Reducing type pipeline inspection robot capable of avoiding obstacles and control method thereof

Abstract

The invention discloses a variable-diameter pipeline inspection robot capable of avoiding obstacles and a control method of the variable-diameter pipeline inspection robot, and belongs to the field of pipeline inspection robots. The device specifically comprises a machine body, a reducing unit, a driving unit and an inspection unit. The machine body comprises a front machine body, a rear machine body and a middle machine body. The reducing unit comprises two groups of independent reducing modules with the same structure; the driving unit comprises four groups of independent driving mechanisms with the same structure; the inspection unit comprises an infrared camera, a pressure sensor, a data processor and the like. In order to solve the problems that an existing pipeline robot is small in pipe diameter adaptation range, complex in obstacle avoidance mechanism, insufficient in flexibility and the like, the pipeline robot is large in diameter changing stroke ratio, large in pipe diameter adaptation range and high in flexibility, obstacle avoidance can be achieved through a diameter changing mechanism, and the pipeline robot further has the active differential steering capacity and can adapt to circular and rectangular pipelines at the same time; the robot is simple and compact in overall structure.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline inspection robots, and in particular to an obstacle-avoiding variable-diameter pipeline inspection robot and a control method thereof. Background Art

[0002] Pipelines play a key role in energy transportation, chemical production and urban infrastructure construction, and the safe and stable operation of pipelines is very important. Considering that traditional manual inspections are limited by the harsh conditions inside the pipelines, the efficiency is low and the safety of personnel is difficult to guarantee, pipeline inspection robots came into being.

[0003] The invention patent with the patent publication number CN116379259A discloses a hydraulically driven differential variable diameter gas pipeline intelligent detection robot. The robot of the invention adopts a symmetrical support structure to realize synchronous or differential telescoping. Since the diameter is changed by the lead screw nut and connecting rod, there is a problem of large axial size. The diameter-changing mechanism of the robot of the present invention adopts a six-bar mechanism with a slider as the active part. By driving the slider to move a small axial distance by an electric push rod, a large change in the radial size of the robot can be achieved. The overall structure of the robot is simple and compact, the axial size is small, and it can adapt to a large range of pipe diameters.

[0004] The current pipeline robot still has room for improvement in pipeline adaptability, flexibility and obstacle avoidance. Specifically, the obstacle avoidance mechanism of the existing pipeline robot is relatively complex and requires additional drive control, and the axial dimension required for the robot to change diameter is relatively large. Therefore, it is of great significance and value to develop a pipeline robot with high flexibility, pipeline adaptability and obstacle avoidance capabilities. Summary of the invention

[0005] The main purpose of the present invention is to propose an obstacle-avoiding variable-diameter pipeline inspection robot and a control method thereof, aiming to solve the problems of the current pipeline inspection robot, such as a small adaptable pipe diameter range, a large axial dimension required for diameter change, a complex obstacle avoidance mechanism and insufficient adaptability.

[0006] The purpose of the present invention can be achieved through the following technical solutions:

[0007] A variable diameter pipeline inspection robot capable of avoiding obstacles comprises a body, a set of variable diameter units arranged on the body, a set of driving units and a set of inspection units, a total of four parts;

[0008] The variable diameter unit includes two sets of independent variable diameter modules with the same structure, which enable the robot to change diameter and avoid obstacles, and can adapt to circular or rectangular pipes; the driving unit includes four sets of independent driving mechanisms with the same structure, which are used to realize the robot's straight forward, straight backward and differential steering movements in the pipe; the inspection unit is used to carry the detection device required by the robot.

[0009] As a further solution of the present invention: the body includes a front body, a rear body and a middle body;

[0010] The front body includes a circular front baffle, a front connecting plate, and a hollow rectangular front mounting plate, wherein there are two front connecting plates, which are evenly installed around the body at 180° circumferentially, and the two end surfaces are respectively fixedly connected to the front baffle and the front mounting plate; the rear body includes a hollow rectangular rear mounting plate, a rear connecting plate, and a circular rear end baffle, wherein there are two rear connecting plates, which are evenly installed around the body at 180° circumferentially, and the two end surfaces are respectively fixedly connected to the rear mounting plate and the rear end baffle; rectangular openings are provided in the middle of the front mounting plate and the rear mounting plate; the middle body includes four identical guide rods, which are evenly installed around the body at 90° circumferentially, and the two ends are respectively fixedly connected to the front mounting plate and the rear mounting plate, and a circular limiting ring is installed in the middle of each guide rod.

