A robot for ship pipeline detection and a detection method thereof

Abstract

The application relates to the technical field of ship pipeline detection, and discloses a robot for ship pipeline detection and a detection method thereof, which 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 respectively; the detection system comprises detection sensors, a navigation positioning module and an obstacle avoidance sensor, the detection sensors comprise visual sensors and ultrasonic sensors; the robot body comprises a chassis, magnetic attraction blocks, driving pieces and wheels, the driving pieces are 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 blocks are connected to the bottom surface of the chassis, and the navigation 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 portion of the chassis, and the detection sensors are connected to the upper end of the mechanical arm. The robot for ship pipeline detection and the detection method thereof can adapt to the changeable and winding ship pipeline, and ensure that the detection coverage is extensive and accurate.

Description

Technical Field

[0001] This invention relates to the technical field of ship pipeline inspection, and in particular to a robot for ship pipeline inspection and its inspection method. Background Technology

[0002] Internal inspection of industrial pipelines is a crucial step in ensuring industrial safety and operational efficiency. Traditional inspection methods often require manual intervention, which is complex and poses safety risks. With the development of robotics, automated pipeline inspection is gradually becoming an industry trend. Ship pipeline systems are vital to the safety and efficiency of vessels, and traditional manual operation methods have many problems. The complex structure and environment of pipelines, such as varied bends and pipe sections of different diameters, make it difficult for traditional methods to comprehensively inspect and maintain them. Furthermore, manual operation presents challenges of safety risks and inefficiency. With the development of robotics, automated inspection robots have emerged as a potential solution to improve these problems; however, existing technologies still have limitations in adapting to complex pipeline structures and improving inspection accuracy. In particular, existing pipeline inspection robots often lack the ability to operate within multi-bend pipes and small-diameter pipes, and their inspection efficiency and accuracy need further improvement. Summary of the Invention

[0003] The invention aims to address at least one of the technical problems existing in the prior art. It provides a robot and method for inspecting ship pipelines, capable of adapting to the varied and winding nature of ship pipelines, ensuring broad and accurate inspection coverage.

[0004] To achieve the above objectives, the present invention provides a robot for inspecting ship pipelines, comprising a robot body, a robotic arm, a controller, and an inspection system, wherein the robot body, the robotic arm, and the inspection system are electrically connected to the controller.

[0005] The detection system includes detection sensors, a navigation and positioning module, and an obstacle avoidance sensor. The detection sensors include a visual sensor and an ultrasonic sensor.

[0006] The robot body includes a chassis, a magnetic block, a drive unit, and wheels. The drive unit is connected to the wheels via a transmission mechanism. The wheels are rotatably connected to the bottom of the chassis. The wheels are 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 robotic arm is connected to the upper part of the chassis, and the detection sensor is connected to the upper end of the robotic arm.

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

[0008] As a preferred embodiment, the mounting platform is equipped with a data interface, which is electrically connected to the controller.

[0009] As a preferred embodiment, the wheel includes 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 and is connected to the driving component. 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 embodiment, the robot body further includes a loudspeaker, which is connected to the chassis and electrically connected to the controller.

[0011] As a preferred embodiment, the robot body is also connected to a crash barrier, which surrounds the outer perimeter of the chassis.

[0012] As a preferred embodiment, the robot body further includes a battery connected to the chassis, and the robotic arm, the controller, the drive unit, and the detection system are all electrically connected to the battery.

[0013] As a preferred embodiment, the chassis is connected to 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.

[0014] A method for inspecting ship pipelines, comprising the following steps, using a ship pipeline inspection robot to inspect ship pipelines:

[0015] Preparation steps: Place the robot at the pipe opening at the starting point of the inspection pipeline, align the robot with the pipe opening, and set the navigation path, inspection parameters, and operation items;

[0016] The detection system operates by having the robot move within the inspection pipe according to a preset navigation path and acquire data of preset detection parameters through the detection system.

[0017] The robotic arm operation steps are as follows: the robotic arm obtains position data inside the pipeline based on the detection system, adjusts the position and angle of the robotic arm to meet the set operation position conditions, performs set operation items on the pipeline, and obtains the operation item data through the detection system;

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

[0019] In the exit step, the robot moves to the endpoint of the pipe according to the navigation path and safely exits the inspection 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 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 pipe material, obtaining an image through the vision sensor and obtaining the pixel distance of the crack and the actual width corresponding to each pixel in the image from the image.

