Multifunctional variable-diameter self-adaptive pipeline robot and control method thereof

Abstract

The multifunctional variable-diameter self-adaptive pipeline robot comprises a front-end connecting plate and a rear-end connecting plate, the front-end connecting plate and the rear-end connecting plate are connected through a Zhan-style structure, and the other ends of the front-end connecting plate and the rear-end connecting plate are connected with variable-diameter mechanisms correspondingly; the variable-diameter mechanism comprises two groups of variable-diameter supports, openings of the variable-diameter supports face outwards and are symmetrically distributed, and variable-diameter feet adjusted and controlled by the driving mechanism are connected to the variable-diameter supports; a steering engine and a magnetic attraction tool mounting seat are connected to the front end connecting plate, a motor telescopic supporting frame is rotationally connected to the lower portion of the front end connecting plate, the motor telescopic supporting frame is connected and driven by the steering engine, and a wheel provided with a hub motor is connected to the motor telescopic supporting frame; the rear end connecting plate is connected with a control panel and a camera, and the control panel is connected with and controls the camera, the steering engine, the hub motor, the reducing mechanism and the visual module. The device can automatically move in the pipeline, various defects in the pipeline can be captured and analyzed in real time, and comprehensive, rapid and accurate overhauling of the pipeline is achieved.

Description

Technical Field

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

[0002] In the field of pipeline maintenance and management, traditional methods often rely on manual inspection and repair, which is not only inefficient but also poses high safety risks. With the advancement of science and technology, especially the rapid development of electronic technology, material science, artificial intelligence and machine vision, pipeline inspection technology is undergoing profound changes.

[0003] In recent years, with the introduction of artificial intelligence and image recognition technology, modern pipeline robots have begun to have more intelligent and flexible features. These robots are not only able to perform basic visual inspections, but also transmit data in real time, perform fault analysis, and even have cleaning and repair functions. However, despite the significant progress made in these technologies, there are still some challenges in practical applications. For example, how to maintain stable maneuverability in a complex and changing pipeline environment, how to efficiently and accurately capture and analyze various defects in the pipeline, and how to reduce the difficulty and cost of operation are all problems that need to be solved by the current multifunctional variable diameter adaptive pipeline robot technology. Summary of the invention

[0004] The purpose of the present invention is to provide a multifunctional variable-diameter adaptive pipeline robot and a control method thereof, which can autonomously move in a pipeline, capture and analyze various defects in the pipeline in real time, improve maintenance efficiency and safety, and realize comprehensive, rapid and accurate maintenance of the pipeline.

[0005] To achieve the above object, the present invention provides a multifunctional variable diameter adaptive pipeline robot, comprising a front connecting plate and a rear connecting plate, the front connecting plate and the rear connecting plate are connected by a Zhan structure, and the ends of the front connecting plate and the rear connecting plate away from the Zhan structure are respectively connected with a diameter-changing mechanism;

[0006] The variable diameter mechanism includes a variable diameter bracket, which is provided with two groups, and the openings are symmetrically distributed outwards. A visual module is centrally connected to the connection between the two groups of variable diameter brackets, and a variable diameter foot controlled by a driving mechanism is connected to the variable diameter bracket;

[0007] The front connecting plate is connected with a steering gear and a magnetic tool mounting seat, and the lower part of the front connecting plate is rotatably connected with a motor telescopic support frame, which is driven by the steering gear, and the motor telescopic support frame is connected with a hub motor wheel;

[0008] The rear end connecting board is connected with a control board and a camera, and the control board is connected to control the camera, the steering gear, the wheel of the hub motor, the diameter-changing mechanism and the vision module.

[0009] As a further solution of the present invention: the driving mechanism includes a screw rotatably connected to a reducer bracket, a motor fixing plate is connected to the outer side of the reducer bracket, a driving motor and a coupling are connected to the motor fixing plate, and the driving motor is connected to the driving screw through a coupling.

