device arranged on the pipeline vehicle, converting the kinetic energy of the fluid in the target pipeline into electrical energy; an energy storage device arranged on the pipeline vehicle, storing the electrical energy generated by the power generation device and supplying energy to the pipeline vehicle based on the electrical energy; a collection component arranged on the pipeline vehicle, acquiring detection data in the target pipeline; a communication module arranged on the pipeline vehicle, sending the detection data to a remote control terminal, and controlling the pipeline vehicle according to at least one of the control instructions and target detection tasks issued by the remote control terminal.

[0007] Optionally, the power generation device comprises at least one turbine generator, wherein the at least one turbine generator drives a turbine of the turbine generator via fluid in the target pipeline to generate electricity.

[0008] Optionally, the acquisition component includes a camera module and a flow rate sensor, wherein the camera module acquires images in the target pipe, and the flow rate sensor acquires the flow rate in the target pipe.

[0009] Optionally, the remote control terminal analyzes the situation in the target pipeline according to the image and flow rate in the target pipeline.

[0010] Optionally, the pipeline vehicle automatically performs target detection tasks based on navigation and positioning technology, specifically: locating the current position area of ​​the pipeline robot; identifying the target detection task area in the target detection task; generating a navigation route according to the pipeline map, the current position area and the target detection task area, and controlling the movement of the pipeline vehicle based on the navigation route.

[0011] Optionally, the pipeline vehicle includes: a vehicle body; a mobile component provided on the vehicle body; a drive device and a controller provided in the vehicle body, wherein the drive device drives the mobile component to move, and the controller controls the drive device according to at least one of a control instruction and a target detection task.

[0012] Optionally, it also includes: an actuator arranged on the pipeline vehicle to perform a target detection task.

[0013] A second aspect of the present invention provides a pipeline detection system, comprising: the above-mentioned pipeline robot and a remote control terminal, wherein the remote control terminal communicates with the pipeline robot, sends a target detection task of the target pipeline to the pipeline robot, and obtains detection data during the pipeline robot's execution of the target detection task, and analyzes the situation in the target pipeline based on the detection data.

[0014] A third aspect of the present invention provides a pipeline detection method, which performs pipeline detection based on the above-mentioned pipeline robot, wherein the method includes the following steps: obtaining a target detection task or a control instruction issued by a remote control terminal; controlling the pipeline robot to perform the target detection task or respond to the control instruction; obtaining detection data in the target pipeline, and sending the detection data to the remote control terminal, wherein the remote control terminal analyzes the situation in the target pipeline based on the detection data.

[0015] A fourth aspect of the present invention provides a pipeline detection method, which performs pipeline detection based on the above-mentioned pipeline robot, wherein the method includes the following steps: obtaining a target detection task for a target pipeline or a control instruction for the pipeline robot; issuing a target detection task or a control instruction to the pipeline robot, wherein the pipeline robot executes the target detection task or responds to the control instruction, and obtains detection data in the target pipeline, and sends the detection data to a remote control terminal; and analyzing the situation in the target pipeline based on the detection data.

[0016] Thus, the present invention includes the following beneficial effects:

[0017] The pipeline robot of the embodiment of the present invention includes a pipeline vehicle, on which a power generation device is provided, so that the pipeline robot can generate electricity by using the kinetic energy of the fluid in the target pipeline during the process of performing the target detection task, and use the energy storage device to store the electric energy generated by the power generation device, so that it can generate electricity by itself during the process of performing the target detection task, thereby improving the cruising range of the pipeline robot, effectively supporting long-term pipeline detection tasks, effectively improving the efficiency of pipeline detection, and reducing the detection cost. Therefore, the technical problems such as the pipeline robot being unable to support long-term pipeline detection tasks in the related art, greatly reducing the efficiency of pipeline detection, and indirectly increasing the detection cost are solved.