[0021] This invention discloses a robot and its detection method for inspecting ship pipelines. Compared with existing technologies, its advantages are as follows: The chassis is the basic structure of the entire robot, bearing all components. The chassis and wheel system provide a stable mobile platform, enabling the robot to move flexibly in various environments. The chassis structure is robust, and the wheel design ensures smooth movement, even in complex ship interior environments. The drive unit provides driving power, driving the wheels to rotate and move the chassis within the pipeline. Magnetic blocks provide adhesion, enabling the robot to walk on the steel plate surface inside the pipeline, especially on vertical and inverted surfaces, improving operational flexibility. The controller controls the robot's movement direction and speed, adjusting the movement of the robotic arm. The robotic arm drives the detection system. The detection system is responsible for data acquisition and real-time monitoring, including a vision sensor, an ultrasonic sensor, and a navigation and positioning module. The vision sensor is used to acquire high-resolution images and detect the internal state of the pipeline. High resolution and high frame rate ensure image clarity and real-time performance, ensuring the accuracy of the detection data. The ultrasonic sensor is used to accurately measure distances and the condition of the pipeline's inner wall. High precision and a wide detection range ensure comprehensive monitoring of the pipeline's internal state. The navigation and positioning module enables the robot's autonomous navigation and positioning. High-precision positioning ensures accurate navigation of robots in complex environments, improving work efficiency and safety. Attached Figure Description

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

[0023] Figure 2 This is a schematic diagram of the robot's back end in an embodiment of the present invention.

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

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

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

[0027] In the picture:

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

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

[0030] 40. Controller; 41. Detection sensor; 42. Obstacle avoidance sensor. Detailed Implementation

[0031] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0032] In the description of this invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" used to indicate orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0033] In the description of this invention, it should be understood that the terms "connected," "linked," and "fixed," etc., used in this invention should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or a welded connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly defined. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0034] like Figures 1 to 5 As shown in the figure, a preferred embodiment of the present invention provides a robot for inspecting ship pipelines, comprising a robot body 10, a robotic arm 30, a controller 40, and an inspection system, wherein the robot body 10, the robotic arm 30, and the inspection system are electrically connected to the controller 40.

[0035] The detection system includes a detection sensor 41, a navigation and positioning module, and an obstacle avoidance sensor 42. 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 drive component 12, and wheels. The drive component 12 is connected to the wheels via a transmission mechanism. The wheels are rotatably connected to the bottom of the chassis 11. The wheels are 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] The robot for inspecting ship pipelines of this invention has a chassis 11 as its basic structure, supporting all components. The chassis 11 and wheel system provide a stable mobile platform, enabling the robot to move flexibly in various environments. The chassis 11 has a robust structure, and the wheel design ensures smooth movement, even in the complex internal environment of a ship. The drive unit 12 provides driving power, driving the wheels to rotate and move the chassis 11 within the pipeline. Magnetic blocks provide adhesion, allowing the robot to walk on the steel plate surface inside the pipeline, especially on vertical and inverted surfaces, improving operational flexibility. The controller 40 controls the robot's direction and speed of movement and adjusts the movement of the robotic arm 30. The robotic arm 30 drives the inspection system. The inspection system is responsible for data acquisition and real-time monitoring, including a vision sensor, an ultrasonic sensor, and a navigation and positioning module. The vision sensor is used to acquire high-resolution images and detect the internal condition of the pipeline. High resolution and high frame rate ensure image clarity and real-time performance, ensuring the accuracy of the inspection data. The ultrasonic sensor is used to accurately measure distances and the condition of the pipeline's inner wall. High precision and a wide detection range ensure comprehensive monitoring of the internal condition of the pipeline. The navigation and positioning module enables the robot to navigate and position autonomously. High-precision positioning ensures accurate navigation of robots in complex environments, improving work efficiency and safety.

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

[0039] In one embodiment, the drive unit 12 is an explosion-proof motor. The explosion-proof motor ensures safe operation in hazardous environments and improves safety during use.