[0010] As a further solution of the present invention: each lead screw is connected to two symmetrically distributed reducing feet, the reducing feet include an upper driving part and a lower supporting part, the upper driving part and the lower supporting part are connected by a spring, a universal ball is connected to the end of the lower supporting part, the upper driving part is movably connected to a sliding block that cooperates with the lead screw thread, and one end of the upper driving part close to the lead screw is hinged to the reducing bracket.

[0011] As a further solution of the present invention: the upper driving part is an arc-shaped structure, with a cavity for accommodating a slider at the top, strip grooves communicating with the cavity are symmetrically arranged on the upper driving part, and a sliding column slidably matched with the strip groove is arranged on the slider.

[0012] As a further solution of the present invention: it also includes an adaptive device connected to the control board, the adaptive device includes a tactile sensor located at the end of the variable diameter foot, an infrared sensor located on the front connecting plate and the rear connecting plate, and an ultrasonic sensor located below the visual module.

[0013] To achieve the above object, the present invention also provides a control method for a multifunctional variable diameter adaptive pipeline robot, the steps are as follows:

[0014] Step 1: Use the lift to raise the platform until it is flush with the pipe;

[0015] Step 2: The front-end visual module and ultrasonic sensor obtain the inner wall diameter information of the pipe and control the diameter and walking route of the robot;

[0016] Step 3: The visual modules at the front and back ends capture and take pictures of the inner wall of the pipeline in real time;

[0017] Step 4: The control panel integrates the inner wall image and performs digital image processing to obtain corrosion signs, dirt, coating shedding and cracks on the inner wall of the pipeline;

[0018] Step 5: The camera identifies the situation above the pipe and assists the brush head on the magnetic tool mounting base to clean the upper part of the pipe;

[0019] Step 6: The control board sends the processed data to the computer.

[0020] Furthermore, the pipeline inner wall diameter information includes: pipeline inner wall diameter, pipeline inner surface obstacle conditions, and the travel route includes: moving direction, moving speed, and acceleration.

[0021] Furthermore, during the movement of the robot, if it encounters a curved pipe in front, the front-end vision module sends image data to the control board, which analyzes the image and calculates the steering angle of the curved pipe, and controls the wheel hub motor to drive the robot to turn; if a foreign object appears in front, the control board identifies the position of the foreign object, and the drive motor adjusts the angle of each variable diameter mechanism according to the position of the foreign object to ensure that the robot passes smoothly.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. Compared with the traditional multifunctional variable-diameter adaptive pipeline robot, the multifunctional variable-diameter adaptive pipeline robot in the present invention can adapt to more stringent pipeline environments. The 8 universal ball bearings improve the stability of the multifunctional variable-diameter adaptive pipeline robot and can adapt to pipelines with round, square and other structures. For some special-shaped pipelines, the angle of the variable diameter foot can be changed during installation to achieve more stable operation.

[0024] 2. The variable diameter mechanism in the present invention is combined with the Zhan-type structure. Compared with the traditional multifunctional variable diameter adaptive pipeline robot, the adhesion of the hub motor and the universal ball on the inner wall of the pipeline is increased, and the passability of the variable diameter pipeline and the curved pipe of the multifunctional variable diameter adaptive pipeline robot is increased.

[0025] 3. The present invention adopts a hub motor wheel as the active wheel drive, which simplifies the structure of the multifunctional variable-diameter adaptive pipeline robot and prolongs the working performance and working time of the multifunctional variable-diameter adaptive pipeline robot in the pipeline.

[0026] 4 The present invention optimizes the structure of the variable diameter foot and the mechanical properties of the variable diameter foot, ensuring that the variable diameter foot can achieve the goal of lightweighting the multifunctional variable diameter adaptive pipeline robot while maintaining sufficient strength. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the structure of the multifunctional variable-diameter adaptive pipeline robot of the present invention;

[0028] Figure 2 It is a structural schematic diagram of the variable diameter foot of the present invention.

[0029] Figure 3 It is a schematic diagram of the deformation structure of the multifunctional variable-diameter adaptive pipeline robot of the present invention.

[0030] Figure 4 It is a structural schematic diagram of the diameter adjustment state of the multifunctional variable-diameter adaptive pipeline robot of the present invention.

