Pose system of intelligent tracking pipeline robot

Abstract

The invention discloses a pose system for an intelligent tracking pipeline robot, and the system comprises a power module which supplies power to the system; the data transmission module is used for safely transmitting data; the image acquisition module is used for acquiring image information of the robot and the surrounding environment of the robot in real time and generating visual data for pose calculation; the control module is used for receiving the visual data and carrying out image analysis and robot pose calculation and prediction; the motion module, the intelligent holder module and the cable management module work cooperatively, and the cable management module adjusts the cable length and tension of the robot in real time through the motion module based on feedback of a tension sensor; the image acquisition module is mounted on the intelligent holder module; the control module moves and controls the intelligent holder module through the motion module according to the analysis and prediction result, so as to dynamically track the robot; and the monitoring terminal provides an operation interface and pictures and state data monitored in real time. According to the invention, the pipeline robot can be accurately tracked and efficiently monitored.

Description

Technical Field

[0001] The invention belongs to the technical field of industrial automation and robotics, and relates to a posture system of an intelligent pipeline tracking robot. Background Art

[0002] Pipeline inspection and maintenance is an important part of the industrial field and is widely used in the oil, gas, chemical and other industries. With the development of industrial automation technology, pipeline robots are widely used for inspection, cleaning and maintenance work inside pipelines. Pipeline robots are gradually replacing traditional manual operations because they can enter narrow or complex environments and perform high-precision operations. However, the current pipeline inspection and monitoring technology still has the following problems and challenges: 1. Limitations of fixed monitoring equipment: Traditional monitoring equipment mostly uses fixed cameras or robotic arms to monitor pipeline robots. This method has the following defects: Limited field of view: Fixed equipment can only monitor a limited area, and the movement of the pipeline robot may exceed the monitoring range. Complex operation: Frequent manual adjustment of the camera or equipment position not only increases the difficulty of operation, but may also delay the timing of detection. Low detection efficiency: Frequent image loss or monitoring blind spots during the monitoring process result in poor data continuity and affect the detection effect.

[0003] 2. Insufficient posture information collection: The key to pipeline inspection is to accurately monitor the robot's posture in order to analyze its working status and optimize operations. However, the existing technology has the following problems in collecting posture information: Lack of real-time performance: It is difficult for fixed equipment to synchronously collect the real-time posture of the robot in motion, especially in high-speed movement or complex pipeline scenarios. Insufficient accuracy: Traditional equipment relies on a single sensor (such as a camera) for positioning, which cannot meet high-precision requirements. Difficult data integration: In multi-sensor systems, due to the lack of efficient fusion algorithms, the collected posture data is often not stable enough and difficult to adapt to dynamic environments.

[0004] 3. Cable management issues: Pipeline robots are usually connected to external systems through cables for data transmission and power supply. However, cable management is a weak link in existing technologies, and there are the following problems: Risk of entanglement and breakage: During the movement of pipeline robots, cables are prone to entanglement or excessive tension, resulting in data transmission interruption or equipment damage. High demand for manual intervention: Existing cable management equipment mostly relies on manual adjustment, which is difficult to meet the automation needs in complex environments.

[0005] 4. Poor adaptability to complex pipeline environments: In curved, multi-branched, narrow or even vertical pipelines, the motion trajectory of pipeline robots is complex and unpredictable. Existing monitoring equipment often cannot stably and continuously track and monitor pipeline robots due to its lack of dynamic adaptability.