[0018] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0020] Figure 1 is a structural diagram of a pipeline robot according to an embodiment of the present invention;

[0021] Figure 2 is a block diagram of a pipeline detection system according to an embodiment of the present invention;

[0022] Figure 3 is a flow chart of a pipeline detection method according to an embodiment of the present invention;

[0023] Figure 4 FIG. 4 is a flow chart of a pipeline detection method according to another embodiment of the present invention. DETAILED DESCRIPTION

[0024] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0025] In the related art, pipeline robots have relatively simple functions and weak detection capabilities, and are unable to dredge river pipelines. During the operation of pipeline robots, various forms of energy loss will be generated, such as heat energy, kinetic energy, and pressure energy. Therefore, an efficient energy recovery system can capture and convert these originally wasted energies, thereby reducing dependence on external energy sources. The embodiments of the present invention can significantly improve the robot's endurance by recycling energy, which is especially important for pipeline detection tasks that require long periods of time or are difficult to replace energy.

[0026] In view of the problems existing in the pipeline robots in the related technologies, such as low energy utilization efficiency, low pipeline detection efficiency, high cost, poor environmental adaptability, high failure rate and poor endurance, an embodiment of the present invention proposes a pipeline robot that can generate electricity by itself to adapt to long-term pipeline detection. The pipeline robot, pipeline detection system and pipeline detection method of the embodiments of the present invention will be described below with reference to the accompanying drawings.

[0027] Specifically, Figure 1 This is a structural diagram of the pipeline robot provided in an embodiment of the present invention.

[0028] like Figure 1 As shown, the pipeline robot 100 includes: a pipeline vehicle 110 , a power generation device 120 , an energy storage device 130 , a collection component 140 and a communication module 150 .

[0029] Among them, the power generation device 120 is arranged on the pipeline vehicle 110, and converts the kinetic energy of the fluid in the target pipeline into electrical energy; the energy storage device 130 is arranged on the pipeline vehicle 110, stores the electrical energy generated by the power generation device 120, and supplies energy to the pipeline vehicle 110 based on the electrical energy; the acquisition component 140 is arranged on the pipeline vehicle 110, and obtains the detection data in the target pipeline; the communication module 150 is arranged on the pipeline vehicle 110, sends the detection data to the remote control terminal, and controls the pipeline vehicle 110 according to at least one of the control instructions and target detection tasks issued by the remote control terminal.

[0030] The target pipeline can be a sewage pipeline or a gas pipeline, such as a river pipeline used to transport sewage, so the fluid in the target pipeline can be water or gas, which is determined according to the type of pipeline. The remote control terminal is the remote control center for users to control the pipeline robot. It can remotely issue control instructions and target detection tasks. Control instructions include forward instructions, stop instructions, speed instructions, etc. Target detection tasks include leakage detection tasks and blockage detection tasks of the target pipeline.

[0031] It is understandable that during the operation of the pipeline robot, various forms of energy loss will be generated, such as heat energy, kinetic energy and pressure energy, etc. The efficient energy recovery system can capture and convert these originally wasted energies, thereby reducing dependence on external energy. Therefore, the embodiment of the present invention can recycle and utilize the above energy through the power generation device 120 and the energy storage device 130, so that the endurance of the pipeline robot is significantly improved, thereby effectively improving the pipeline robot to perform long-term or difficult to replace energy pipeline inspection tasks, improve the energy utilization efficiency of the pipeline robot, pipeline inspection efficiency, environmental adaptability and endurance, and reduce the inspection cost.

[0032] In the embodiment of the present invention, the power generation device 120 includes at least one turbine generator, wherein the at least one turbine generator drives a turbine of the turbine generator through fluid in the target pipeline to generate electricity.

[0033] It can be understood that the power generation device 120 can be designed into various specifications and forms to adapt to different pipe diameters and flow rate conditions, so as to work effectively in various pipeline environments. Taking the turbine generator as an example in the embodiment of the present invention, the pipeline robot equipped with the turbine generator can effectively utilize the fluid kinetic energy to drive the turbine to rotate and generate electricity, and make full use of the fluid kinetic energy to provide power for the pipeline robot and improve the cruising range.

[0034] It should be noted that the number of turbine generators can be set according to actual conditions. Figure 1 Taking the pipeline robot shown as an example, it is equipped with two turbine generators. The two turbine generators are respectively arranged at the front and rear ends of the pipeline vehicle and face opposite directions, so that the pipeline robot can achieve energy recovery during the forward and backward processes, thereby effectively recovering fluid kinetic energy during the pipeline robot's mission, making full use of the fluid kinetic energy, and improving the pipeline robot's range.