[0031] In the figure: 1. variable diameter mechanism, 2. rear end connecting plate, 3. Zhan type structure, 4. motor telescopic support frame, 5. hub motor wheel, 6. vision module, 7. magnetic tool mounting seat, 8. front end connecting plate, 9. servo, 10. camera, 11. control board;

[0032] 1.1, reducer foot, 1.2, reducer bracket, 1.3, lead screw, 1.4, coupling, 1.5, drive motor, 1.6, motor fixing plate;

[0033] 1.1.1, universal ball bearing, 1.1.2, lower supporting part, 1.1.3, spring, 1.1.4, upper driving part, 1.1.5, cavity, 1.1.6, slider, 1.1.7, strip groove, 1.1.8, slide column. DETAILED DESCRIPTION

[0034] The present invention will be further described below by way of examples.

[0035] like Figure 1 As shown, a multifunctional variable diameter adaptive pipeline robot includes a front connecting plate 8 and a rear connecting plate 2, and the front connecting plate 8 and the rear connecting plate 2 are connected by a Zhan structure 3, which can make the connection activity of the front connecting plate 8 and the rear connecting plate 2 better, such as Figure 3 The figure shows the deformation state of the Zhan-type structure 3, which can pass through the pipe bend more flexibly. The front connecting plate 8 and the rear connecting plate 2 are connected to the diameter reducing mechanism 1 at the ends away from the Zhan-type structure 3 respectively.

[0036] The variable diameter mechanism 1 comprises a variable diameter bracket 1.2, which is provided with two groups, and the openings are symmetrically distributed outwards, and a visual module 6 is centrally connected to the connection between the two groups of variable diameter brackets 1.2, and a variable diameter foot 1.1 regulated and controlled by a driving mechanism is connected to the variable diameter bracket 1.2;

[0037] The visual module 6 preferably uses a binocular camera 10. When the multifunctional variable-diameter adaptive pipeline robot walks inside the pipeline, the binocular camera 10 at the front end can capture and record high-definition video of the inner wall of the pipeline in real time, providing the multifunctional variable-diameter adaptive pipeline robot with detailed front image information. The control panel 11 of the multifunctional variable-diameter adaptive pipeline robot can determine whether it is necessary to adjust the direction of travel or make a U-turn based on the real-time image data, and identify and analyze the potential safety hazards in the front pipeline, such as minor cracks, signs of corrosion, and coating shedding. In special situations such as pipeline blockage, the binocular camera 10 at the rear end can capture and record image information behind the pipeline. The multifunctional variable-diameter adaptive pipeline robot can intelligently plan an optimal evacuation path based on real-time feedback from the rear environment to avoid potential blocking risks, thereby enhancing the operating efficiency and safety of the multifunctional variable-diameter adaptive pipeline robot in a complex pipeline environment.

[0038] The variable diameter foot 1.1 is driven and controlled by an independent driving mechanism, so that the multifunctional variable diameter adaptive pipeline robot can adapt to variable diameter pipelines and curved pipes, and the variable diameter mechanism 1 can ensure that it always rests on the pipe wall;

[0039] The front connecting plate 8 is connected with a steering gear 9 and a magnetic tool mounting seat 7. The magnetic tool mounting seat 7 can be used to replace the brush head according to the situation of the pipeline to perform different operations in the pipeline, so as to achieve multi-purpose use of one machine. The motor telescopic support frame 4 is rotatably connected to the lower part of the front connecting plate 8. The motor telescopic support frame 4 is connected and driven by the steering gear 9. The motor telescopic support frame 4 is connected with a hub motor wheel 5; a hub motor wheel 5 is driven as an active wheel, which simplifies the structure of the multifunctional variable diameter adaptive pipeline robot and prolongs the working performance and working time of the multifunctional variable diameter adaptive pipeline robot in the pipeline.

