Robot for ship pipeline detection and detection method thereof

Abstract

The invention relates to the technical field of ship pipeline detection, and discloses a ship pipeline detection robot and a detection method thereof.The ship pipeline detection robot comprises a robot body, a mechanical arm, a controller and a detection system, and the robot body, the mechanical arm and the detection system are electrically connected with the controller; the detection system comprises a detection sensor, a navigation positioning module and an obstacle avoidance sensor. The detection sensor comprises a visual sensor and an ultrasonic sensor. The robot body comprises a chassis, a magnetic attraction block, a driving part and wheels, the driving part is in transmission connection with the wheels, the wheels are rotationally connected to the bottom of the chassis, the wheels are electrically connected with the controller, the magnetic attraction block is connected to the bottom face of the chassis, and the navigation positioning module and the obstacle avoidance sensor are connected to the front end of the chassis; the detection sensor is connected to the upper end of the mechanical arm. The robot for ship pipeline detection and the detection method thereof can adapt to variable bending of ship pipelines, and it is ensured that the detection coverage is wide and accurate.

Description

Technical Field

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

[0002] Internal inspection of industrial pipelines is a key link in ensuring industrial safety and operational efficiency. Traditional inspection methods often require manual intervention, are complex to operate and pose safety risks. With the development of robotics technology, automated pipeline inspection has gradually become an industry trend. Ship piping systems are vital to the safety and efficiency of ships, and traditional manual operation methods have many problems. The complex structure and environment of pipelines, such as variable bends and pipeline segments of different diameters, make it difficult for traditional methods to fully inspect and maintain. In addition, manual operation poses challenges of safety risks and low efficiency. With the development of robotics technology, automated inspection robots have become a potential solution to improve these problems, but existing technologies are still limited in adapting to complex pipeline structures and improving detection accuracy, especially existing pipeline inspection robots often have insufficient operating capabilities in multi-torque pipelines and small-diameter pipelines, and detection efficiency and accuracy need to be improved. Summary of the invention

[0003] The invention aims to solve at least one of the technical problems existing in the prior art. The invention provides a robot for detecting ship pipelines and a detection method thereof, which can adapt to the changeable twists and turns of ship pipelines and ensure wide and accurate detection coverage.

[0004] In order to achieve the above-mentioned object, the present invention provides a robot for ship pipeline detection, comprising a robot body, a mechanical arm, a controller and a detection system, wherein the robot body, the mechanical arm and the detection system are electrically connected to the controller respectively;

[0005] The detection system includes a detection sensor, a navigation and positioning module, and an obstacle avoidance sensor, wherein the detection sensor includes a visual sensor and an ultrasonic sensor;

[0006] The robot body includes a chassis, a magnetic block, a driving member and a wheel, the driving member is drivingly connected to the wheel, the wheel is rotationally connected to the bottom of the chassis, the wheel is electrically connected to the controller, the magnetic block is connected to the bottom surface of the chassis, the navigation and positioning module and the obstacle avoidance sensor are respectively connected to the front end of the chassis; the mechanical arm is connected to the upper part of the chassis, and the detection sensor is connected to the upper end of the mechanical arm.

[0007] As a preferred embodiment, the robotic arm includes a mounting platform, a rotating base, a first rotating axis, a first adjusting arm, a second rotating axis, a second adjusting arm and a third rotating axis, the mounting platform is connected to the chassis, the rotating base is rotatably connected to the chassis along the height direction, the first rotating axis, the second rotating axis and the third rotating axis are respectively arranged in the horizontal direction, one end of the first rotating axis is connected to the outer peripheral surface of the rotating base, one end of the first adjusting arm is connected to the outer peripheral surface of the first rotating axis, the other end of the first adjusting arm is connected to the outer peripheral surface of the second rotating axis, one end of the second adjusting arm is connected to one end of the second rotating axis, the other end of the second adjusting arm is connected to the outer peripheral surface of the third rotating axis, and the detection sensor is connected to the third rotating axis.

[0008] As a preferred solution, the mounting platform is provided with a data interface, and the data interface is electrically connected to the controller.

[0009] As a preferred embodiment, the wheels include a driving wheel and a driven wheel rotatably connected to the bottom of the chassis, the driving wheel is connected to both sides of the chassis, the driving wheel is transmission-connected to the driving member, the driven wheel is connected to both sides of the chassis and is spaced apart from the driving wheel along the walking direction.

[0010] As a preferred solution, the robot body further includes a loudspeaker, which is connected to the chassis and electrically connected to the controller.

[0011] As a preferred solution, the robot body is also connected to an anti-collision guardrail, and the anti-collision guardrail is connected to the outer periphery of the chassis.

[0012] As a preferred solution, the robot body further includes a battery, the battery is connected to the chassis, and the robot arm, the controller, the drive element and the detection system are electrically connected to the battery respectively.

