Open-air pipeline detection robot, detection system and detection method

Abstract

The invention provides an open-air pipeline detection robot, a detection system and a detection method. The open-air pipeline detection robot comprises a driving main body, a detection main body and a control system, wherein the driving main body and the detection main body are detachably connected; the driving main body comprises an upper shell and a driving device, an upper groove is formed in the middle of the upper shell, a driving wheel is arranged in the upper groove, and the driving device is in driving connection with the driving wheel; the detection body comprises a lower shell matched with the upper shell, a lower groove is formed in the middle of the lower shell, a supporting wheel matched with the driving wheel is arranged in the lower groove, and an image camera, an infrared camera and an acoustic sensor are arranged in the two side walls of the lower groove respectively. The upper groove and the lower groove are oppositely buckled to form an accommodating space for a target detection pipeline to pass through; the control system comprises a data processing module and a communication positioning module, and the pipeline health state can be rapidly and comprehensively detected without stopping production.

Description

Technical Field

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

[0002] In the field of rare earth mining, leaching mining is often used to extract rare earth elements. The leaching mining method uses a specific chemical solution (such as sulfuric acid, hydrochloric acid or alkali solution) as a leaching agent to dissolve rare earth elements from solid ores into the liquid phase, which is convenient for subsequent separation and purification processes. However, in the actual operation process, the transportation of filtrate is a key link.

[0003] Since the chemical media used in the leaching process of rare earth ore are highly corrosive and erosive, and solid particles may be deposited during transportation, the inner wall of the pipeline is gradually worn, and the pipeline is prone to leakage and wear. In addition, since the leaching pipeline is exposed to the surface and the internal structure of the pipeline is complex, blockage or poor flow is inevitable, which is bound to affect the stability and reliability of the long-term operation of the pipeline. Once a failure or blockage occurs, it is difficult to quickly locate and repair it, which increases maintenance costs and time, and also has a negative impact on production efficiency.

[0004] Conventional pipeline inspections are carried out using manual inspections. Faced with complex terrain and widespread pipeline distribution, manual inspection methods have the problems of long cycles, high risks, and incomplete inspections.

[0005] Existing pipeline defect detection equipment is mostly used for drainage pipelines or gas pipelines. During the detection process, the water or gas needs to be stopped, and the detection equipment enters the detection pipeline for detection. However, traditional pipeline defect detection equipment needs to enter the pipeline to detect, which will inevitably suspend production and seriously affect production efficiency. In addition, the strong corrosiveness and erosion of chemical products have high requirements for pipeline detection equipment, which will inevitably increase equipment costs.

[0006] Therefore, there is an urgent need for an open-air pipeline inspection robot and inspection method that can quickly and comprehensively inspect the health status of the pipeline without stopping production. Summary of the invention

[0007] The purpose of the present invention is to provide an open-air pipeline inspection robot and inspection method, aiming to solve the technical problems that traditional pipeline defect detection equipment needs to stop production for inspection, affecting production efficiency, and manual inspection has low efficiency and incomplete inspection.

[0008] To achieve the above-mentioned object, in a first aspect, the present invention provides an open-air pipeline inspection robot, comprising: a detachably connected driving body for driving walking and a detection body for collecting data, and a control system;

[0009] The driving body comprises an upper shell and a driving device arranged in the upper shell, an upper groove is arranged in the middle of the upper shell, a driving wheel for walking on the outer wall of the target detection pipeline is arranged in the upper groove, and the driving device is drivingly connected to the driving wheel;

[0010] The detection body comprises a lower shell matched with the upper shell, a lower groove is provided in the middle of the lower shell, and a supporting wheel matched with the driving wheel is provided in the lower groove.