[0040] A compression spring is arranged inside the motor telescopic support frame 4. When the robot is in the pipeline, the overall length of the motor telescopic support frame 4 can be adaptively adjusted along with the adjustment of the variable diameter foot 1.1, so that the hub motor wheel 5 installed on the motor telescopic support frame 4 can always fit the inner wall of the pipeline, realizing the driving function of the driving wheel;

[0041] The rear end connecting plate 2 is connected with a control board 11 and a camera 10 , and the control board 11 is connected to control the camera 10 , the steering gear 9 , the hub motor wheel 5 , the diameter-changing mechanism 1 and the vision module 6 .

[0042] Furthermore, the driving mechanism includes a lead screw 1.3 rotatably connected to the reducer bracket 1.2, a motor fixing plate 1.6 is connected to the outer side of the reducer bracket 1.2, a driving motor 1.5 and a coupling 1.4 are connected to the motor fixing plate 1.6, and the driving motor 1.5 is connected to the driving lead screw 1.3 via the coupling 1.4.

[0043] Further, such as Figure 1 and Figure 2 As shown, each lead screw 1.3 is connected to two symmetrically distributed reducing feet 1.1, and the reducing feet 1.1 include an upper driving part 1.1.4 and a lower supporting part 1.1.2. The upper driving part 1.1.4 and the lower supporting part 1.1.2 are connected by a spring 1.1.3, a universal ball 1.1.1 is connected to the end of the lower supporting part 1.1.2, the upper driving part 1.1.4 is movably connected to a slider 1.1.6 that cooperates with the thread of the lead screw 1.3, and the end of the upper driving part 1.1.4 close to the lead screw 1.3 is hinged to the reducing bracket 1.2.

[0044] The driving motor 1.5 transmits its power to the lead screw 1.3 through the driving coupling 1.4. The lead screw 1.3 and the slider 1.1.6 cooperate with each other through threads to convert the rotational motion of the driving motor 1.5 into the linear motion of the slider 1.1.6. When the driving motor 1.5 rotates forward, the distance between the two sliders 1.1.6 increases, so that the variable diameter foot 1.1 is closed. When the driving motor 1.5 rotates reversely, the distance between the two sliders 1.1.6 decreases, and the variable diameter foot 1.1 is opened. The driving motor 1.5 drives the variable diameter foot 1.1 to open and close, realizing the active diameter change of the multifunctional variable diameter adaptive pipeline robot, so that the universal ball 1.1.1 can be adaptively stretched on the pipe wall, and the variable diameter foot 1.1 adjusts its state. Figure 4 As shown, the diameter of the multifunctional variable-diameter adaptive pipeline robot is guaranteed to always match the inner diameter of the pipeline, and it can move and climb in pipelines of various specifications.

[0045] Keep the diameter of the variable foot 1.1 slightly larger than the inner wall of the pipe, and the spring 1.1.3 is in a compressed state. The elastic potential energy increases the adhesion of the multifunctional variable diameter adaptive pipeline robot to the inner wall of the pipe. When encountering a variable diameter pipe, the front and rear diameters of the multifunctional variable diameter adaptive pipeline robot can follow the changes in the inner diameter of the pipe.

[0046] When the multifunctional variable diameter adaptive pipeline robot encounters obstacles such as uneven inner surface of the pipeline during its movement, the spring 1.1.3 of the variable diameter mechanism 1 is further compressed under the action of increased surface pressure, and the variable diameter mechanism 1 further reduces the diameter of the robot to ensure that the pipeline robot adapts to the above working conditions.

[0047] Preferably, the screw 1.3 is a ball screw 1.3, and the variable diameter foot 1.1 can open and close quickly when the inner diameter of the pipeline changes greatly.

[0048] In order to make the slider 1.1.6 better cooperate with the movement of the screw 1.3 and drive the deformable foot to open and close, the upper driving part 1.1.4 is an arc-shaped structure, and a cavity 1.1.5 for accommodating the slider 1.1.6 is provided at the top, and strip grooves 1.1.7 connected to the cavity 1.1.5 are symmetrically provided on the upper driving part 1.1.4, and a sliding column 1.1.8 that slides with the strip groove 1.1.7 is provided on the slider 1.1.6.