[0013] As a preferred solution, the chassis is connected with a start / stop button, a speed adjustment knob and a direction adjustment knob, and the start / stop button, the speed adjustment knob and the direction adjustment knob are electrically connected to the controller respectively.

[0014] A method for detecting a ship pipeline, wherein a ship pipeline detection robot is used to detect the ship pipeline, and the method comprises the following steps:

[0015] A preparation step, placing the robot at the pipe opening of the starting point of the detection pipeline, aligning the robot with the position of the pipe opening, and setting a navigation path, detection parameters and operation items;

[0016] The detection system operation step, the robot moves in the inspection pipeline according to a preset navigation path, and obtains data of preset detection parameters through the detection system;

[0017] A mechanical arm operation step, wherein the mechanical arm of the robot obtains position data in the pipeline according to the detection system, adjusts the position and angle of the mechanical arm to meet the set operation position conditions, performs the set operation items on the pipeline, and obtains data of the operation items through the detection system;

[0018] A data aggregation step, wherein the robot uploads the acquired data of the preset detection parameters and the acquired data of the operation items to the control system;

[0019] In the exit step, the robot moves to the pipe mouth at the end point according to the navigation path and safely exits the detection pipeline.

[0020] As a preferred embodiment, in the operation steps of the detection system, the preset detection parameter data includes obtaining the distance between the camera and the crack, the propagation time of the ultrasonic wave in the corrosion area and the propagation speed of the ultrasonic wave in the pipeline material through the ultrasonic sensor, obtaining the image through the visual sensor and obtaining the pixel distance of the crack and the actual width corresponding to each pixel in the image from the image.

[0021] Compared with the prior art, the robot and detection method for ship pipeline detection in the embodiment of the present invention have the following beneficial effects: the chassis is the basic structure of the entire robot, carrying all components, and the chassis and wheel system provide a stable mobile platform, so that the robot can move flexibly in various environments. The chassis structure is stable, and the wheel design ensures smooth movement, even in the complex internal environment of the ship. The drive member provides driving power to drive the wheel to rotate to drive the chassis to move in the pipeline. The magnetic block provides adhesion, so that the robot can walk on the steel plate surface inside the pipeline, especially on vertical and inverted surfaces, which improves the operational flexibility. The robot movement direction and speed are controlled by the controller to adjust the movement of the mechanical arm. The detection system is driven by the mechanical arm to move. The detection system is responsible for data acquisition and real-time monitoring, including a visual sensor, an ultrasonic sensor, and a navigation and positioning module. The visual sensor is used to collect high-resolution images and detect the internal state of the pipeline. The high resolution and high frame rate ensure the clarity and real-time nature of the image, and ensure the accuracy of the detection data. The ultrasonic sensor is used to accurately measure the distance and the state of the inner wall of the pipeline. High precision and a wide detection range ensure comprehensive monitoring of the internal state of the pipeline. The navigation and positioning module can realize autonomous navigation and positioning of the robot. High-precision positioning ensures the robot's accurate navigation in complex environments, improving work efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1It is a schematic diagram of the overall structure of an embodiment of the present invention.

[0023] Figure 2 It is a schematic diagram of the structure of the robot back end of an embodiment of the present invention.

[0024] Figure 3 It is a schematic diagram of the overall structure of one side of the robot according to an embodiment of the present invention.

[0025] Figure 4 It is a rear view of the robot according to the embodiment of the present invention.

[0026] Figure 5 It is a schematic diagram of the bottom structure of the robot according to an embodiment of the present invention.

[0027] In the figure:

[0028] 10. Robot body; 11. Chassis; 12. Driving parts; 13. Driving wheel; 14. Driven wheel; 15. Data interface; 16. Loudspeaker; 17. Anti-collision guardrail; 18. Start and stop button; 19. Speed ​​adjustment knob; 20. Direction adjustment knob;

[0029] 30. Mechanical arm; 31. Mounting platform; 32. Rotating base; 33. First rotating axis; 34. First adjusting arm; 35. Second rotating axis; 36. Second adjusting arm; 37. Third rotating axis; 38. Connecting column;

[0030] 40. Controller; 41. Detection sensor; 42. Obstacle avoidance sensor. DETAILED DESCRIPTION

[0031] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0032] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" used in the present invention to indicate the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0033] In the description of the present invention, it should be understood that the terms "connected", "connected", "fixed" and the like used in the present invention should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or a welding connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] like Figures 1 to 5 As shown, a preferred embodiment of the present invention is a ship pipeline detection robot, comprising a robot body 10, a mechanical arm 30, a controller 40 and a detection system, wherein the robot body 10, the mechanical arm 30 and the detection system are electrically connected to the controller 40 respectively;

[0035] The detection system includes a detection sensor 41, a navigation and positioning module, and an obstacle avoidance sensor 42, wherein the detection sensor 41 includes a visual sensor and an ultrasonic sensor;

[0036] The robot body 10 includes a chassis 11, a magnetic block, a driving member 12 and a wheel, the driving member 12 is drivingly connected to the wheel, the wheel is rotationally connected to the bottom of the chassis 11, the wheel is electrically connected to the controller 40, the magnetic block is connected to the bottom surface of the chassis 11, the navigation and positioning module and the obstacle avoidance sensor 42 are respectively connected to the front end of the chassis 11; the robotic arm 30 is connected to the upper part of the chassis 11, and the detection sensor 41 is connected to the upper end of the robotic arm 30.