[0040] Furthermore, such as Figures 1 to 5As shown, the robotic arm 30 includes a mounting platform 31, a rotating base 32, a first rotating shaft 33, a first adjusting arm 34, a second rotating shaft 35, a second adjusting arm 36, and a third rotating shaft 37. The mounting platform 31 is connected to the chassis 11. The rotating base 32 is rotatably connected to the chassis 11 along the height direction. The first rotating shaft 33, the second rotating shaft 35, and the third rotating shaft 37 are arranged horizontally. One end of the first rotating shaft 33 is connected to the outer peripheral surface of the rotating base 32. One end of the first adjusting arm 34 is connected to the outer peripheral surface of the first rotating shaft 33, and the other end of the first adjusting arm 34 is connected to the outer peripheral surface of the second rotating shaft 35. One end of the second adjusting arm 36 is connected to one end of the second rotating shaft 35, and the other end of the second adjusting arm 36 is connected to the outer peripheral surface of the third rotating shaft 37. The detection sensor 41 is connected to the third rotating shaft 37. The first adjusting arm 34 is perpendicular to the extension directions of the first rotating shaft 33 and the second rotating shaft 35, and the second adjusting arm 36 is perpendicular to the extension directions of the second rotating shaft 35 and the third rotating shaft 37. The robotic arm 30 is connected to the front end of the chassis 11, and the mounting platform 31 is connected to the chassis 11 to fix the robotic arm 30 on the chassis 11. The rotating base 32 is connected to the mounting platform 31 and can rotate around its height, 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 their height. 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 provides multi-degree-of-freedom adjustment capabilities, enabling the robotic arm 30 to adapt to different working positions and angles. The detection sensor 41 is connected to the third rotating shaft 37, and the detection sensor 41 adjusts its position via the third rotating shaft 37 to acquire data.

[0041] As one embodiment, such as Figures 1 to 5 As shown, the robotic arm 30 also includes a connecting post 38. One end of the third rotating shaft 37 is connected to the outer circumferential surface of the connecting post 38, and one end of the connecting post 38 is connected to the detection sensor 41. The detection sensor 41 is connected to the third rotating shaft 37 via the connecting post 38. The connecting post 38 is used to fix and adjust the position of the detection sensor 41.

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

[0043] Furthermore, such as Figures 1 to 2As shown, the mounting platform 31 is equipped with a data interface 15, which is electrically connected to the controller 40. The data interface 15 connects the robotic arm 30 system and the controller 40, transmitting control signals and power.

[0044] Furthermore, such as Figure 5 As shown, the wheel includes a drive wheel 13 and a driven wheel 14 rotatably connected to the bottom of the chassis 11. The drive wheel 13 is connected to both sides of the chassis 11 and is drively connected to the drive member 12. The driven wheel 14 is connected to both sides of the chassis 11 and is spaced apart from the drive wheel 13 along the walking direction. The drive wheel 13 and the driven wheel 14 are located on both sides of the chassis 11, improving the moving stability of the chassis 11. The drive wheel 13 drives the driven wheel 14 to move, thereby making the chassis 11 move synchronously.

[0045] As one embodiment, such as Figure 5 As shown, three driven wheels 14 are provided, two of which are located on 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] Furthermore, such as Figures 1 to 3 As shown, the robot body 10 also 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, and is used to emit sound indication signals to attract people's attention and prevent accidents from occurring.

[0047] Furthermore, such as Figures 1 to 3 As shown, the robot body 10 is also connected to a crash barrier 17, which surrounds the outer perimeter of the chassis 11. The crash barrier 17 acts as a physical barrier, effectively reducing the risk of direct collisions between the robot and external obstacles (such as walls, furniture, people, etc.). This not only protects the robot itself from damage but also avoids potential harm to the surrounding environment or personnel due to collisions, thereby improving overall operational safety.

[0048] Furthermore, the robot body 10 also includes a battery connected to the chassis 11. The robotic arm 30, the controller 40, the drive unit 12, and the detection system are all electrically connected to the battery. The battery provides power to the robot and is mounted on top of the chassis 11. The lead-acid battery ensures long-term battery life. The chassis 11 is equipped with a power interface, which is electrically connected to the battery. The power interface is used for external power connection, ensuring flexibility in battery charging and system power supply.