[0049] Furthermore, it also includes an adaptive device connected to the control board 11, which includes a tactile sensor located at the end of the variable diameter foot 1.1, which is used to sense the contact with the pipe surface, an infrared sensor located on the front connecting plate 8 and the rear connecting plate 2, which is used to detect heat sources or obstacles near the pipe, and an ultrasonic sensor located under the visual module 6, which is used to measure the distance or object position, assist the robot in navigation and obstacle avoidance, automatically adjust the robot's posture and adapt to different pipe diameters.

[0050] When an obstacle attached to the pipe wall is encountered in the pipeline, the adaptive device identifies the volume of the obstacle and sends it to the control board 11. The control board 11 analyzes the data and issues instructions to control the drive motor 1.5 to rotate and adjust the opening and closing of the variable diameter foot 1.1, so that the universal ball 1.1.1 can be adaptively tightened on the pipe wall, ensuring that the diameter of the multifunctional variable diameter adaptive pipeline robot can always match the inner diameter of the pipeline, and can realize moving and climbing in pipelines of various specifications.

[0051] Furthermore, the multifunctional variable-diameter adaptive pipeline robot adopts a wheeled foot displacement system. Each wheeled foot is an independent part and is connected to the connecting mechanism through a swing leg. When performing special-shaped pipeline inspection, the swing leg angle can also be manually fine-tuned to make the surface of the universal ball 1.1.1 fit closely to the pipe wall, thereby increasing the friction between the multifunctional variable-diameter adaptive pipeline robot and the inner wall of the pipe and ensuring the stable operation of the robot.

[0052] A control method for a multifunctional variable diameter adaptive pipeline robot, the steps are as follows:

[0053] Step 1: Use the lift to raise the platform until it is flush with the pipe;

[0054] Step 2: The front-end visual module 6 and ultrasonic sensor obtain the inner wall diameter information of the pipeline and control the diameter and walking route of the robot;

[0055] Step 3: The visual modules 6 at the front end and the back end capture and take pictures of the inner wall of the pipeline in real time;

[0056] Step 4: The control panel 11 integrates the inner wall image and performs digital image processing to obtain corrosion signs, dirt, coating shedding and cracks on the inner wall of the pipeline;

[0057] Step 5, the camera 10 identifies the situation above the pipeline, and assists the brush head on the magnetic suction tool mounting base 7 to clean the upper part of the pipeline;

[0058] Step 6: The control board 11 sends the processed data to the computer.

[0059] Furthermore, the pipeline inner wall diameter information includes: pipeline inner wall diameter, pipeline inner surface obstacle conditions, and the travel route includes: moving direction, moving speed, and acceleration.

[0060] Furthermore, during the movement of the robot, if a curved pipe is encountered in front, the front-end vision module 6 sends image data to the control board 11, and the control board 11 analyzes the image to calculate the steering angle of the curved pipe, and controls the hub motor wheel 5 to drive the robot to turn; if a foreign object appears in front, the control board 11 identifies the position status of the foreign object, and drives the motor 1.5 to adjust the angle of each variable diameter mechanism 1 according to the position of the foreign object to ensure that the robot passes smoothly.

Claims

1. A multifunctional variable diameter adaptive pipeline robot, characterized in that: The invention comprises a front connecting plate (8) and a rear connecting plate (2), wherein the front connecting plate (8) and the rear connecting plate (2) are connected via a Zhan-type structure (3), and the ends of the front connecting plate (8) and the rear connecting plate (2) away from the Zhan-type structure (3) are respectively connected with a diameter reducing mechanism (1); The diameter-changing mechanism (1) comprises a diameter-changing bracket (1.2), wherein the diameter-changing bracket (1.2) is provided with two groups, and the openings are symmetrically distributed outwards, a visual module (6) is centrally connected to the connection between the two groups of diameter-changing brackets (1.2), and a diameter-changing foot (1.1) regulated and controlled by a driving mechanism is connected to the diameter-changing bracket (1.2); The front end connecting plate (8) is connected to a steering gear (9) and a magnetic tool mounting seat (7); a motor telescopic support frame (4) is rotatably connected below the front end connecting plate (8); the motor telescopic support frame (4) is connected and driven by the steering gear (9); and a hub motor wheel (5) is connected to the motor telescopic support frame (4); A control board (11) and a camera (10) are connected to the rear end connection board (2); the control board (11) is connected to control the camera (10), the steering gear (9), the wheel hub motor (5), the diameter-changing mechanism (1) and the visual module (6).