[0037] In the robot for ship pipeline inspection of the present invention, the chassis 11 is the basic structure of the entire robot, carrying all components, and the chassis 11 and the wheel system provide a stable mobile platform, so that the robot can move flexibly in various environments. The chassis 11 has a stable structure, and the wheel design ensures smooth movement, so that the robot can travel smoothly even in the complex internal environment of the ship. The driving member 12 provides driving power to drive the wheel to rotate to drive the chassis 11 to move in the pipeline. The magnetic block provides adhesion, so that the robot can walk on the steel plate surface inside the pipeline, especially on the vertical and inverted surface, which improves the operational flexibility. The robot movement direction and speed are controlled by the controller 40, and the movement of the mechanical arm 30 is adjusted. The detection system is driven to move by the mechanical arm 30. The detection system is responsible for data acquisition and real-time monitoring, including a visual sensor, an ultrasonic sensor, and a navigation and positioning module. The visual sensor is used to collect high-resolution images and detect the internal state of the pipeline. The high resolution and high frame rate ensure the clarity and real-time nature of the image, and ensure the accuracy of the detection data. The ultrasonic sensor is used to accurately measure the distance and the state of the inner wall of the pipeline. The high precision and wide detection range ensure the comprehensive monitoring of the internal state of the pipeline. The navigation and positioning module can realize the autonomous navigation and positioning of the robot. High-precision positioning ensures the robot's accurate navigation in complex environments, improving work efficiency and safety.

[0038] The navigation and positioning module is SLAM technology, which is an existing technology.

[0039] As one embodiment, the driving member 12 is an explosion-proof motor, which ensures safe operation in dangerous environments and improves safety in use.

[0040] Further, such as Figures 1 to 5As shown, the robotic arm 30 includes a mounting platform 31, a rotating base 32, a first rotating axis 33, a first adjusting arm 34, a second rotating axis 35, a second adjusting arm 36 and a third rotating axis 37. The mounting platform 31 is connected to the chassis 11, and the rotating base 32 is rotatably connected to the chassis 11 along the height direction. The first rotating axis 33, the second rotating axis 35 and the third rotating axis 37 are respectively arranged in the horizontal direction. One end of the first rotating axis 33 is connected to the outer circumference of the rotating base 32, one end of the first adjusting arm 34 is connected to the outer circumference of the first rotating axis 33, the other end of the first adjusting arm 34 is connected to the outer circumference of the second rotating axis 35, one end of the second adjusting arm 36 is connected to one end of the second rotating axis 35, the other end of the second adjusting arm 36 is connected to the outer circumference of the third rotating axis 37, and the detection sensor 41 is connected to the third rotating axis 37. The first adjusting arm 34 is perpendicular to the extending direction of the first rotating shaft 33 and the second rotating shaft 35, and the second adjusting arm 36 is perpendicular to the extending direction of the second rotating shaft 35 and the third rotating shaft 37. The mechanical arm 30 is connected to the front end of the chassis 11, and the mounting platform 31 is connected to the chassis 11 to realize the fixing of the mechanical arm 30 on the chassis 11. The rotating base 32 is connected to the mounting platform 31 and can rotate around the height direction, thereby driving the first rotating shaft 33, the first adjusting arm 34, the second rotating shaft 35, the second adjusting arm 36, the third rotating shaft 37 and the detection sensor 41 to rotate around the height direction. The assembly of the first rotating shaft 33, the first adjusting arm 34, the second rotating shaft 35, the second adjusting arm 36 and the third rotating shaft 37 can provide a multi-degree-of-freedom adjustment capability, so that the mechanical arm 30 can adapt to different working positions and angles. The detection sensor 41 is connected to the third rotating shaft 37, and the detection sensor 41 drives the adjustment position through the third rotating shaft 37 to obtain data.

[0041] As one embodiment, Figures 1 to 5 As shown, the robot arm 30 further includes a connecting column 38, one end of the third rotating shaft 37 is connected to the outer peripheral surface of the connecting column 38, and one end of the connecting column 38 is connected to the detection sensor 41. The detection sensor 41 is connected to the third rotating shaft 37 through the connecting column 38. The connecting column 38 is used to fix and adjust the position of the detection sensor 41.