[0035] In the embodiment of the present invention, Figure 1 As shown, the acquisition component 140 includes a camera module 141 and a flow rate sensor 142, wherein the camera module 141 acquires images in the target pipe, and the flow rate sensor 142 acquires the flow rate in the target pipe.

[0036] It can be understood that the embodiment of the present invention equips the pipeline robot 100 with sensors and camera modules, which can detect the image and flow rate changes in the pipeline, and display them in real time on the back end through the remote control terminal background management system, so that the user can know the situation in the pipeline in real time and improve the user experience.

[0037] In the embodiment of the present invention, the remote control terminal analyzes the situation in the target pipeline according to the image and flow rate in the target pipeline.

[0038] It is understandable that the user can obtain the situation in the target pipeline through the remote control terminal, and can effectively analyze the situation in the pipeline through at least one of the image and the flow rate to find out whether the pipeline is abnormal, such as pipe wall damage, blockage, etc. Therefore, the embodiment of the present invention can analyze the abnormality through the image, and can also analyze the abnormality through the flow rate, such as when the flow rate is too fast, there may be pipe wall damage, when the flow rate is too slow, there may be blockage, etc. In order to further improve the accuracy of the analysis, the embodiment of the present invention can perform analysis by combining the image and the flow rate.

[0039] For example, when the pipeline robot is cleaning the target pipeline, the camera module 141 and the flow rate sensor 142 can monitor the cleaning process in real time, and transmit the image and flow rate data to the user to monitor the cleaning effect and analyze the internal situation of the pipeline. The user can control the movement and cleaning process of the robot through the remote control terminal, and make adjustments and instructions as needed.

[0040] In an embodiment of the present invention, the energy storage device 130 may be a battery, and the battery may be waterproofed or insulated according to the environment of the target pipeline to better adapt to the environment of the target pipeline. The stability of the energy storage device in the target pipeline can better provide energy for the pipeline robot. By configuring the energy storage device 130, energy can be transmitted to the pipeline robot to reduce dependence on external energy.

[0041] In the embodiment of the present invention, the pipeline vehicle 110 includes: a vehicle body, a mobile component, a driving device and a controller. Among them, a mobile component is provided on the vehicle body; a driving device and a controller are provided in the vehicle body, the driving device drives the mobile component to move, and the controller controls the driving device according to at least one of a control instruction and a target detection task.

[0042] It is understandable that the mobile component can be a wheel, and the controller can respond to the instructions and tasks issued by the remote control terminal and drive the mobile component to move through the driving device, so as to find the area corresponding to the target detection task through the movement of the pipeline vehicle.

[0043] It should be noted that the controller is also used to control other components of the pipeline robot, such as actuators, camera modules, flow sensors, communication modules, etc.

[0044] In an embodiment of the present invention, the pipeline vehicle automatically performs target detection tasks based on navigation and positioning technology, specifically: locating the current position area of ​​the pipeline robot; identifying the target detection task area in the target detection task; generating a navigation route according to the pipeline map, the current position area and the target detection task area, and controlling the movement of the pipeline vehicle based on the navigation route.

[0045] It is understandable that the pipeline map records the location of the pipeline, and the target detection task usually includes the location area that needs to be detected, so the navigation route can be generated through the pipeline map, the current location area, and the location area that needs to be detected. Therefore, by configuring the pipeline robot with navigation and positioning technology, the pipeline robot can determine its own position in time, and can move autonomously in the pipeline, find the area that needs to be cleaned, and avoid obstacles, effectively improving the detection efficiency of the pipeline robot.

[0046] In the embodiment of the present invention, the pipeline robot 100 further includes: an actuator disposed on the pipeline vehicle to perform a target detection task.

[0047] It is understandable that the execution structure can be a robotic arm, etc., which can clear obstacles during the execution of the target detection task. If the target detection task is a cleaning task, the cleaning task can be effectively executed, thereby clearing the pipeline.

[0048] It should be noted that the pipeline robot of the embodiment of the present invention also has safety functions for itself and the pipeline, such as automatically stopping operation when blocked, and taking protective measures to avoid damage to the pipeline or the surrounding environment. Therefore, the safety function can not only protect the pipeline, but also avoid damage to the pipeline robot itself, thereby reducing the failure rate.