[0011] As a further solution of the present invention: the variable diameter unit includes a variable diameter module 1 and a variable diameter module 2; the variable diameter module 2 has the same structure as the variable diameter module 1 and is independent of each other, is evenly distributed on the middle body at 90° circumferentially and is arranged symmetrically relative to the center of the guide rod, and the variable diameter module 1 includes two sets of variable diameter mechanisms with the same structure, a slider 1 and a first electric push rod;

[0012] The two groups of reducing mechanisms are symmetrically arranged relative to the center of the middle body, and each group of reducing mechanisms includes connecting rod one, connecting rod two, connecting rod three and connecting rod four; the connecting rod one, connecting rod two, connecting rod three, connecting rod four, slider one and the middle body constitute a six-bar mechanism with slider one as the active part; one end of the connecting rod one is hinged to the front mounting plate and the middle hinge hole is hinged to one end of the connecting rod two; the other end of the connecting rod two is hinged to a hinge seat hole at one end of the slider one; one end of the connecting rod three is hinged to a hinge seat hole at one end of the slider one, and the other end is hinged to one end of the connecting rod four; the middle hinge hole of the connecting rod four is hinged to the other end of the connecting rod one; there are two connecting rods one, two and three respectively and they are arranged in the same way on the other side of the connecting rod four.

[0013] As a further solution of the present invention: the slider 1 is in the shape of an "I" character, and is provided with a hinge seat hole and a guide hole at the top and the bottom. The two guide holes of the slider 1 respectively pass through the guide rod 1 and the guide rod 2 to form a moving pair, and only move between the limit ring and the rear mounting plate; the tail end of the first electric push rod is fixedly connected to the front connecting plate, and the protruding end of the first electric push rod passes through the middle rectangular hole of the front mounting plate and is fixedly connected to one side of the slider 1.

[0014] As a further solution of the present invention: the two guide holes of the slider 2 in the variable diameter module 2 respectively pass through the guide rod 3 and the guide rod 4 to form a moving pair, and only move between the limit ring and the front mounting plate; the tail end of the second electric push rod is installed on the rear connecting plate, and the protruding end of the second electric push rod passes through the middle rectangular hole of the rear mounting plate and is fixedly connected to one side of the slider 2.

[0015] As a further solution of the present invention: the drive unit includes four groups of independent drive mechanisms with the same structure, each group of drive mechanisms includes a drive motor, a U-shaped mounting frame, a drive wheel, a bearing assembly, a transmission shaft and a pressure sensor; the transmission shaft is located in the U-shaped mounting frame and its two ends are supported for rotation by a pair of bearing assemblies located on both sides of the U-shaped mounting frame; the drive wheels are all Mecanum wheels and are fixedly mounted on the transmission shaft; the pressure sensor is installed on the contact surface between the drive wheel and the transmission shaft; the drive motor is fixedly connected to the outside of the U-shaped mounting frame and its output shaft is fixedly connected to the transmission shaft; the U-shaped mounting frame is fixedly connected to the connecting rod four in the reducing mechanism.

[0016] As a further solution of the present invention: the inspection unit includes a pressure sensor, an infrared camera, a GPS positioning device, a data processor, a controller, a driver and a battery assembly; there are four pressure sensors, which are respectively installed in four groups of drive mechanisms; the infrared camera is fixedly connected to the front end of the front baffle of the body; the GPS positioning device, the data processor, and the controller are fixedly connected to the front connecting plate in sequence, and the driver and the battery assembly are fixedly connected to the rear connecting plate in sequence; the data processor includes a data analysis module, a data storage module, a signal module, a detection control module and a motion control module; the controller includes a communication module, a first drive control module, a second drive control module, a third drive control module and a pressure sensor control module.

[0017] A control method for a variable-diameter pipeline inspection robot capable of avoiding obstacles comprises the following steps:

[0018] The specific process of the robot's differential steering in a curved pipe is as follows:

[0019] S1. Manually control the robot to the designated position of the pipeline, the four sets of driving wheels are pressed against the inner wall of the pipeline, the third driving control module controls the four sets of driving motors to run at the same speed at the same time, and the robot starts to move forward for detection; the data processor receives the image information, pressure and position signals sent back from the signal module;

[0020] S2. When a bend appears in the pipeline in the front section during the robot's movement, the third drive control module controls the four drive motors to operate at different specified speeds, respectively driving the corresponding drive wheels to rotate, and the robot moves along the bend;

[0021] S3, when the robot passes through the curved pipe and enters the straight pipe, the third drive control module controls the four drive motors to run at the same speed, driving the drive wheels to rotate, and the robot moves along the straight pipe, and the robot differential steering process ends;

[0022] The specific process of the robot actively changing the diameter in a straight pipe is as follows:

[0023] S1. Manually control the robot to the designated position of the pipeline, and the first and second drive control modules respectively control the two electric push rods to extend; the pressure sensor located in the four sets of drive mechanisms receives the pressure signal, and when the pressure signal reaches a predetermined value, the four sets of drive wheels are pressed against the inner wall of the pipeline; the first and second drive control modules respectively control the two electric push rods to stop extending;

[0024] S2, the third drive control module controls the four sets of drive motors to run at the same speed at the same time, driving the four sets of drive wheels to rotate, and the robot starts to move forward for detection; the data processor receives the image information, pressure and position signals sent back from the signal module;

[0025] S3. When the diameter of the pipeline in the front section changes during the robot's movement, the third drive control module controls the four drive motors to stop running, and the robot stops moving forward;