[0042] As one embodiment, the chassis 11 is connected to a display control panel, and the display control panel is electrically connected to the controller 40. The display control panel performs coding setting and direct operation control on the controller 40.

[0043] Further, such as Figure 1 to Figure 2As shown, the mounting platform 31 is provided with a data interface 15, and the data interface 15 is electrically connected to the controller 40. The data interface 15 connects the robot arm 30 system and the controller 40 to transmit control signals and power.

[0044] Further, such as Figure 5 As shown, the wheel includes the driving wheel 13 and the driven wheel 14 which are rotatably connected to the bottom of the chassis 11, the driving wheel 13 is connected to both sides of the chassis 11, the driving wheel 13 is in transmission connection with the driving member 12, and the driven wheel 14 is connected to both sides of the chassis 11 and is spaced apart from the driving wheel 13 along the walking direction. The driving wheel 13 and the driven wheel 14 are respectively located on both sides of the chassis 11 to improve the moving stability of the chassis 11. The driving wheel 13 drives the driven wheel 14 to move, thereby making the chassis 11 move synchronously.

[0045] As one embodiment, Figure 5 As shown, three driven wheels 14 are provided, two of which are located at both sides of the chassis 11 , and the other is located in the middle of the chassis 11 , forming a triangular structure to improve the walking stability of the chassis 11 .

[0046] Further, such as Figures 1 to 3 As shown, the robot body 10 further includes a loudspeaker 16, which is connected to the chassis 11 and electrically connected to the controller 40. The loudspeaker 16 is mounted on the chassis 11 of the robot body 10 and electrically connected to the controller 40 to emit a sound indication signal to attract people's attention and prevent accidents.

[0047] Further, such as Figures 1 to 3 As shown, the robot body 10 is also connected to an anti-collision guardrail 17, which is connected around the outer periphery of the chassis 11. The anti-collision guardrail 17 acts as a physical barrier, which can effectively reduce the risk of direct collision between the robot and external obstacles (such as walls, furniture, people, etc.). This not only protects the robot itself from damage, but also avoids damage to the surrounding environment or personnel caused by collision, thereby improving the safety of the overall operation.

[0048] Furthermore, the robot body 10 also includes a battery, which is connected to the chassis 11, and the robot arm 30, the controller 40, the drive member 12 and the detection system are electrically connected to the battery respectively. The battery provides a power source for the robot and is installed above the chassis 11. The lead-acid battery ensures a long battery life. A power interface is provided on the chassis 11, and the power interface is electrically connected to the battery. The power interface is used for external power connection to ensure the flexibility of battery charging and system power supply.

[0049] Further, such as Figures 1 to 3As shown, the chassis 11 is connected with a start-stop button 18, a speed adjustment knob 19 and a direction adjustment knob 20, and the start-stop button 18, the speed adjustment knob 19 and the direction adjustment knob 20 are electrically connected to the controller 40 respectively. The direction adjustment knob 20 is used to adjust the driving direction of the robot. The speed adjustment knob 19 is used to adjust the moving speed of the robot. The direction and speed adjustment knobs 19 make the operation more precise, and the integrated design of the control box improves the reliability and convenience of the system. The start-stop button 18 is used to control the switch of the robot.

[0050] A method for detecting a ship pipeline, wherein a ship pipeline detection robot is used to detect the ship pipeline, and the method comprises the following steps:

[0051] Pre-preparation steps, preparation and calibration: Check and prepare all robot components, make sure the equipment is in good condition and calibrate.

[0052] Component inspection: Perform a comprehensive inspection of all components of the robot, including the chassis 11, transmission, control system, detection module and power interface to ensure that there is no damage or wear.

[0053] Equipment calibration: Precisely calibrate the visual sensor and ultrasonic sensor to ensure the accuracy of the measurement data and adjust the camera resolution and frame rate to the preset standards.

[0054] System Test: Perform a short system test to verify that the robot's movement and data acquisition functions are functioning properly, including the flexibility of the robot arm 30 and the stability of the locking mechanism.

[0055] A preparation step, placing the robot at the pipe opening of the starting point of the detection pipeline, aligning the robot with the position of the pipe opening, and setting a navigation path, detection parameters and operation items;

[0056] Pipeline entrance positioning: Place the robot accurately at the starting point of the pipeline system and ensure that the robot is aligned with the pipeline entrance.

[0057] Navigation path setting: According to the pipeline layout and detection requirements, use the control system to set the robot's navigation path and detection area.

[0058] Detection parameter configuration: Input the size, material and expected obstacle information of the pipeline, and configure parameters such as detection speed and sensor sensitivity.

[0059] Start the robot to enter the pipeline, allow it to enter the pipeline and move steadily.

[0060] Start the transmission device: Activate the transmission device of the robot to enable it to smoothly enter the pipe and start the inspection operation.

[0061] Initial navigation: The robot starts the autonomous navigation system according to the preset navigation path and moves along the inside of the pipeline.