[0011] An image camera for acquiring images of defects on the exterior of the pipeline, an infrared camera for acquiring images of blockage inside the pipeline, and an acoustic sensor array for detecting wear and leakage of the inner wall of the pipeline are respectively arranged on the two side walls of the lower groove;

[0012] The upper groove and the lower groove are relatively buckled and arranged to form an accommodating space for the target detection pipeline to pass through;

[0013] The control system includes a data processing module and a communication positioning module, wherein the data processing module is used to receive the collected data of the detection subject and perform pre-processing;

[0014] The communication and positioning module is used to transmit the detection data and positioning information to the ground control center in real time.

[0015] As a further improvement of the above scheme, a lighting device is provided at the bottom of the lower groove to provide lighting for the image camera; preferably, the lighting device is an array of lamp beads arranged along the length direction of the bottom of the groove.

[0016] As a further improvement of the above solution, the driving body further includes a walking wheel, and the walking wheel and the driving wheel are arranged in a pair and are respectively arranged at two ends of the upper groove;

[0017] The running wheel comprises a running wheel shaft and two rollers rotatably arranged on the running wheel shaft;

[0018] The driving wheel comprises a driving shaft and two rollers rotatably arranged on the driving shaft, and driving gears are respectively arranged at both ends of the driving shaft for meshing connection with the driving device.

[0019] As a further improvement of the above solution, the driving device includes a driving motor, a driving gear drivingly connected to the driving motor, and a driven shaft;

[0020] A first driven gear meshing with the driving gear is disposed in the middle of the driven shaft, and second driven gears are disposed at both ends of the driven shaft, and the second driven gears are meshed and connected with the driving gears to drive the driving wheel to move.

[0021] As a further improvement of the above solution, the driving body also includes a battery for powering the driving motor; preferably, two groups of batteries are provided, and the two groups of batteries are symmetrically arranged about the upper groove.

[0022] As a further improvement of the above solution, at least two of the image cameras and at least two of the infrared cameras are provided on the side wall of the lower groove;

[0023] The image camera and the infrared camera are respectively arranged on two side walls of the lower groove opposite to each other, and each pair of the image camera and the infrared camera are arranged at intervals along the length direction of the lower groove;

[0024] At least three acoustic sensors are provided on the side walls of the lower groove, respectively located on the two side walls of the lower groove, and are staggered with the image camera and the infrared camera.

[0025] As a further improvement of the above scheme, the support wheel is arranged at a position of the lower groove close to the bottom of the groove, and is arranged in pairs corresponding to the driving wheel and the walking wheel in the upper groove, so that the detection robot can walk outside the target detection pipeline;

[0026] The supporting wheel comprises a supporting wheel shaft and two rollers rotatably arranged on the supporting wheel shaft.

[0027] As a further improvement of the above solution, the driving body and the detecting body are detachably connected via a connecting structure;

[0028] Preferably, the connecting structure includes a first connecting lug arranged on both sides of the upper shell, and a second connecting lug arranged on both sides of the lower shell, and the first connecting lug and the second connecting lug are matched and correspondingly arranged; the first connecting lug and the second connecting lug are detachably connected by bolts and / or positioning pins.

[0029] In a second aspect, the present invention further provides an open-air pipeline detection system, comprising:

[0030] An open-air pipeline inspection robot as provided in the first aspect;

[0031] A remote control terminal communicates with the open-air pipeline detection robot to send a target open-air pipeline detection task to the open-air pipeline detection robot and obtain detection data during the robot's execution of the target detection task;

[0032] The remote control terminal is equipped with an image detection algorithm, which is used to detect and identify abnormalities in real-time videos obtained by the image camera and the infrared camera respectively; preferably, the image detection algorithm adopts the yolov8 target detection algorithm;

[0033] A sound detection algorithm is also deployed to pick up the sound signal obtained by the acoustic sensor and capture the acoustic signal of pipeline leakage.