[0026] S4, the first and second drive control modules respectively control the extension and retraction of the two electric push rods, and the pressure sensor receives the pressure signal. When the pressure signal reaches a predetermined value, the drive wheel has pressed the pipe wall; the first and second drive control modules respectively control the two electric push rods to stop extending and retracting;

[0027] S5, the third drive control module controls the four drive motors to run at the same speed at the same time, and the robot starts to move forward for detection; the robot's active diameter change process ends here;

[0028] The specific process of the robot actively avoiding obstacles in the pipeline is as follows:

[0029] S1. Manually control the robot to the designated position of the pipeline, the four sets of driving wheels are pressed against the inner wall of the pipeline, the third driving control module controls the four sets of driving motors to run at the same speed at the same time, and the robot starts to move forward for detection; the data processor receives the image information, pressure and position signals sent back from the signal module;

[0030] S2. When the robot encounters obstacles such as foreign matter accumulation in the front section pipeline during its movement, the third drive control module controls the four drive motors to stop rotating, and the robot stops moving forward; the location of the obstacle is analyzed based on the information and signals sent back by the signal module;

[0031] S3, according to the position of the obstacle, the first or second driving control module controls the corresponding electric push rod to extend, driving the corresponding diameter-changing module 1 or the diameter-changing module 2 to change the diameter, and then the corresponding driving wheel is retracted to avoid the obstacle, and then the first or second driving control module controls the corresponding electric push rod to stop extending;

[0032] S4, the third drive control module controls the four drive motors to run at the same speed. After the robot moves forward to avoid obstacles, the third drive control module controls the drive motors to stop.

[0033] S5, the first or second drive control module controls the corresponding electric push rod to retract, driving the corresponding variable diameter module 1 or variable diameter module 2 to change diameter; when the pressure signal of the pressure sensor reaches a predetermined value, the driving wheel has been pressed against the inner wall of the pipe; the first or second drive control module controls the corresponding electric push rod to stop retracting;

[0034] S6. The third drive control module controls the four drive motors to run at the same speed simultaneously, driving the four drive wheels to rotate, and the robot starts forward detection; at this point, the robot's active obstacle avoidance process ends.

[0035] Beneficial effects of the present invention:

[0036] (1) The present invention proposes a variable diameter pipeline inspection robot capable of avoiding obstacles. Its independent variable diameter module includes two sets of variable diameter mechanisms with the same structure and symmetrical arrangement. A six-bar mechanism with a slider as the active part is used to achieve the variable diameter. The variable diameter stroke ratio is large, the structure is simple and compact, the space occupied is small, and the movement is flexible. The principle is that the electric push rod drives the slider to move a small axial distance, so that the two sets of variable diameter mechanisms can be synchronously extended and retracted, and a large radial size change of the robot can be achieved, which greatly improves the robot's variable diameter efficiency and adaptability to the pipe diameter range.

[0037] (2) The variable diameter pipeline inspection robot proposed by the present invention can avoid obstacles. Its variable diameter unit includes two sets of independent variable diameter modules with the same structure, each of which is driven by an electric push rod. When the diameter of the pipeline changes or encounters an obstacle, the two electric push rods control the two sets of variable diameter modules to change diameter, thereby driving the corresponding driving wheels to cling to the pipe wall or retract to avoid obstacles, so that the robot can have the ability to change diameter and avoid obstacles. The robot only relies on its own variable diameter unit to achieve diameter change and obstacle avoidance, and does not require additional obstacle avoidance mechanisms. It has a simple structure and efficient operation. At the same time, it can also adapt to circular or rectangular pipelines, and the robot has strong pipeline adaptability.

[0038] (3) The variable-diameter pipeline inspection robot capable of avoiding obstacles proposed in the present invention has a driving unit comprising four independent driving mechanisms of the same structure; the driving mechanisms include driving motors and driving wheels; the driving wheels of the robot all adopt Mecanum wheels, and by controlling the rotation speeds of the four driving motors, the robot can achieve omnidirectional differential steering, thereby adapting to curved pipe environments with different curvatures.

[0039] (4) The present invention proposes a variable-diameter pipeline inspection robot capable of avoiding obstacles and a method for detecting and controlling the same. The infrared camera in the signal unit can record abnormal images during the robot's inspection process and transmit them back. The pressure sensor can obtain the pressure signal between the robot and the pipe wall. The GPS positioning device can achieve accurate positioning. The control unit can analyze and process the above signals and control the corresponding motors to work in conjunction with the electric push rods, thereby realizing the robot's functions of changing diameter, avoiding obstacles, and differential steering. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The present invention will be further described below in conjunction with the accompanying drawings.