[0062] Environmental adaptation: The robot sensor monitors the pipeline environment in real time, such as temperature and humidity, to adapt to different detection conditions. Of course, the temperature sensor can obtain the ambient temperature data, and the humidity sensor can obtain the ambient humidity.

[0063] Data collection and monitoring: Use cameras and sensors to scan the inner wall of the pipeline and monitor the pipeline status in real time.

[0064] Navigation and positioning: Utilize autonomous navigation systems to ensure accurate navigation and obstacle avoidance capabilities.

[0065] Application of SLAM technology: Use simultaneous positioning and map building technology to achieve precise positioning of the robot in the pipeline.

[0066] Obstacle avoidance strategy: When encountering obstacles, the robot automatically adjusts its path to avoid collision and ensure safe navigation.

[0067] Path optimization: Dynamically optimize the navigation path to improve detection efficiency based on the actual pipeline environment and detection requirements.

[0068] The detection system operation step, the robot moves in the inspection pipeline according to a preset navigation path, and obtains data of preset detection parameters through the detection system;

[0069] Image acquisition: Start the visual sensor to collect images of the inner wall of the pipeline at a resolution of 1920x1080 and a frame rate of 30fps.

[0070] Ultrasonic measurement: Use ultrasonic sensors for distance and thickness measurement with an accuracy of ±1mm and a detection range of 0.1-5m.

[0071] Real-time data analysis: The control system receives sensor data in real time, performs preliminary analysis, and monitors the internal conditions of the pipeline.

[0072] The robot arm 30 operation step, wherein the robot arm 30 obtains position data in the pipeline according to the detection system, adjusts the position and angle of the robot arm 30 to meet the set operation position conditions, performs the set operation items on the pipeline, and obtains data of the operation items through the detection system;

[0073] Robot Arm 30 Operation: Adjust the Robot Arm 30 system and perform necessary operations such as rust removal or cleaning.

[0074] Adjustment of the robot arm 30: According to the detected inner wall condition of the pipeline, operate the robot arm 30 system and adjust it to a suitable position and angle.

[0075] Perform tasks: Use the flexibility of the robot 30 to perform operations such as rust removal, cleaning or sampling, ensuring that all inspection areas are covered.

[0076] Precise positioning: Precise positioning and operation of a specific area are achieved through the first rotating axis 33, the second rotating axis 35, the third rotating axis 37, the first adjusting arm 34 and the second adjusting arm 36 on the robot arm 30.

[0077] A data aggregation step, wherein the robot uploads the acquired data of the preset detection parameters and the acquired data of the operation items to the control system;

[0078] Data analysis and recording: The data is transmitted to the controller 40 to generate a test report.

[0079] Data aggregation: All collected data is transmitted to the controller 40 for in-depth analysis.

[0080] Report generation: Based on the analysis results, a detection report is automatically generated containing problem description, location coordinates and recommended measures.

[0081] Data archiving: Store test data and reports in the system to facilitate future query, analysis and maintenance.

[0082] In the exit step, the robot moves to the pipe mouth at the end point according to the navigation path and safely exits the detection pipeline.

[0083] Mission completion and maintenance: Safely exit the pipeline, perform system reset and prepare for maintenance.

[0084] Safe exit: After completing the inspection task, operate the robot to safely exit the pipeline to avoid damaging the pipeline or the robot.

[0085] System reset: restore the robot system to its initial state and prepare for the next inspection task.

[0086] Maintenance Check: Perform a comprehensive maintenance check on the robot, including cleaning sensors, checking the robot arm 30 for wear and replacing necessary parts.

[0087] Through these detailed operating steps, the ship pipeline inspection robot can complete pipeline inspection tasks efficiently and accurately while ensuring the stability and reliability of the equipment.

[0088] Among them, the detection system operation steps also include the detection of pipeline cracks and corrosion. The preset detection parameter data includes obtaining the distance between the camera and the crack through the ultrasonic sensor, obtaining the propagation time of the ultrasonic wave in the corrosion area and the propagation speed of the ultrasonic wave in the pipeline material, obtaining the image through the visual sensor and obtaining the pixel distance of the crack and the actual width corresponding to each pixel in the image from the image.

[0089] Detection method: Use a combination of visual sensors and ultrasonic sensors to detect cracks and corrosion inside the pipeline.

[0090] Theoretical basis: digital image processing technology and ultrasonic reflection principle.

[0091] Theoretical formula: Crack width detection:

[0092] Where W is the crack width, d x is the distance between the camera and the crack, d i is the pixel distance of the crack in the image, W pixel The actual width corresponding to each pixel.

[0093] Corrosion depth detection:

[0094] Where D is the corrosion depth, t is the propagation time of ultrasound in the corrosion area, and v is the propagation speed of ultrasound in the pipeline material.