[0049] According to the pipeline robot proposed in an embodiment of the present invention, a power generation device is provided on the pipeline vehicle, so that the pipeline robot can use the kinetic energy of the fluid in the target pipeline to generate electricity during the execution of the target detection task, and use the energy storage device to store the electric energy generated by the power generation device, so that self-generation can be carried out during the execution of the target detection task, thereby improving the cruising range of the pipeline robot, effectively supporting long-term pipeline detection tasks, effectively improving the efficiency of pipeline detection, and reducing detection costs.

[0050] The pipeline robot will be described below through a specific embodiment. Figure 1 As shown, the pipeline robot 100 includes: a pipeline vehicle 110, a power generation device 120, an energy storage device 130, a camera module 141, a flow rate sensor 142 and a communication module 150. The details are as follows:

[0051] The pipeline vehicle 110 moves in the pipeline. By being equipped with a flow velocity sensor 142 and a camera module 141, it can detect changes in the flow velocity in the pipeline. The pipeline vehicle 110 is equipped with an integrated module of the flow velocity sensor 142, a power generation device 120 and an energy storage device 130. The camera module 130 identifies different types of foreign matter and determines the cleaning method through a remote control terminal. The pipeline vehicle 110 uses navigation and positioning technology to move autonomously in the pipeline, find the area to be cleaned, and avoid obstacles. By being equipped with a camera module 141 and a flow velocity sensor 142, the cleaning process can be monitored in real time, and images and data can be transmitted to the operator to monitor the cleaning effect.

[0052] The operator can control the movement and cleaning process of the pipeline robot 100 through the remote control terminal and the communication module 150, and make adjustments and instructions as needed, such as automatically stopping the operation to avoid blockage or when the task is difficult, and taking protective measures to avoid damage to the pipeline or the surrounding environment. The operator can also analyze the internal conditions of the pipeline through changes in flow rate and images in the pipeline. The power generation device 120 uses the kinetic energy of the fluid in the pipeline to generate electricity, such as in a liquid or gas pipeline. The power generation device 120 can be designed in a variety of specifications and forms to adapt to different pipe diameters and flow rate conditions, so as to work effectively in various pipeline environments. The energy storage device 130 can store the energy collected by the power generation device 120, and can also provide energy transmission for the pipeline vehicle 110.

[0053] Next, the pipeline detection system proposed according to the embodiment of the present invention is described with reference to the accompanying drawings.

[0054] Figure 2 Schematic diagram of a pipeline detection system according to an embodiment of the present invention.

[0055] like Figure 2 As shown, the pipeline detection system 10 includes: a pipeline robot 100 and a remote control terminal 200.

[0056] Among them, the remote control terminal communicates with the pipeline robot, sends the target detection task of the target pipeline to the pipeline robot, obtains the detection data of the pipeline robot during the execution of the target detection task, and analyzes the situation in the target pipeline based on the detection data.

[0057] The pipeline detection system will be described below through a specific embodiment, as follows:

[0058] The pipeline detection system includes: Remote control terminal: responsible for issuing tasks and receiving data, which can be an industrial control computer equipped with a wireless communication module. Pipeline robot: equipped with a variety of sensors (such as visual sensors, distance sensors, environmental detection sensors, etc.), and necessary actuators, used to perform target detection tasks inside the pipeline, communication module: used to realize data transmission between the remote control terminal and the pipeline robot, wireless communication can be realized by WIFI or CAN bus to WIFI. The specific process flow is as follows:

[0059] 1. Task issuance:

[0060] The operator sets the detection task parameters of the target pipeline through the user interface on the remote control terminal, including the detection area, detection time, and target type of focus.

[0061] The remote control terminal encrypts the task parameters and sends them to the pipeline robot through the wireless communication module.

[0062] 2. Pipeline robot performs tasks:

[0063] After receiving the task parameters, the pipeline robot begins to inspect inside the pipeline according to the preset path planning.

[0064] During the inspection process, the pipeline robot uses the onboard sensors to conduct real-time detection of the internal conditions of the pipeline, and transmits the detection data back to the remote control terminal in real time through the wireless communication module.

[0065] 3. Data acquisition and analysis:

[0066] After the remote control terminal receives the detection data transmitted by the pipeline robot, it decrypts and preliminarily processes the data.