[0041] Figure 1 It is a schematic diagram of the overall structure of the pipeline inspection robot of the present invention;

[0042] Figure 2 It is a structural schematic diagram of the pipeline inspection robot body of the present invention;

[0043] Figure 3 This is a schematic structural diagram of the variable diameter module 1 of the pipeline inspection robot of the present invention;

[0044] Figure 4 This is a schematic diagram of the mechanism of the variable diameter module 1 of the pipeline inspection robot of the present invention;

[0045] Figure 5 This is a schematic diagram of the structure of the variable diameter module 2 of the pipeline inspection robot of the present invention;

[0046] Figure 6 This is a schematic diagram of the installation of the slide block and the electric push rod of the pipeline inspection robot of the present invention;

[0047] Figure 7 This is a schematic diagram of the installation of the internal parts of the driving mechanism of the pipeline inspection robot of the present invention;

[0048] Figure 8 It is a three-view drawing and an axonometric drawing of the pipeline inspection robot of the present invention;

[0049] Fig. 9 It is a control system block diagram of the pipeline inspection robot of the present invention;

[0050] Fig.10 This is a control flow chart of the differential steering process of the robot in a curved pipe according to the present invention;

[0051] Fig.11 This is a control flow chart of the process of actively changing the diameter of the robot in a straight pipe according to the present invention;

[0052] Fig.12 This is a control flow chart of the robot's active obstacle avoidance process in a pipeline;

[0053] Fig.13 This is a schematic diagram of the differential steering process of the robot of the present invention in a curved pipe;

[0054] Fig.14 This is a schematic diagram of the process of the robot of the present invention actively changing its diameter in a straight pipe;

[0055] Fig.15 This is a schematic diagram of the process of the robot of the present invention actively avoiding obstacles in a pipeline;

[0056] Fig.16 Schematic diagram of the robot of the present invention in circular and rectangular pipes.

[0057] In the figure: 1, front baffle; 2, front connecting plate; 3, front mounting plate; 4, rear mounting plate; 5, rear connecting plate; 6, rear baffle; 7, guide rod; 701, guide rod one; 702, guide rod two; 703, guide rod three; 704, guide rod four; 8, limit ring; 9, connecting rod one; 10, connecting rod two; 11, connecting rod three; 12, connecting rod four; 1301, slider one; 1302, slider two; 1401, first electric push rod; 1402, second electric push rod; 15, drive motor; 16, U-shaped mounting frame; 17, drive wheel; 18, bearing assembly; 19, transmission shaft; 20, pressure sensor; 21, infrared camera; 22, GPS positioning device; 23, data processor; 24, controller; 25, driver; 26, battery assembly. DETAILED DESCRIPTION

[0058] 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.

[0059] Example 1

[0060] like Figure 1-8As shown, a variable diameter pipeline inspection robot capable of avoiding obstacles comprises a body, a set of variable diameter units, a set of drive units and a set of inspection units, a total of four parts; wherein the variable diameter unit comprises two sets of independent variable diameter modules with the same structure, so that the robot has the ability of variable diameter and obstacle avoidance, and can adapt to circular or rectangular pipelines; the drive unit comprises four sets of independent drive mechanisms with the same structure, which are used to realize the robot's straight forward, straight backward and differential steering movements in the pipeline; the inspection unit is used to carry the detection device required by the robot.

[0061] In this embodiment, the body includes a front body, a rear body and a middle body; the front body includes a circular front baffle 1, a front connecting plate 2, and a hollow rectangular front mounting plate 3, the front connecting plates 2 have two, which are evenly installed around the body at 180° circumferentially, and the two end surfaces are respectively fixedly connected to the front baffle 1 and the front mounting plate 3; the rear body includes a hollow rectangular rear mounting plate 4, a rear connecting plate 5, and a circular rear end baffle 6, the rear connecting plate 5 has two, which are evenly installed around the body at 180° circumferentially, and the two end surfaces are respectively fixedly connected to the rear mounting plate 4 and the rear end baffle 6; a rectangular opening is provided in the middle of the front mounting plate 3 and the rear mounting plate 4; the middle body includes four identical guide rods 7, which are evenly installed around the body at 90° circumferentially, and the two ends are respectively fixedly connected to the front mounting plate 3 and the rear mounting plate 4, and a circular limit ring 8 is installed in the middle of each guide rod 7.