[0006] With the growth of industrial pipeline inspection demand, enterprises have higher requirements for inspection efficiency, accuracy and safety. The inefficiency and limitations of traditional inspection methods can no longer meet the needs of modern pipeline maintenance. Therefore, it is imperative to develop an intelligent monitoring system with strong dynamic tracking capabilities. Summary of the invention

[0007] In order to solve the above technical problems existing in the prior art, the present invention proposes an intelligent posture tracking system for pipeline robots, which can dynamically track the robot's motion trajectory and accurately collect its real-time posture data. The specific technical solution is as follows: A posture system of an intelligent pipeline tracking robot comprises an image acquisition module, a control module, a motion module, an intelligent pan-tilt module, a cable management module, a data transmission module and a power module; the power module and the data transmission module are respectively used for power supply and data transmission of each module; the image acquisition module acquires image information of the robot and its surrounding environment in real time and generates visual data for posture calculation; the control module receives the visual data and performs image analysis, robot posture calculation and prediction; the motion module works in coordination with the intelligent pan-tilt module and the cable management module, and the cable management module adjusts the length and tension of the cable connected to the robot in real time through the motion module based on the feedback of the tension sensor; the intelligent pan-tilt module is connected to the image acquisition module, and the control module moves and controls the intelligent pan-tilt module through the motion module according to the results of its analysis and prediction, so as to dynamically track the robot.

[0008] Furthermore, the control module integrates a visual tracking algorithm and a deep learning algorithm to analyze images in real time and calculate the position and posture of the pipeline robot, and to predict and track the trajectory of the robot.

[0009] Furthermore, the system also includes a monitoring terminal, which is used to display the collected image data in real time and provide the operator with the status data of each module and an operation interface for adjusting parameters.

[0010] Furthermore, the host computer of the monitoring terminal is connected to the control module in a two-way communication manner, and the control module receives instructions from the host computer and feeds back status data.

[0011] Furthermore, the image acquisition module includes a depth sensor and a high-definition camera. The image acquisition module transmits the acquired image information to the host computer of the monitoring terminal by wireless or wired means for local or cloud storage.

[0012] Furthermore, the intelligent pan-tilt module is combined with a PID control algorithm to achieve multi-axis rotation through servo motor control, thereby dynamically adjusting the angle of the high-definition camera.

[0013] Furthermore, the motion module is equipped with a high-precision wheel set to drive the intelligent gimbal module to move on straight and curved tracks, and integrates a position sensor for real-time positioning and path planning.

[0014] Furthermore, the power module adopts a high-capacity lithium battery or an external power supply, and integrates an intelligent power management system to support power monitoring and low-power alarm.

[0015] Furthermore, the communication mode of the data transmission module includes Ethernet, Wi-Fi and 5G transmission, and the data transmission adopts an encryption protocol.

[0016] Compared with the prior art, the technical solution of the present invention has the following beneficial effects: Precise tracking and efficient monitoring: Integrate multi-sensor fusion technology to improve the accuracy and real-time performance of posture data collection. The collaborative work of the gimbal and motion module enables seamless tracking in complex scenarios.

[0017] Highly automated and intelligent: The control module combines visual algorithms to achieve fully automated dynamic adjustments without manual intervention. The cable management module ensures the safe operation of the system in complex environments.

[0018] Strong adaptability: Supports various types of pipeline robots and complex environments. Can operate stably in curved, vertical and multi-branch pipelines.

[0019] Data security and reliability: Efficient data encryption and transmission protocols ensure information security. Powerful data processing capabilities support real-time analysis and subsequent optimization. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the module framework of the position and posture system of an intelligent pipeline tracking robot of the present invention; Figure 2 It is a flow chart of the operating principle of the posture system of an intelligent tracking pipeline robot of the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical scheme and technical effect of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0022] like Figure 1 and Figure 2As shown, the posture system of an intelligent tracking pipeline robot in this embodiment includes an image acquisition module, an intelligent pan-tilt module, a cable management module, a control module, a data transmission module, a motion module and a power module. The modules work together and use a monitoring terminal to realize dynamic tracking and real-time monitoring of the pipeline robot.

[0023] Specifically, the image acquisition module is composed of a depth sensor and a high-definition camera group, which is used to collect image information of the pipeline robot and its surrounding environment and generate visual data for posture calculation; the module supports multi-spectral imaging for stable detection under different lighting conditions. The module uses sensor fusion technology to improve the accuracy of robot posture data acquisition and ensure stability in complex scenes.