[0067] The detection data is analyzed using deep learning, image recognition and other technologies to identify target objects inside the pipeline, such as silt, cracks, corrosion, etc., and locate them.

[0068] Based on the analysis results, the remote control terminal can generate a report on the internal conditions of the pipeline, including information such as the location, size, and possible impact of the target object.

[0069] 4. Result feedback and decision support:

[0070] Based on the reports generated by the remote control terminal, operators evaluate the internal conditions of the pipeline and develop corresponding maintenance or repair plans.

[0071] If an emergency situation is detected, such as a pipeline leak, the system can automatically trigger an alarm and provide emergency treatment suggestions.

[0072] 5. System optimization:

[0073] According to the problems encountered in actual applications, the sensor configuration, communication module, data processing algorithm, etc. of the pipeline robot are optimized to improve the accuracy and reliability of the system. For example, machine learning algorithms can be used to improve the accuracy of target detection, or multi-sensor data fusion technology can be used to improve the precise positioning capability of the pipeline robot.

[0074] Therefore, the embodiment of the present invention can realize effective detection and analysis of the situation in the target pipeline, and provide a scientific basis for the maintenance and management of the pipeline.

[0075] It should be noted that the aforementioned explanation of the pipeline robot embodiment is also applicable to the pipeline detection system of this embodiment and will not be repeated here.

[0076] According to the pipeline detection system proposed in an embodiment of the present invention, a power generation device is provided on the pipeline vehicle, so that the pipeline robot can use the kinetic energy of the fluid in the target pipeline to generate electricity during the execution of the target detection task, and use the energy storage device to store the electric energy generated by the power generation device, so that self-generation can be performed during the execution of the target detection task, thereby improving the cruising range of the pipeline robot, effectively supporting long-term pipeline detection tasks, effectively improving the efficiency of pipeline detection, and reducing detection costs.

[0077] Next, the pipeline detection method proposed according to the embodiment of the present invention is described with reference to the accompanying drawings.

[0078] Figure 3 is a flow chart of a pipeline detection method according to an embodiment of the present invention, Figure 3 The pipeline detection method shown is applied to a pipeline robot, and pipeline detection is performed based on the above-mentioned pipeline robot.

[0079] Specifically, Figure 3 The pipeline detection method shown includes the following steps:

[0080] Step S301: Acquire a target detection task or control instruction issued by a remote control terminal.

[0081] Step S302, controlling the pipeline robot to perform target detection tasks or respond to control instructions.

[0082] Step S303, acquiring detection data in the target pipeline, and sending the detection data to the remote control terminal, wherein the remote control terminal analyzes the situation in the target pipeline according to the detection data.

[0083] It should be noted that the aforementioned explanation of the pipeline robot embodiment is also applicable to the pipeline detection system of this embodiment and will not be repeated here.

[0084] According to the pipeline detection method proposed in the embodiment of the present invention, a pipeline robot can be controlled to perform pipeline detection. A power generation device is provided on the pipeline vehicle of the pipeline robot, so that the pipeline robot can generate electricity by using the kinetic energy of the fluid in the target pipeline during the execution of the target detection task, and use the energy storage device to store the electric energy generated by the power generation device, so that self-generation can be performed during the execution of the target detection task, thereby improving the cruising range of the pipeline robot, effectively supporting long-term pipeline detection tasks, effectively improving the efficiency of pipeline detection, and reducing detection costs.

[0085] Next, the pipeline detection method proposed according to the embodiment of the present invention is described with reference to the accompanying drawings.

[0086] Figure 4 is a flow chart of a pipeline detection method according to an embodiment of the present invention, Figure 4The pipeline detection method shown is applied to a remote control terminal, and pipeline detection is performed based on the above-mentioned pipeline robot.

[0087] Specifically, Figure 4 The pipeline detection method shown includes the following steps:

[0088] Step S401, obtaining a target detection task of a target pipeline or a control instruction of a pipeline robot.

[0089] Step S402, sending a target detection task or a control instruction to the pipeline robot, wherein the pipeline robot executes the target detection task or responds to the control instruction, obtains detection data in the target pipeline, and sends the detection data to the remote control terminal.

[0090] Step S403: Analyze the situation in the target pipeline according to the detection data.

[0091] It should be noted that the aforementioned explanation of the pipeline robot embodiment is also applicable to the pipeline detection system of this embodiment and will not be repeated here.