[0062] In this embodiment, the variable diameter unit includes a variable diameter module 1 and a variable diameter module 2; the variable diameter module 1 includes two groups of variable diameter mechanisms with the same structure, a slider 1 1301 and a first electric push rod 1401; the two groups of variable diameter mechanisms are symmetrically arranged relative to the center of the middle body, and each group of variable diameter mechanisms includes a connecting rod 1 9, a connecting rod 2 10, a connecting rod 3 11 and a connecting rod 4 12; the connecting rod 1 9, the connecting rod 2 10, the connecting rod 3 11, the connecting rod 4 12, the slider 1 1301 and the middle body constitute a six-bar mechanism with the slider 1301 as the active part; One end of the connecting rod 1 9 is hinged to the front mounting plate 3 and the middle hinge hole is hinged to one end of the connecting rod 2 10; the other end of the connecting rod 2 10 is hinged to the hinge seat hole at one end of the slider 1 1301; one end of the connecting rod 3 11 is hinged to the hinge seat hole at one end of the slider 1 1301, and the other end is hinged to one end of the connecting rod 4 12; the middle hinge hole of the connecting rod 4 12 is hinged to the other end of the connecting rod 1 9; the connecting rod 1 9, the connecting rod 2 10 and the connecting rod 3 11 are respectively two and are arranged in the same way on the other side of the connecting rod 4 12 The slider 1301 is in the shape of an I-shaped letter "I", and is provided with a hinge seat hole and a guide hole at the top and the bottom. The two guide holes of the slider 1301 pass through the guide rod 1 701 and the guide rod 2 702 respectively to form a moving pair, and only move between the limit ring 8 and the rear mounting plate 4; the tail end of the first electric push rod 1401 is fixedly connected to the front connecting plate 2, and the protruding end of the first electric push rod 1401 passes through the middle rectangular hole of the front mounting plate 3 and is fixedly connected to one side of the slider 1301; the variable diameter module 2 and the variable diameter module 1 The structures are identical and independent of each other, and are evenly distributed at 90° around the middle body and arranged symmetrically with respect to the center of the guide rod 7; the two guide holes of the slider 2 1302 pass through the guide rod 3 703 and the guide rod 4 704 respectively and form a moving pair, and only move between the limit ring 8 and the front mounting plate 3; the tail end of the second electric push rod 1402 is installed on the rear connecting plate 5, and the protruding end of the second electric push rod 1402 passes through the central rectangular hole of the rear mounting plate 4 and is fixedly connected to one side of the slider 2 1302. Among them, the slider 1 1301 in the variable diameter module 1 only moves between the limit ring 8 and the rear mounting plate 4, and the slider 2 1302 in the variable diameter module 2 only moves between the limit ring 8 and the front mounting plate 3. The two groups of variable diameter modules are independent of each other and are driven to change diameter by an electric push rod respectively. When the pipe diameter changes in front of the robot, the corresponding electric push rod 14 performs telescopic movement, so that the corresponding diameter-changing module changes its diameter, and then drives the driving wheel 17 to telescope to adapt to pipes of different diameters through the six-bar mechanism with the slider 13 as the active part. In this embodiment, the electric push rod 14 pushes the slider 13 to move an axial distance of 35mm, and the robot can adapt to pipes with a diameter of 300-520mm.

[0063] In this embodiment, the driving unit includes four groups of independent driving mechanisms with the same structure, each group of driving mechanisms includes a driving motor 15, a U-shaped mounting frame 16, a driving wheel 17, a bearing assembly 18, a transmission shaft 19 and a pressure sensor 20; the transmission shaft 19 is located in the U-shaped mounting frame 16 and its two ends are supported for rotation by a pair of bearing assemblies 18 located on both sides of the U-shaped mounting frame 16; the driving wheels 17 are all Mecanum wheels and are fixedly mounted on the transmission shaft 19; the pressure sensor 20 is installed on the contact surface between the driving wheel 17 and the transmission shaft 19; the driving motor 15 is fixedly connected to the outer side of the U-shaped mounting frame 16 and its output shaft is fixedly connected to the transmission shaft 19; the U-shaped mounting frame 16 is fixedly connected to the connecting rod 4 12 in the diameter reducing mechanism. When a curved pipe appears in front of the robot, the four groups of driving motors 15 drive the corresponding Mecanum wheels to operate at specified different speeds, so as to achieve differential steering and realize the movement of the robot in pipes with different curvatures.

[0064] Example 2

[0065] Based on Example 1, the control system block diagram of the robot is as follows: Fig. 9 As shown in the figure, the robot's differential steering process control flow chart in the curved pipe is as follows Fig.10 As shown in the figure, the robot actively changes the diameter in the straight pipe process control flow chart is as follows Fig.11 As shown in the figure, the robot actively avoids obstacles in the pipeline. Fig.12 The schematic diagram of the robot's differential steering process in a curved pipe is shown in Fig.13 As shown in the figure, the robot actively changes diameter in a straight pipe. Fig.14 As shown in the figure, the robot actively avoids obstacles in the pipeline. Fig.15 shown.

[0066] In this embodiment, the inspection unit includes a pressure sensor 20, an infrared camera 21, a GPS positioning device 22, a data processor 23, a controller 24, a driver 25 and a battery assembly 26; there are four pressure sensors 20, which are respectively installed in four groups of driving mechanisms; the infrared camera 21 is fixedly connected to the front end of the front baffle 1 of the body; the GPS positioning device 22, the data processor 23, and the controller 24 are fixedly connected to the front connecting plate 2 in sequence, and the driver 25 and the battery assembly 26 are fixedly connected to the rear connecting plate 5 in sequence. The data processor 23 includes a data analysis module for processing the data received from the infrared camera 21, a data storage module for storing abnormal data, a signal module for processing signals, a detection control module for controlling the operation of the detection system, and a motion control module for controlling the movement of the robot; the controller 24 includes a communication module for communication between the robot and the user terminal, a first drive control module, a second drive control module, a third drive control module and a pressure sensor control module.