[0049] Furthermore, such as Figures 1 to 3As shown, the chassis 11 is connected to a start / stop button 18, a speed adjustment knob 19, and a direction adjustment knob 20. The start / stop button 18, speed adjustment knob 19, and direction adjustment knob 20 are all electrically connected to the controller 40. The direction adjustment knob 20 is used to adjust the robot's direction of travel. The speed adjustment knob 19 is used to adjust the robot's movement speed. The direction and speed adjustment knobs 19 enable more precise operation, and the integrated design of the control box improves the system's reliability and convenience. The start / stop button 18 is used to control the robot's on / off state.

[0050] A method for inspecting ship pipelines, comprising the following steps, using a ship pipeline inspection robot to inspect ship pipelines:

[0051] Preparatory steps, preparation and calibration: Inspect and prepare all robot components, ensure the equipment is in good condition and perform calibration.

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

[0053] Equipment calibration: Accurately calibrate the vision and ultrasonic sensors to ensure the accuracy of measurement data, and adjust the camera resolution and frame rate to preset standards.

[0054] System testing: Conduct a brief system test to verify that the robot's movement and data acquisition functions are working properly, including the flexibility of the robotic arm 30 and the stability of the locking device.

[0055] Preparation steps: Place the robot at the pipe opening at the starting point of the inspection pipeline, align the robot with the pipe opening, and set the navigation path, inspection parameters, and operation items;

[0056] Pipeline inlet positioning: Accurately place the robot at the starting point of the pipeline system, ensuring that the robot is aligned with the pipeline inlet.

[0057] Navigation path setting: Based on the pipeline layout diagram and inspection requirements, the control system is used to set the robot's navigation path and inspection area.

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

[0059] Start the robot to enter the pipe, allowing it to move steadily inside.

[0060] Start the transmission device: Activate the robot's transmission device to smoothly enter the pipeline and begin the inspection operation.

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

[0062] Environmental Adaptation: The robot's sensors monitor the pipeline environment in real time, such as temperature and humidity, to adapt to different detection conditions. Specifically, temperature sensors acquire ambient temperature data, and humidity sensors acquire ambient humidity data.

[0063] Data acquisition and monitoring: Using cameras and sensors to scan the inner wall of the pipe to monitor the pipe status in real time.

[0064] Navigation and positioning: Utilizes an autonomous navigation system to ensure accurate navigation and obstacle avoidance capabilities.

[0065] SLAM technology application: Using simultaneous localization and mapping (SLAM) technology, robots can achieve precise positioning within pipelines.

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

[0067] Path optimization: Dynamically optimize navigation paths based on actual pipeline environment and inspection needs to improve inspection efficiency.

[0068] The detection system operates by having the robot move within the inspection pipe according to a preset navigation path and acquire data of preset detection parameters through the detection system.

[0069] Image Acquisition: Activate the vision sensor to acquire images of the inner wall of the pipe at a resolution of 1920x1080 and a frame rate of 30fps.

[0070] Ultrasonic measurement: Using ultrasonic sensors to measure distance and thickness with an accuracy of ±1mm, covering 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 condition of the pipeline.

[0072] The robotic arm 30 operates by adjusting its position and angle according to the position data obtained from the pipeline by the detection system to meet the set operation position conditions, performing set operation items on the pipeline, and obtaining operation item data through the detection system.

[0073] Robotic arm 30 operation: Adjust the robotic arm 30 system and perform necessary operations such as rust removal or cleaning.

[0074] Robotic arm 30 adjustment: Based on the detected condition of the inner wall of the pipe, operate the robotic arm 30 system to adjust it to a suitable position and angle.

[0075] Task execution: Utilizing the flexibility of the robotic arm 30, perform operations such as rust removal, cleaning, or sampling to ensure coverage of all inspection areas.

[0076] Precise positioning: Precise positioning and operation of a specific area can be 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 robotic arm 30.

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

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

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

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

[0081] Data archiving: Storing test data and reports in the system facilitates future retrieval, analysis, and maintenance.

[0082] In the exit step, the robot moves to the endpoint of the pipe according to the navigation path and safely exits the inspection pipeline.