[0095] The crack and corrosion detection system is used to detect crack width and corrosion depth with high precision. It ensures the accuracy of the test results and timely discovers and handles pipeline problems. The crack and corrosion detection system can automatically generate a test report containing problem classification, severity and recommended measures.

[0096] As one embodiment, the chassis 11 of the robot body 10 is 500mm long, 400mm wide, 150mm high, and made of 6061-T6 aluminum alloy. The driving wheel 13 has a diameter of 150mm, a width of 50mm, and is made of polyurethane rubber. The driven wheel 14 has a diameter of 100mm, a width of 40mm, and is made of polyurethane rubber. The explosion-proof motor has a power of 300W, a voltage of 24V, a speed of 3000rpm, and is made of an explosion-proof steel shell. The permanent magnet block has a size of 50mm×25mm×10mm and is made of neodymium iron boron (NdFeB). The controller 40 has a size of 200mm×150mm×100mm and contains an STM32 microcontroller 40. The direction adjustment knob 20 has a diameter of 50mm and is made of ABS plastic. The speed adjustment knob 19 has a diameter of 50mm and is made of ABS plastic. The battery is a lead-acid battery with a capacity of 20Ah and a voltage of 24V. The control panel has a size of 150mm×100mm and is made of ABS plastic. The start-stop button 18 has a diameter of 30 mm and is made of ABS plastic. The sensor size is 40 mm × 20 mm × 20 mm, and the type is an ultrasonic sensor with a measuring range of 0.1-5 m. The loudspeaker 16 has a diameter of 60 mm, is made of ABS plastic, and has a power of 5 W. The anti-collision guardrail 17 has a height of 100 mm and is made of 6061-T6 aluminum alloy. A magnetic block is provided under the chassis 11, the controller 40 and the battery are installed on the robot body 10, and the direction adjustment knob 20 and the speed adjustment knob 19 are both installed on the robot body 10. The controller 40 and the start-stop button 18 are both installed on the robot body 10, and the obstacle avoidance sensor 42 and the loudspeaker 16 are both installed on the front side of the chassis 11, and there are three driven wheels 14. Anti-collision guardrails 17 are provided around the chassis 11.

[0097] The size of the mounting platform 31 is 200mm×150mm, and the material is 6061-T6 aluminum alloy. The diameter of the rotating base 32 is 150mm, the height is 50mm, and the material is 304 stainless steel. The diameter of the first rotating shaft 33 is 20mm, and the material is 304 stainless steel. The length of the first adjustment arm 34 is 300mm, and the material is 6061-T6 aluminum alloy. The diameter of the second rotating shaft 35 is 20mm, and the material is 304 stainless steel. The length of the second adjustment arm 36 is 300mm, and the material is 6061-T6 aluminum alloy. The diameter of the third rotating shaft 37 is 20mm, and the material is 304 stainless steel. The size of the connecting column 38 is 100mm×50mm×50mm, and the material is 6061-T6 aluminum alloy. The data interface 15 type is USB 3.0, the size is 30mm×10mm, and the material is ABS plastic. The mechanical arm 30 is set at the front end of the robot body 10 and is responsible for rust removal. The data interface 15 connects the robot arm 30 and the controller 40 to transmit control signals and power. The mounting platform 31 and the rotating base 32 provide the base and rotation function of the robot arm 30 to ensure flexible movement. The rotating axis and the adjustment arm can provide multi-degree-of-freedom adjustment capabilities, so that the robot arm 30 can adapt to different working positions and angles. The connecting column 38 is used to fix and adjust the position of the detection system.

[0098] The detection system is responsible for data acquisition and real-time monitoring, including visual sensors, ultrasonic sensors, navigation and positioning modules, and crack and corrosion detection systems. The visual sensor is used to collect high-resolution images and detect the internal state of the pipeline, with a resolution of 1920×1080 and a frame rate of 30fps. The ultrasonic sensor is used to accurately measure the distance and the state of the inner wall of the pipeline, with a measurement accuracy of ±1mm and a detection distance of 0.1-5m. The navigation and positioning module adopts SLAM technology, which can realize the autonomous navigation and positioning of the robot with a positioning accuracy of ±2cm. The mechanical arm 30 is adjusted to adapt to various pipeline diameters and bending radii. The first adjustment arm 34 and the second adjustment arm 36 can adjust the angle of 0-180° respectively, adapt to the pipeline diameter of 50mm-500mm, and the bending radius is not less than 1 / 3 of the pipeline diameter. The crack detection module and the corrosion detection module are used to detect the crack width and corrosion depth with high precision. The crack detection accuracy is 0.1mm, the detection range is 0.1-10mm, and the corrosion detection accuracy is 0.05mm, and the detection range is 0.05-5mm. All detection data are transmitted to the controller 40 through the data interface 15 and recorded in real time. Automatically generate a detection report including problem classification, severity and recommended actions in the form of a PDF file.