[0024] The intelligent PTZ module is connected to the image acquisition module, and the bottom is controlled by a motor. The intelligent PTZ module realizes multi-axis rotation through servo motor control, dynamically adjusts the camera angle, and ensures that the pipeline robot is always within the monitoring field of view. The module not only supports 360° horizontal rotation and multi-angle adjustment in the vertical direction, but also combines the PID control algorithm to achieve smooth and fast response. The adjustment of the PTZ position is automatically controlled by the visual tracking algorithm using this module, without the need for manual intervention, which greatly improves the monitoring efficiency.

[0025] The cable management module adjusts the cable length in real time to avoid entanglement or excessive tension, ensuring the reliability of data transmission and power supply. The module is equipped with an automatic retractable device to adjust the cable status based on the feedback of the tension sensor. The cable management module works in conjunction with the intelligent pan / tilt and motion module to ensure the safety and stability of the cable during the detection process.

[0026] The control module, as the brain of the system, is responsible for data reception and processing, algorithm operation and coordinated control of various modules, and is equipped with a high-performance main control chip such as FPGA or embedded microprocessor. The module integrates a visual tracking algorithm to analyze images in real time and calculate the position and posture of the pipeline robot. The module supports two-way communication with the host computer of the monitoring terminal, receives control instructions and feeds back status data. The module predicts the robot's motion trajectory through a deep learning algorithm to improve the stability and accuracy of tracking.

[0027] The data transmission module realizes real-time transmission of image and posture data. The module supports wired communication such as Ethernet and wireless communication such as Wi-Fi and 5G. The data transmission adopts encryption protocol to ensure security. The module optimizes the data transmission protocol to achieve low-latency and high-bandwidth data transmission capabilities.

[0028] The motion module enables the control system to move along the pipeline as a whole and follow the position changes of the pipeline robot. The module is equipped with high-precision wheels, supports the movement of straight and curved tracks, and integrates position sensors for real-time positioning and path planning. The motion module works in conjunction with the intelligent pan-tilt module to achieve global tracking capabilities in complex pipeline environments.

[0029] The power module provides stable power support for the system. The module uses a high-capacity lithium battery or an external power supply, which can be flexibly switched according to demand, and integrates an intelligent power management system to support power monitoring and low-power alarm.

[0030] The monitoring terminal is used to display the image data collected by the system in real time, and provide a real-time picture of the pipeline robot and its surrounding environment. The operator can monitor the robot position, motion status and the operating status of each module of the system through the terminal.

[0031] When using the system of the present invention, you first need to check the device status, including whether the cables are well connected and whether the power supply is sufficient. After the power is turned on, the system will automatically initialize, and each module such as the image acquisition module, intelligent pan / tilt, cable management module, etc. will complete self-checking and adjust to the default state. Start the system interface on the monitoring terminal and check its communication status with the device.

[0032] On the monitoring terminal interface, the operator selects the pipeline robot as the tracking target through the real-time display screen to complete the calibration.

[0033] After entering the real-time monitoring mode, the system starts the image acquisition module, which records the robot's initial posture and sends it to the control module, and captures image information of the robot and its surrounding environment in real time, and transmits it to the host computer of the monitoring terminal via wireless or wired means. The system supports local or cloud storage for subsequent analysis; at the same time, the control module calls the visual tracking algorithm to calculate the robot's real-time posture, that is, position and posture.