[0083] Task completion and maintenance: Safely exit the pipeline and perform system reset and maintenance preparations.

[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: Restores the robot system to its initial state, preparing it for the next inspection task.

[0086] Maintenance and inspection: Perform a comprehensive maintenance and inspection of the robot, including cleaning the sensors, checking the wear and tear of the robotic arm 30, and replacing necessary parts.

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

[0088] The detection system operation steps also include the detection of pipe cracks and corrosion. The preset detection parameter data includes the distance between the camera and the crack obtained by the ultrasonic sensor, the propagation time of the ultrasonic wave in the corroded area, and the propagation speed of the ultrasonic wave in the pipe material. The system also includes the acquisition of images by the vision sensor and the acquisition of the pixel distance of the crack and the actual width of each pixel in the image.

[0089] Detection method: A combination of visual and ultrasonic sensors is used to detect cracks and corrosion inside the pipe.

[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 d represents the distance between the camera and the crack. i W represents the pixel distance of the crack in the image. 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 the ultrasonic wave in the corroded area, and v is the propagation speed of the ultrasonic wave in the pipe material.

[0095] Crack and corrosion detection systems are used for high-precision detection of crack width and corrosion depth. This ensures accurate detection results and timely identification and handling of pipeline problems. The system can automatically generate inspection reports, including problem classification, severity, and recommended actions.

[0096] In one embodiment, the chassis 11 of the robot body 10 is 500mm long, 400mm wide, and 150mm high, and is made of 6061-T6 aluminum alloy. The drive wheel 13 has a diameter of 150mm and a width of 50mm, and is made of polyurethane rubber; the driven wheel 14 has a diameter of 100mm and a width of 40mm, and is also made of polyurethane rubber. The explosion-proof motor has a power of 300W, a voltage of 24V, and a speed of 3000rpm, and is made of explosion-proof steel. The permanent magnet has dimensions of 50mm × 25mm × 10mm and is made of neodymium iron boron (NdFeB). The controller 40 has dimensions 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 dimensions of 150mm × 100mm and is made of ABS plastic. The start / stop button 18 is 30mm in diameter and made of ABS plastic. The sensor measures 40mm × 20mm × 20mm, is an ultrasonic sensor, and has a measurement range of 0.1-5m. The loudspeaker 16 is 60mm in diameter, made of ABS plastic, and has a power of 5W. The crash barrier 17 is 100mm high and made of 6061-T6 aluminum alloy. A magnetic block is located under the chassis 11. The controller 40 and battery are mounted on the robot body 10. The direction adjustment knob 20 and speed adjustment knob 19 are also mounted on the robot body 10. The controller 40 and start / stop button 18 are both mounted on the robot body 10. The obstacle avoidance sensor 42 and loudspeaker 16 are both mounted on the front side of the chassis 11. There are three driven wheels 14. The chassis 11 is surrounded by crash barriers 17.

[0097] Mounting platform 31 measures 200mm × 150mm and is made of 6061-T6 aluminum alloy. Rotating base 32 has a diameter of 150mm and a height of 50mm and is made of 304 stainless steel. First rotating shaft 33 has a diameter of 20mm and is made of 304 stainless steel. First adjusting arm 34 is 300mm long and made of 6061-T6 aluminum alloy. Second rotating shaft 35 has a diameter of 20mm and is made of 304 stainless steel. Second adjusting arm 36 is 300mm long and made of 6061-T6 aluminum alloy. Third rotating shaft 37 has a diameter of 20mm and is made of 304 stainless steel. Connecting column 38 measures 100mm × 50mm × 50mm and is made of 6061-T6 aluminum alloy. Data interface 15 is USB 3.0, measures 30mm × 10mm, and is made of ABS plastic. Robotic arm 30 is positioned at the front end of robot body 10 and is responsible for rust removal. Data interface 15 connects robotic arm 30 to controller 40, transmitting control signals and power. Mounting platform 31 and rotating base 32 provide a base and rotation function for robotic arm 30, ensuring flexible movement. The rotating axis and adjusting arm provide multi-degree-of-freedom adjustment capabilities, allowing robotic arm 30 to adapt to different working positions and angles. 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 a vision sensor, an ultrasonic sensor, a navigation and positioning module, and a crack and corrosion detection system. The vision sensor acquires high-resolution images to detect the internal condition of the pipe, with a resolution of 1920×1080 and a frame rate of 30fps. The ultrasonic sensor accurately measures distances and the condition of the pipe's inner wall, with a measurement accuracy of ±1mm and a detection distance of 0.1-5m. The navigation and positioning module uses SLAM technology to achieve autonomous navigation and positioning of the robot, with a positioning accuracy of ±2cm. The robotic arm 30 is adjustable to adapt to various pipe diameters and bending radii. The first adjusting arm 34 and the second adjusting arm 36 are adjustable from 0-180°, adapting to pipe diameters of 50mm-500mm and bending radii not less than 1 / 3 of the pipe diameter. The crack detection module and corrosion detection module are used for high-precision detection of crack width and corrosion depth, with a crack detection accuracy of 0.1mm and a detection range of 0.1-10mm, and a corrosion detection accuracy of 0.05mm and a detection range of 0.05-5mm. All detection data is transmitted to the controller 40 via data interface 15 and recorded in real time. Automatically generate inspection reports, including problem classification, severity, and recommended actions. The report format is PDF file.