[0092] According to the pipeline detection method proposed in the embodiment of the present invention, a pipeline robot can be controlled to perform pipeline detection. A power generation device is provided on the pipeline vehicle of the pipeline robot, so that the pipeline robot can generate electricity by using the kinetic energy of the fluid in the target pipeline during the process of performing the target detection task, and use the energy storage device to store the electric energy generated by the power generation device, so that self-generation can be performed during the process of performing the target detection task, thereby improving the cruising range of the pipeline robot, effectively supporting long-term pipeline detection tasks, effectively improving the efficiency of pipeline detection, and reducing detection costs.

[0093] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0094] In addition, the terms "first" and "second" 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" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "N" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0095] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0096] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, the steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0097] A person of ordinary skill in the art may understand that all or part of the steps carried by the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the above-mentioned program may be stored in a computer-readable storage medium, which, when executed, includes one of the steps of the method embodiment or a combination thereof.

[0098] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A pipeline robot, characterized in that: include: pipeline vehicles; A power generation device provided on the pipeline vehicle converts the kinetic energy of the fluid in the target pipeline into electrical energy; an energy storage device disposed on the pipeline vehicle, storing the electric energy generated by the power generation device and supplying energy to the pipeline vehicle based on the electric energy; A collection component disposed on the pipeline vehicle, for acquiring detection data in the target pipeline; The communication module disposed on the pipeline vehicle sends the detection data to a remote control terminal, and controls the pipeline vehicle according to at least one of a control instruction and a target detection task issued by the remote control terminal.

2. The pipeline robot according to claim 1, characterized in that: The power generation device comprises at least one turbine generator, wherein the at least one turbine generator drives a turbine of the turbine generator to generate electricity through fluid in a target pipeline.

3. The pipeline robot according to claim 1, characterized in that: The acquisition component includes a camera module and a flow rate sensor, wherein the camera module acquires images in the target pipeline, and the flow rate sensor acquires the flow rate in the target pipeline.

4. The pipeline robot according to claim 3, characterized in that: The remote control terminal analyzes the situation in the target pipeline according to the image and flow rate in the target pipeline.

5. The pipeline robot according to claim 1, characterized in that: The pipeline vehicle automatically performs the target detection task based on navigation and positioning technology, specifically: Locating the current position area of ​​the pipeline robot; Identifying a target detection task area in the target detection task; A navigation route is generated according to the pipeline map, the current location area and the target detection task area, and the movement of the pipeline vehicle is controlled based on the navigation route.

6. The pipeline robot according to claim 1, characterized in that: The pipeline vehicle comprises: Vehicle body; A moving component on the vehicle body is provided; A driving device and a controller are arranged in the vehicle body, wherein the driving device drives the moving component to move, and the controller controls the driving device according to at least one of a control instruction and a target detection task.

7. The pipeline robot according to claim 1, characterized in that: Also includes: The actuator disposed on the pipeline vehicle performs the target detection task.

8. A pipeline detection system, characterized in that: include: The pipeline robot according to any one of claims 1 to 7; A remote control terminal, wherein the remote control terminal communicates with the pipeline robot, sends a target detection task of a target pipeline to the pipeline robot, obtains detection data during the pipeline robot's execution of the target detection task, and analyzes the situation in the target pipeline based on the detection data.

9. A pipeline detection method, characterized in that: The method is based on the pipeline robot according to any one of claims 1 to 7 for pipeline detection, wherein the method comprises the following steps: Obtain target detection tasks or control instructions issued by the remote control terminal; Controlling the pipeline robot to perform the target detection task or respond to the control instruction; Acquire detection data in the target pipeline, and send the detection data to a remote control terminal, wherein the remote control terminal analyzes the situation in the target pipeline according to the detection data.

10. A pipeline detection method, characterized in that: The method is based on the pipeline robot according to any one of claims 1 to 7 for pipeline detection, wherein the method comprises the following steps: Obtain target detection tasks for the target pipeline or control instructions for the pipeline robot; Sending the target detection task or the control instruction to the pipeline robot, wherein the pipeline robot performs the target detection task or responds to the control instruction, obtains detection data in the target pipeline, and sends the detection data to the remote control terminal; The situation in the target pipeline is analyzed according to the detection data.

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