[0099] In the actual detection process, the robot is first placed at the entrance of the ship's pipeline and fixed inside the pipeline by the adhesion of its chassis 11 and the magnetic block. The robot is started and the initial parameters, including the detection path, speed and direction, are set through the display control panel. Driven by the explosion-proof motor, the robot moves in the pipeline through the synergy of the driving wheel 13 and the driven wheel 14. The obstacle avoidance sensor 42 monitors the obstacles ahead in real time. When an obstacle is detected, the system automatically triggers the obstacle avoidance program, replans the path to avoid the obstacle, and the information indicator light and loudspeaker 16 send out a warning signal.

[0100] In this ship pipeline detection embodiment, preliminary preparations were first made, and light and high-strength materials with high temperature resistance and corrosion resistance were selected to make robot components. According to the diameter of the ship pipeline of 600mm, the chassis 11 of the robot was designed to be 420mm wide to ensure that the robot can move smoothly in the pipeline.

[0101] During the equipment transportation and deployment phase, a forklift is used to transport the robot from the warehouse to the ship dock, and it is placed at the entrance of the pipeline by a lifting machine. Next, during the system initialization process, the power is turned on and the robot's internal control system is started for self-inspection, including the transmission device, camera, and sensor. During the pipeline entry phase, the operator issues a forward command through the remote control, and the robot enters the pipeline at a speed of 0.5m / s. During the data acquisition phase, the robot moves in the pipeline at a speed of 0.1m / s, the visual sensor camera captures an image every 5 seconds, and the ultrasonic sensor measures the pipe wall thickness in real time.

[0102] The robot arm 30 is adjusted according to the structure and obstacles in the pipeline. Through the flexible adjustment of the first rotating axis 33, the second rotating axis 35, the third rotating axis 37, the first adjusting arm 34 and the second adjusting arm 36, the detection sensor 41 can accurately locate the detection point in the pipeline. The visual sensor and the ultrasonic sensor start working to collect high-resolution images and distance data of the inner wall of the pipeline. The detection module analyzes the image and distance data in real time to identify cracks and corrosion in the pipeline. SLAM technology assists the robot in precise positioning and navigation to ensure the efficiency and accuracy of the detection process.

[0103] In the real-time monitoring and analysis phase, the control center receives the data stream, and the operator analyzes the images and measurement data in real time to monitor the pipeline condition. In the complex area processing phase, for the detected narrow area, the robot arm 30 is operated to extend up to 1.5 times the initial length, that is, from 750mm to 1125mm.

[0104] In the navigation and positioning stage, the robot uses SLAM technology for navigation, and the positioning accuracy is controlled within ±2cm. In the data recording and report generation stage, after the inspection is completed, the robot exits the pipeline, and the operator imports the data into the analysis software to generate an inspection report containing images, measurement data and problem descriptions.

[0105] After the inspection is completed, all data are transmitted to the controller 40 through the data interface 15 for processing and storage. The controller 40 automatically generates an inspection report, which records in detail the problems found during the inspection, their severity and recommended measures. The report is output in PDF format. Through the inspection report, maintenance personnel can promptly discover and deal with pipeline problems to ensure the safety and normal operation of the ship's pipelines.

[0106] During the equipment recovery and maintenance phase, the robot is returned to the warehouse for necessary cleaning and maintenance, including cleaning the camera lens and checking the wear of the transmission. Finally, in the follow-up action phase, according to the inspection report, a professional maintenance team is arranged to repair or replace the problematic pipeline and update the maintenance record.

[0107] The robot of the present invention provides an efficient and reliable solution for the maintenance of ship pipelines through precise detection, flexible operation and comprehensive data recording.

[0108] In summary, the embodiments of the present invention provide a robot for ship pipeline inspection and an inspection method thereof, and automated inspection: the robot uses autonomous navigation and positioning technology to automatically complete movement and inspection inside the pipeline without human intervention, which greatly improves efficiency and reduces costs and errors.

[0109] High-precision detection: Equipped with high-resolution visual sensors and precise ultrasonic sensors, it can accurately detect cracks (0.1mm accuracy) and corrosion (0.05mm accuracy), ensuring the reliability and accuracy of the test results.

[0110] Multifunctional Robot Arm 30 System: It has multi-degree-of-freedom adjustment capabilities, can adapt to various pipe diameters and bending radii, and can operate flexibly in complex environments, improving coverage and operating accuracy.

[0111] Safety design: Equipped with explosion-proof motors and permanent magnets to ensure safe operation in hazardous environments, allowing the robot to move stably inside various pipelines.

[0112] Real-time data collection and analysis: It can collect, analyze and process data in real time, automatically generate detailed inspection reports, and provide a scientific basis for pipeline maintenance.

[0113] Efficient obstacle avoidance: Equipped with advanced sensors and automatic obstacle avoidance programs to ensure efficient and safe obstacle avoidance during the detection process.