[0099] In the actual inspection 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 magnetic blocks. The robot is started, and initial parameters, including the detection path, speed, and direction, are set through the display control panel. Driven by an explosion-proof motor, the robot moves inside the pipeline through the coordinated action of the drive wheel 13 and the driven wheel 14. The obstacle avoidance sensor 42 monitors 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 the loudspeaker 16 issue a warning signal.

[0100] In this ship pipeline inspection embodiment, preliminary preparations were first made, and lightweight, high-strength materials that are resistant to high temperatures and corrosion were selected to manufacture the robot components. Based on the ship's pipeline diameter of 600mm, the robot's chassis 11 was designed with a width of 420mm to ensure that the robot can move smoothly inside the pipeline.

[0101] During the equipment transportation and deployment phase, forklifts are used to transport the robot from the warehouse to the ship dock, and lifting machinery is used to place it at the pipe inlet. Next, during system initialization, power is turned on, and the robot's internal control system performs a self-check, including the transmission device, camera, and sensors. During the pipe entry phase, the operator issues a forward command via remote control, and the robot enters the pipe at a speed of 0.5 m / s. In the data acquisition phase, the robot moves inside the pipe at a speed of 0.1 m / s; the vision sensor camera captures an image every 5 seconds, and the ultrasonic sensor measures the pipe wall thickness in real time.

[0102] The robotic arm 30 adjusts itself according to the structure and obstacles inside the pipe. 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 inside the pipe. The vision sensor and ultrasonic sensor start working, acquiring high-resolution images and distance data of the inner wall of the pipe. The detection module analyzes the images and distance data in real time to identify cracks and corrosion inside the pipe. SLAM technology assists the robot in precise positioning and navigation, ensuring the efficiency and accuracy of the detection process.

[0103] During the real-time monitoring and analysis phase, the control center receives the data stream, and operators analyze images and measurement data in real time to monitor the pipeline condition. In the complex area handling phase, for detected narrow areas, the robotic arm 30 is extended up to 1.5 times its initial length, i.e., from 750mm to 1125mm.

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

[0105] After the inspection is completed, all data is transmitted to the controller 40 via data interface 15 for processing and storage. The controller 40 automatically generates an inspection report, which details the problems found during the inspection, their severity, and recommended actions. The report is output in PDF format. Through the inspection report, maintenance personnel can promptly identify and address pipeline problems, ensuring 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 lenses and checking for wear on the transmission system. Finally, in the follow-up action phase, based on the inspection report, a professional maintenance team is arranged to repair or replace the problematic pipelines and update the maintenance records.

[0107] The robot of this 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 and its inspection method for ship pipeline inspection, which enables automated inspection: the robot can automatically complete the movement and inspection inside the pipeline without human intervention through autonomous navigation and positioning technology, which greatly improves efficiency and reduces costs and errors.