[0067] In this embodiment, the specific process of differential steering of the robot in a curved pipe is as follows: ① manually control the robot to the specified position of the pipeline, the four sets of drive wheels 17 are pressed against the inner wall of the pipeline, the third drive control module controls the four sets of drive motors 15 to run simultaneously at the same speed, and the robot starts forward detection; the data processor 23 receives the image information, pressure and position signals sent back from the signal module; ② during the movement of the robot, when a curved pipe appears in the front section of the pipeline, the third drive control module controls the four sets of drive motors 15 to run at specified different speeds, respectively driving the corresponding drive wheels 17 to rotate, and the robot moves along the curved pipe; ③ when the robot passes through the curved pipe and enters the straight pipe, the third drive control module controls the four sets of drive motors 15 to run at the same speed, driving the drive wheels 17 to rotate, and the robot moves along the straight pipe, and the robot differential steering process ends here.

[0068] In this embodiment, the specific process of the robot changing the diameter in the straight pipe is as follows: ① manually control the robot to the specified position of the pipeline, and the first and second drive control modules respectively control the two electric push rods 14 to extend; the pressure sensor 20 located in the four drive mechanisms receives the pressure signal, and when the pressure signal reaches a predetermined value, the four drive wheels 17 are pressed against the inner wall of the pipeline; the first and second drive control modules respectively control the two electric push rods 14 to stop extending; ② the third drive control module controls the four drive motors 15 to run at the same speed at the same time, driving the four drive wheels 17 to rotate, and the robot starts to move forward for detection; the data processor 23 receives the signal sent back from the signal module Image information, pressure and position signals; ③ During the robot's movement, when the diameter of the pipeline in the front section changes, the third drive control module controls the four drive motors 15 to stop running and the robot stops moving forward; ④ The first and second drive control modules respectively control the two electric push rods 14 to extend and retract, and the pressure sensor 20 receives the pressure signal. When the pressure signal reaches a predetermined value, the drive wheel 17 has pressed the pipe wall; the first and second drive control modules respectively control the two electric push rods 14 to stop extending and retracting; ⑤ The third drive control module controls the four drive motors 15 to run at the same speed at the same time, and the robot starts forward detection; at this point, the robot's active diameter change process ends.

[0069] In this embodiment, the specific process of the robot actively avoiding obstacles in the pipeline is as follows: ① manually control the robot to the specified position of the pipeline, the four sets of driving wheels 17 are pressed against the inner wall of the pipeline, the third drive control module controls the four sets of driving motors 15 to run simultaneously at the same speed, and the robot starts to move forward for detection; the data processor 23 receives the image information, pressure and position signals sent back from the signal module; ② during the robot's movement, when the front section pipeline encounters obstacles such as foreign matter accumulation, the third drive control module controls the four sets of driving motors 15 to stop, and the robot stops moving forward; according to the information and signals sent back by the signal module, the position of the obstacle is analyzed; ③ according to the position of the obstacle, the first or second drive control module controls the corresponding electric push rod 14 to extend, driving the corresponding variable diameter module one or variable diameter module two to change diameter, thereby causing the corresponding drive After the driving wheel 17 retracts to avoid the obstacle, the first or second driving control module controls the corresponding electric push rod 14 to stop extending; ④ The third driving control module controls the four groups of driving motors 15 to operate at the same speed. After the robot moves forward to avoid the obstacle, the third driving control module controls the driving motor 15 to stop rotating; ⑤ The first or second driving control module controls the corresponding electric push rod 14 to retract, driving the corresponding reducing module 1 or reducing module 2 to change diameter; when the pressure signal of the pressure sensor 20 reaches a predetermined value, the driving wheel 17 has been pressed against the inner wall of the pipe; the first or second driving control module controls the corresponding electric push rod 14 to stop retracting; ⑥ The third driving control module controls the four groups of driving motors 15 to operate at the same speed at the same time, driving the four groups of driving wheels 17 to rotate, and the robot starts forward detection; at this point, the robot's active obstacle avoidance process ends.

[0070] Example 3

[0071] Based on Examples 1 and 2, the schematic diagram of the robot walking in a circular and rectangular pipe is as follows: Fig.16 The variable diameter pipeline inspection robot capable of avoiding obstacles of the present invention has two sets of variable diameter modules with the same structure and are independent, which are respectively fixedly installed on the middle body and have two sets of variable diameter mechanisms with the same structure and symmetrical arrangement; therefore, the robot has a total of four sets of variable diameter mechanisms, which are evenly distributed around the body at 90°, so that the robot has the ability to walk in circular and rectangular pipelines.

[0072] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A variable diameter pipeline inspection robot capable of avoiding obstacles, characterized in that: It includes a machine body, a set of variable diameter units arranged on the machine body, a set of driving units and a set of inspection units, a total of four parts; The variable diameter unit includes two sets of independent variable diameter modules with the same structure, which enable the robot to change diameter and avoid obstacles, and can adapt to circular or rectangular pipes; the driving unit includes four sets of independent driving mechanisms with the same structure, which are used to realize the robot's straight forward, straight backward and differential steering movements in the pipe; the inspection unit is used to carry the detection device required by the robot.