[0114] Modular design: The modular design of each component facilitates maintenance and upgrades, improving the maintainability and flexibility of the system.

[0115] Long battery life: Equipped with a large-capacity lead-acid battery to ensure long-term continuous operation and meet the inspection needs of complex pipeline systems.

[0116] Through these innovations, the present invention provides an efficient and reliable solution for ship pipeline inspection, significantly improving the efficiency and quality of pipeline maintenance.

[0117] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A robot for ship pipeline inspection, characterized in that: It includes a robot body, a mechanical arm, a controller and a detection system, wherein the robot body, the mechanical arm and the detection system are electrically connected to the controller respectively; The detection system includes a detection sensor, a navigation and positioning module, and an obstacle avoidance sensor, wherein the detection sensor includes a visual sensor and an ultrasonic sensor; The robot body includes a chassis, a magnetic block, a driving member and a wheel, wherein the driving member is drivingly connected to the wheel, the wheel is rotationally connected to the bottom of the chassis, the wheel is electrically connected to the controller, the magnetic block is connected to the bottom surface of the chassis, and the navigation and positioning module and the obstacle avoidance sensor are respectively connected to the front end of the chassis; The mechanical arm is connected to the upper part of the chassis, and the detection sensor is connected to the upper end of the mechanical arm.

2. The ship pipeline detection robot according to claim 1, characterized in that: The robotic arm includes a mounting platform, a rotating base, a first rotating axis, a first adjusting arm, a second rotating axis, a second adjusting arm and a third rotating axis, the mounting platform is connected to the chassis, the rotating base is rotatably connected to the chassis along the height direction, the first rotating axis, the second rotating axis and the third rotating axis are respectively arranged in the horizontal direction, one end of the first rotating axis is connected to the outer peripheral surface of the rotating base, one end of the first adjusting arm is connected to the outer peripheral surface of the first rotating axis, the other end of the first adjusting arm is connected to the outer peripheral surface of the second rotating axis, one end of the second adjusting arm is connected to one end of the second rotating axis, the other end of the second adjusting arm is connected to the outer peripheral surface of the third rotating axis, and the detection sensor is connected to the third rotating axis.

3. The ship pipeline detection robot according to claim 2, characterized in that: The mounting platform is provided with a data interface, and the data interface is electrically connected to the controller.

4. The ship pipeline detection robot according to claim 1, characterized in that: The wheels include a driving wheel and a driven wheel rotatably connected to the bottom of the chassis, the driving wheel is connected to both sides of the chassis, the driving wheel is transmission-connected to the driving member, the driven wheel is connected to both sides of the chassis and is spaced apart from the driving wheel along the walking direction.

5. The ship pipeline detection robot according to claim 1, characterized in that: The robot body further includes a loudspeaker connected to the chassis and electrically connected to the controller.

6. The ship pipeline detection robot according to claim 1, characterized in that: The robot body is also connected to an anti-collision guardrail, and the anti-collision guardrail is connected to the outer periphery of the chassis.

7. The ship pipeline detection robot according to claim 1, characterized in that: The robot body also includes a battery, which is connected to the chassis, and the robot arm, the controller, the drive element and the detection system are electrically connected to the battery respectively.

8. The ship pipeline detection robot according to claim 1, characterized in that: The chassis is connected with a start / stop button, a speed adjustment knob and a direction adjustment knob, and the start / stop button, the speed adjustment knob and the direction adjustment knob are electrically connected to the controller respectively.

9. A method for detecting a ship pipeline, characterized in that: The ship pipeline is inspected by the ship pipeline inspection robot according to any one of claims 1 to 8, comprising the following steps: A preparation step, placing the robot at the pipe opening of the starting point of the detection pipeline, aligning the robot with the position of the pipe opening, and setting a navigation path, detection parameters and operation items; The detection system operation step, the robot moves in the inspection pipeline according to a preset navigation path, and obtains data of preset detection parameters through the detection system; A mechanical arm operation step, wherein the mechanical arm of the robot obtains position data in the pipeline according to the detection system, adjusts the position and angle of the mechanical arm to meet the set operation position conditions, performs the set operation items on the pipeline, and obtains data of the operation items through the detection system; A data aggregation step, wherein the robot uploads the acquired data of the preset detection parameters and the acquired data of the operation items to the control system; In the exit step, the robot moves to the pipe mouth at the end point according to the navigation path and safely exits the detection pipeline.

10. The method for detecting ship pipelines according to claim 9, characterized in that: In the detection system operation steps, the preset detection parameter data includes obtaining the distance between the camera and the crack through the ultrasonic sensor, obtaining the propagation time of the ultrasonic wave in the corrosion area and the propagation speed of the ultrasonic wave in the pipeline material, obtaining the image through the visual sensor and obtaining the pixel distance of the crack and the actual width corresponding to each pixel in the image from the image.

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