[0034] The intelligent pan-tilt head dynamically adjusts the direction of the camera according to the posture feedback to ensure that the robot is always in the center of the monitoring field of view; the cable management module adjusts the length and tension of the cable in real time through the tension sensor to prevent the cable from being entangled or too tight. When the robot exceeds the monitoring range of the camera, the motion module starts and the pan-tilt head moves along the outside of the pipeline. Among them, the operator can adjust the camera acquisition parameters such as image resolution, frame rate, contrast, etc. through the monitoring terminal as needed, select the appropriate multi-spectral mode according to the pipeline environment, such as switching to infrared mode in low-light environments, adjust the sensitivity of cable retraction and release, adapt to different robot movement speeds and path complexity, and set the pan-tilt head's rotation angle range and response speed to ensure that the camera can quickly follow the robot's movements and maintain continuous tracking of the system.

[0035] During real-time monitoring, operators can view the operating status of each module through the monitoring terminal, including: pan / tilt angle and movement status; cable tension and retraction length; power supply and operating time; image and posture data acquisition status; if an abnormal alarm occurs, the operator can make adjustments on the monitoring terminal according to the alarm prompt, or control the pan / tilt and motion module in manual mode.

[0036] After the experiment, stop the monitoring operation, adjust the PTZ to the initial position, retract the cable to the default length in the cable management module, check whether the collected data is complete, and the user can export the collected data and check the status of each part of the device. Finally, shut down the system to complete the entire use process. If a system failure occurs, you can view the error log through the monitoring terminal and refer to the troubleshooting guide provided by the system for processing. This system supports multi-robot scenarios and realizes multi-task collaborative work by calibrating multiple targets and assigning independent tracking paths.

[0037] The above is only a preferred implementation case of the present invention and does not limit the present invention in any form. Although the implementation process of the present invention is described in detail above, for those familiar with the art, they can still modify the technical solutions recorded in the above examples, or replace some of the technical features therein with equivalents. All modifications, equivalent replacements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent tracking system for a pipeline robot, characterized in that: It includes image acquisition module, control module, motion module, intelligent pan / tilt module, cable management module, data transmission module and power module; The power supply module and the data transmission module are used for power supply and data transmission of each module respectively; The image acquisition module collects image information of the robot and its surrounding environment in real time and generates visual data for posture calculation; The control module receives visual data and performs image analysis, robot posture calculation and prediction; The motion module works in conjunction with the intelligent gimbal module and the cable management module. The cable management module adjusts the length and tension of the cable connected to the robot in real time through the motion module based on the feedback from the tension sensor. The intelligent pan-tilt module is connected to the image acquisition module. The control module moves and controls the intelligent pan-tilt module through the motion module according to the results of its analysis and prediction, and dynamically tracks the robot.

2. The system according to claim 1, characterized in that The control module integrates visual tracking algorithms and deep learning algorithms to analyze images in real time, calculate the position and posture of the pipeline robot, and predict and track the trajectory of the robot.

3. The system according to claim 1, characterized in that It also includes a monitoring terminal, which is used to display the collected image data in real time and provide the operator with the status data of each module and an operation interface for adjusting parameters.

4. The system according to claim 3, characterized in that The host computer of the monitoring terminal is connected to the control module in a two-way communication manner, and the control module receives instructions from the host computer and feeds back status data.

5. The system according to claim 3, characterized in that The image acquisition module includes a depth sensor and a high-definition camera. The image acquisition module transmits the collected image information to the host computer of the monitoring terminal by wireless or wired means for local or cloud storage.

6. The system according to claim 5, characterized in that The intelligent pan-tilt module combines the PID control algorithm and realizes multi-axis rotation through servo motor control, thereby dynamically adjusting the angle of the high-definition camera.

7. The system according to claim 1, characterized in that The motion module is equipped with a high-precision wheel set to drive the intelligent pan-tilt module to move on straight and curved tracks, and integrates a position sensor for real-time positioning and path planning.

8. The system of claim 1, wherein: The power module adopts a high-capacity lithium battery or an external power supply, and integrates an intelligent power management system to support power monitoring and low-power alarm.

9. The system according to claim 1, characterized in that The communication modes of the data transmission module include Ethernet, Wi-Fi and 5G transmission, and the data transmission adopts an encryption protocol.

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