2. The variable diameter pipeline inspection robot capable of avoiding obstacles according to claim 1, characterized in that: The body includes a front body, a rear body and a middle body; The front body comprises a circular front baffle (1), a front connecting plate (2), and a hollow rectangular front mounting plate (3), wherein two front connecting plates (2) are evenly arranged around the body at an angle of 180°, and two end surfaces are respectively fixedly connected to the front baffle (1) and the front mounting plate (3); the rear body comprises a hollow rectangular rear mounting plate (4), a rear connecting plate (5), and a circular rear baffle (6), wherein two rear connecting plates (5) are evenly arranged around the body at an angle of 180°, and two end surfaces are respectively fixedly connected to the rear mounting plate (4) and the rear baffle (6); rectangular openings are provided in the middle of the front mounting plate (3) and the rear mounting plate (4); the middle body comprises four identical guide rods (7), which are evenly arranged around the body at an angle of 90°, and two ends are respectively fixedly connected to the front mounting plate (3) and the rear mounting plate (4); a circular limiting ring (8) is installed in the middle of each guide rod (7).

3. The variable diameter pipeline inspection robot capable of avoiding obstacles according to claim 1, characterized in that: The variable diameter unit comprises a variable diameter module 1 and a variable diameter module 2; the variable diameter module 2 has the same structure as the variable diameter module 1 and is independent of each other, is evenly distributed on the middle body at 90° circumferentially and is arranged symmetrically relative to the center of the guide rod (7); the variable diameter module 1 comprises two sets of variable diameter mechanisms with the same structure, a slider 1 (1301) and a first electric push rod (1401); The two groups of diameter-changing mechanisms are arranged symmetrically relative to the center of the middle body, and each group of diameter-changing mechanisms includes a connecting rod 1 (9), a connecting rod 2 (10), a connecting rod 3 (11) and a connecting rod 4 (12); the connecting rod 1 (9), the connecting rod 2 (10), the connecting rod 3 (11), the connecting rod 4 (12), the slider 1 (1301) and the middle body constitute a six-bar mechanism with the slider 1 (1301) as the active component; one end of the connecting rod 1 (9) is hinged to the front mounting plate (3) and the middle hinge hole is hinged to the connecting rod 2 (10). One end is hinged; the other end of the connecting rod two (10) is hinged to the hinge seat hole at one end of the slider one (1301); one end of the connecting rod three (11) is hinged to the hinge seat hole at one end of the slider one (1301), and the other end is hinged to one end of the connecting rod four (12); the middle hinge hole of the connecting rod four (12) is hinged to the other end of the connecting rod one (9); the connecting rod one (9), the connecting rod two (10) and the connecting rod three (11) are respectively provided with two and are arranged in the same manner on the other side of the connecting rod four (12).

4. The variable diameter pipeline inspection robot capable of avoiding obstacles according to claim 3 is characterized in that: The slider 1 (1301) is in the shape of an "I" character, and is provided with a hinge hole and a guide hole at the top and the bottom. The two guide holes of the slider 1 (1301) respectively pass through the guide rod 1 (701) and the guide rod 2 (702) to form a moving pair, and only move between the limit ring (8) and the rear mounting plate (4); the tail end of the first electric push rod (1401) is fixedly connected to the front connecting plate (2), and the protruding end of the first electric push rod (1401) passes through the middle rectangular hole of the front mounting plate (3) and is fixedly connected to one side of the slider 1 (1301).

5. The variable diameter pipeline inspection robot capable of avoiding obstacles according to claim 3 is characterized in that: The two guide holes of the slider 2 (1302) in the variable diameter module 2 respectively pass through the guide rod 3 (703) and the guide rod 4 (704) to form a moving pair, and only move between the limit ring (8) and the front mounting plate (3); the tail end of the second electric push rod (1402) is installed on the rear connecting plate (5), and the protruding end of the second electric push rod (1402) passes through the middle rectangular hole of the rear mounting plate (4) and is fixedly connected to one side of the slider 2 (1302).

6. The variable diameter pipeline inspection robot capable of avoiding obstacles according to claim 1, characterized in that: The drive unit comprises four groups of independent drive mechanisms with the same structure, each group of drive mechanisms comprises a drive motor (15), a U-shaped mounting frame (16), a drive wheel (17), a bearing assembly (18), a transmission shaft (19) and a pressure sensor (20); the transmission shaft (19) is located in the U-shaped mounting frame (16) and its two ends are supported for rotation by a pair of bearing assemblies (18) located on both sides of the U-shaped mounting frame (16); the drive wheels (17) are all Mecanum wheels and are fixedly mounted on the transmission shaft (19); the pressure sensor (20) is mounted on the contact surface between the drive wheel (17) and the transmission shaft (19); the drive motor (15) is fixedly connected to the outer side of the U-shaped mounting frame (16) and its output shaft is fixedly connected to the transmission shaft (19); the U-shaped mounting frame (16) is fixedly connected to the connecting rod four (12) in the diameter reducing mechanism.