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

[0110] The Multifunctional Robotic Arm 30 System: It has multi-degree-of-freedom adjustment capabilities, adapts to various pipe diameters and bending radii, operates flexibly in complex environments, and improves coverage and operational accuracy.

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

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

[0113] Highly efficient obstacle avoidance capabilities: Equipped with advanced sensors and automatic obstacle avoidance programs, ensuring efficient and safe obstacle avoidance during detection.

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

[0115] Long operating time: Equipped with a high-capacity lead-acid battery, it ensures continuous operation for a long time and meets the inspection needs of complex pipeline systems.

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

[0117] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make several improvements and substitutions without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A robot for inspecting ship pipelines, characterized in that: It includes a robot body, a robotic arm, a controller, and a detection system, wherein the robot body, the robotic arm, and the detection system are electrically connected to the controller. The detection system includes a detection sensor, a navigation and positioning module, and an obstacle avoidance sensor. The detection sensor includes a visual sensor for acquiring pixel distance information of cracks by collecting images of the inner wall of the pipe, and an ultrasonic sensor for acquiring the distance between the camera and the crack, the propagation time of ultrasonic waves in the corroded area, and the propagation speed of ultrasonic waves in the pipe material. The robot body includes a chassis, a magnetic block, a drive unit, and wheels. The drive unit is connected to the wheels via a transmission mechanism. The wheels are rotatably connected to the bottom of the chassis. The wheels are 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 robotic arm is connected to the upper part of the chassis, and the detection sensor is connected to the upper end of the robotic arm; The robot used for inspecting ship pipelines performs the following steps: Preparation steps: Place the robot at the pipe opening at the starting point of the inspection pipeline, align the robot with the pipe opening, and set the navigation path, inspection parameters, and operation items; The detection system operation steps are as follows: the robot moves inside the inspection pipe according to the preset navigation path and obtains preset detection parameter data through the detection system. The preset detection parameter data includes the distance between the camera and the crack obtained by the ultrasonic sensor, the propagation time of the ultrasonic wave in the corrosion area and the propagation speed of the ultrasonic wave in the pipe material, the image obtained by the vision sensor and the pixel distance of the crack and the actual width corresponding to each pixel in the image. The robotic arm operation steps involve adjusting its position and angle based on position data obtained from the detection system within the pipe to meet set operational conditions, performing pre-defined operations on the pipe, and acquiring data related to these operations through the detection system; specifically, obtaining the pixel distance of cracks in the image. And based on the distance between the camera and the crack obtained by the ultrasonic sensor. The control system is based on the formula Calculate the crack width W, where The actual width corresponding to each pixel in the image is given; and the corrosion depth D is calculated based on the formula D(v*t) / 2, where v is the propagation speed of ultrasonic waves in the pipe material and t is the propagation time of ultrasonic waves in the corrosion area. In the data aggregation step, the robot will upload the crack width W and corrosion depth D to the control system, along with the data of the preset detection parameters and the data of the operation items it has acquired. In the exit step, the robot moves to the endpoint of the pipe according to the navigation path and safely exits the inspection pipeline.

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

3. The robot for inspecting ship pipelines according to claim 2, characterized in that: The mounting platform is equipped with a data interface, which is electrically connected to the controller.

4. The robot for inspecting ship pipelines according to claim 1, characterized in that: The wheel includes a drive wheel and a driven wheel rotatably connected to the bottom of the chassis. The drive wheel is connected to both sides of the chassis and is connected to the drive component. The driven wheel is connected to both sides of the chassis and is spaced apart from the drive wheel along the walking direction.

5. The robot for inspecting ship pipelines according to claim 1, characterized in that: The robot body also includes a loudspeaker, which is connected to the chassis and electrically connected to the controller.

6. The robot for inspecting ship pipelines according to claim 1, characterized in that: The robot body is also connected to a crash barrier, which surrounds the outer perimeter of the chassis.

7. The robot for inspecting ship pipelines according to claim 1, characterized in that: The robot body also includes a battery connected to the chassis, and the robotic arm, the controller, the drive unit, and the detection system are all electrically connected to the battery.

8. The robot for inspecting ship pipelines according to claim 1, characterized in that: The chassis is equipped with a start / stop button, a speed adjustment knob, and a direction adjustment knob, all of which are electrically connected to the controller.

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