2. A multifunctional variable diameter adaptive pipeline robot according to claim 1, characterized in that: The driving mechanism comprises a lead screw (1.3) rotatably connected to a diameter-changing bracket (1.2); a motor fixing plate (1.6) is connected to the outside of the diameter-changing bracket (1.2); a driving motor (1.5) and a coupling (1.4) are connected to the motor fixing plate (1.6); and the driving motor (1.5) is connected to the driving lead screw (1.3) via the coupling (1.4).

3. The multifunctional variable diameter adaptive pipeline robot according to claim 2, characterized in that: Each lead screw (1.3) is connected to two symmetrically distributed variable diameter feet (1.1), the variable diameter foot (1.1) comprises an upper driving part (1.1.4) and a lower supporting part (1.1.2), the upper driving part (1.1.4) and the lower supporting part (1.1.2) are connected via a spring (1.1.3), a universal ball (1.1.1) is connected to the end of the lower supporting part (1.1.2), the upper driving part (1.1.4) is movably connected to a slider (1.1.6) threadedly matched with the lead screw (1.3), and one end of the upper driving part (1.1.4) close to the lead screw (1.3) is hinged to the variable diameter bracket (1.2).

4. The multifunctional variable diameter adaptive pipeline robot according to claim 3 is characterized in that: The upper driving part (1.1.4) is an arc-shaped structure, with a cavity (1.1.5) for accommodating a slider (1.1.6) at the top, a strip groove (1.1.7) in communication with the cavity (1.1.5) symmetrically arranged on the upper driving part (1.1.4), and a sliding column (1.1.8) in sliding cooperation with the strip groove (1.1.7) arranged on the slider (1.1.6).

5. A multifunctional variable diameter adaptive pipeline robot according to any one of claims 1 to 4, characterized in that: It also includes an adaptive device connected to the control board (11), the adaptive device including a tactile sensor located at the end of the variable diameter foot (1.1), an infrared sensor located on the front connecting plate (8) and the rear connecting plate (2), and an ultrasonic sensor located below the visual module (6).

6. A control method for a multifunctional variable diameter adaptive pipeline robot according to any one of claims 1 to 5, characterized in that: Here are the steps: Step 1: Use the lift to raise the platform until it is flush with the pipe; Step 2: The front-end visual module (6) and ultrasonic sensor obtain the inner wall diameter information of the pipe and control the diameter and walking route of the robot; Step 3: The visual modules (6) at the front end and the back end capture and take pictures of the inner wall of the pipeline in real time; Step 4, the control board (11) integrates the inner wall image and performs digital image processing to obtain corrosion signs, dirt, coating shedding and cracks on the inner wall of the pipeline; Step 5, the camera (10) identifies the situation above the pipeline, and the brush head on the auxiliary magnetic suction tool mounting base (7) cleans the upper part of the pipeline; Step 6, the control board (11) sends the processed data to the computer.

7. The control method of a multifunctional variable diameter adaptive pipeline robot according to claim 6 is characterized in that: The pipeline inner wall diameter information includes: pipeline inner wall diameter, pipeline inner surface obstacle conditions, and the travel route includes: moving direction, moving speed, and acceleration.

8. The control method of a multifunctional variable diameter adaptive pipeline robot according to claim 6, characterized in that: When the robot is moving, if it encounters a curved pipe in front, the front-end visual module (6) sends image data to the control board (11), and the control board (11) analyzes the image to calculate the steering angle of the curved pipe, and controls the wheel hub motor (5) to drive the robot to turn; If a foreign object appears in front, the control board (11) identifies the position of the foreign object and drives the motor (1.5) to adjust the angles of each diameter-changing mechanism (1) according to the position of the foreign object, thereby ensuring that the robot passes smoothly.

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