7. The variable diameter pipeline inspection robot capable of avoiding obstacles according to claim 1, characterized in that: The inspection unit comprises a pressure sensor (20), an infrared camera (21), a GPS positioning device (22), a data processor (23), a controller (24), a driver (25) and a battery assembly (26); there are four pressure sensors (20), which are respectively installed in four groups of driving mechanisms; the infrared camera (21) is fixedly connected to the front end of the front baffle (1) of the body; the GPS positioning device (22), the data processor (23) and the controller (24) are fixedly connected to the front connecting plate (2) in sequence, and the driver (25) and the battery assembly (26) are fixedly connected to the rear connecting plate (5) in sequence; the data processor (23) comprises a data analysis module, a data storage module, a signal module, a detection control module and a motion control module; the controller (24) comprises a communication module, a first drive control module, a second drive control module, a third drive control module and a pressure sensor control module.

8. A control method for a variable diameter pipeline inspection robot capable of avoiding obstacles, characterized in that: A variable diameter pipeline inspection robot capable of avoiding obstacles as described in any one of claims 1 to 7 is used, The following steps are involved: The specific process of the robot's differential steering in a curved pipe is as follows: S1, manually controlling the robot to a designated position in the pipeline, the four sets of driving wheels (17) are pressed against the inner wall of the pipeline, the third driving control module controls the four sets of driving motors (15) to run simultaneously at the same speed, and the robot starts to move forward for detection; the data processor (23) receives image information, pressure and position signals sent back from the signal module; S2. When a bend appears in the pipeline in the front section during the robot's movement, the third drive control module controls the four drive motors (15) to operate at different specified speeds, respectively driving the corresponding drive wheels (17) to rotate, and the robot moves along the bend; S3, when the robot passes through the curved pipe and enters the straight pipe, the third drive control module controls the four drive motors (15) to operate at the same speed, driving the drive wheels (17) to rotate, and the robot moves forward along the straight pipe, thus completing the robot differential steering process; The specific process of the robot actively changing the diameter in a straight pipe is as follows: S1, manually controlling the robot to a designated position of the pipeline, the first and second drive control modules respectively control the two electric push rods (14) to extend; the pressure sensor (20) located in the four sets of drive mechanisms receives the pressure signal, and when the pressure signal reaches a predetermined value, the four sets of drive wheels (17) are pressed against the inner wall of the pipeline; the first and second drive control modules respectively control the two electric push rods (14) to stop extending; S2, the third drive control module controls the four drive motors (15) to run at the same speed simultaneously, driving the four drive wheels (17) to rotate, and the robot starts to move forward for detection; the data processor (23) receives the image information, pressure and position signals sent back from the signal module; S3. When the diameter of the pipeline in the front section changes during the robot's movement, the third drive control module controls the four drive motors (15) to stop running, and the robot stops moving forward; S4, the first and second drive control modules respectively control the two electric push rods (14) to extend and retract, and the pressure sensor (20) receives the pressure signal. When the pressure signal reaches a predetermined value, the drive wheel (17) has pressed the pipe wall tightly; the first and second drive control modules respectively control the two electric push rods (14) to stop extending and retracting; S5, the third drive control module controls the four drive motors (15) to run at the same speed simultaneously, and the robot starts to move forward for detection; at this point, the robot's active diameter change process ends; The specific process of the robot actively avoiding obstacles in the pipeline is as follows: S1, manually controlling the robot to a designated position in the pipeline, the four sets of driving wheels (17) are pressed against the inner wall of the pipeline, the third driving control module controls the four sets of driving motors (15) to run simultaneously at the same speed, and the robot starts to move forward for detection; the data processor (23) receives image information, pressure and position signals sent back from the signal module; S2. When the robot encounters obstacles such as foreign matter accumulation in the front section pipeline during its movement, the third drive control module controls the four drive motors (15) to stop rotating, and the robot stops moving forward; and the location of the obstacle is analyzed based on the information and signal sent back by the signal module; S3, according to the position of the obstacle, the first or second driving control module controls the corresponding electric push rod (14) to extend, driving the corresponding diameter-changing module 1 or the diameter-changing module 2 to change the diameter, thereby causing the corresponding driving wheel (17) to retract and avoid the obstacle, and then the first or second driving control module controls the corresponding electric push rod (14) to stop extending; S4, the third drive control module controls the four drive motors (15) to run at the same speed, and after the robot moves forward to avoid the obstacle, the third drive control module controls the drive motors (15) to stop running; S5, the first or second driving control module controls the corresponding electric push rod (14) to retract, driving the corresponding diameter-changing module 1 or diameter-changing module 2 to change diameter; when the pressure signal of the pressure sensor (20) reaches a predetermined value, the driving wheel (17) has been pressed against the inner wall of the pipe; the first or second driving control module controls the corresponding electric push rod (14) to stop retracting; S6, the third drive control module controls the four sets of drive motors (15) to run at the same speed simultaneously, driving the four sets of drive wheels (17) to rotate, and the robot starts to move forward for detection; at this point, the robot's active obstacle avoidance process ends.

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