[0034] In a third aspect, the present invention further provides an open-air pipeline detection method, wherein the method performs pipeline health detection based on the open-air pipeline detection system provided in the second aspect, wherein the method comprises the following steps:

[0035] S1: The driving body and the detection body are connected and installed on the outer wall of the target detection pipe;

[0036] S2: starting the open-air pipeline inspection robot, wherein the open-air pipeline inspection robot moves along the outer wall of the target inspection pipeline and turns on the lighting device at the same time;

[0037] The image camera records the outer wall of the target detection pipeline and transmits the obtained real-time appearance image information to the data processing module and the remote control terminal;

[0038] The infrared camera obtains the internal temperature distribution image information of the target detection pipeline, and transmits the obtained real-time internal temperature image information to the data processing module and the remote control terminal;

[0039] The acoustic sensor obtains the acoustic signal of the target detection pipeline and transmits the obtained real-time acoustic signal to the data processing module and the remote control terminal;

[0040] S3: The image detection algorithm deployed on the remote control terminal performs abnormality recognition on the appearance image information and the internal temperature image information respectively;

[0041] If, within the preset time range, the internal temperature image shows an abnormal temperature distribution area exceeding the preset area, the corresponding section of the pipeline is judged to be blocked and a blockage abnormality report is generated;

[0042] If the detected appearance image information is different from the normal pipeline appearance information, the appearance of the corresponding section of the pipeline is judged to be abnormal, and an appearance abnormality report is generated;

[0043] The sound detection algorithm deployed on the remote control terminal performs abnormality identification on the sound signal;

[0044] If the detected real-time acoustic signal triggers the sound threshold, it is determined that the corresponding section of the pipeline has a leak and a leak report is generated.

[0045] As a further improvement of the above solution, the data processing module pre-processes the real-time appearance image information, the real-time internal temperature image information and the real-time sound signal, including denoising, enhancement and format conversion.

[0046] As a further improvement of the above scheme, the image detection algorithm adopts the YOLOv8 target detection algorithm; the sound detection algorithm performs abnormality recognition based on the frequency and amplitude of the sound signal.

[0047] As a further improvement of the above solution, the blockage abnormality report, appearance abnormality report and leakage report include abnormality location, abnormality type and abnormality degree.

[0048] Since the present invention adopts the above technical solution, the beneficial effects of this application are:

[0049] 1. The open-air pipeline inspection robot provided by the present invention is convenient for installing the pipeline inspection robot on the outer wall of the target inspection pipeline through the detachable driving body and the inspection body, and can stably walk on the outer wall of the pipeline by relying on the limit design of the driving wheel and the supporting wheel, without stopping production or setting up additional tracks. Such a setting enables it to adapt to pipeline inspection tasks under complex terrain conditions, comprehensively monitor the health status of the pipeline, greatly improve the inspection efficiency and coverage, and reduce the limitations and risks of manual inspection;

[0050] In addition, in the present invention, by equipping with advanced acoustic sensors, infrared cameras, image cameras and efficient data analysis algorithms, the external and internal conditions of the pipeline can be monitored in real time, including information such as wall thickness changes, surface damage, and sediment distribution, so that pipeline blockage, pipeline leakage or pipeline surface damage can be effectively identified; this multi-sensor fusion design realizes the comprehensive analysis of sound-light-image multi-field information, which can effectively predict potential risk points and give early warnings, thereby significantly improving the intelligent level of pipeline detection, effectively preventing the occurrence of emergencies, and ensuring the safe operation of the pipeline;

[0051] The present invention is not only suitable for the detection of conventional open-air pipelines, but can also be widely used in pipeline health monitoring in fields such as rare earth leaching mining, thereby improving rare earth extraction efficiency, optimizing pipeline management processes, and providing strong support for the sustainable development of the industry.

[0052] 2. The present invention provides an open-air pipeline detection method. Through an automated and intelligent detection method, the present invention significantly improves the management efficiency of open-air pipelines, reduces manpower input and detection time, and at the same time, real-time data transmission and intelligent analysis functions make pipeline maintenance decisions more scientific and timely, thereby reducing operating costs and improving the overall benefits of pipeline management;

[0053] The present invention reduces the working time of personnel in dangerous environments through intelligent detection means, and reduces the threat to personnel safety caused by accidents such as pipeline leakage and blockage. At the same time, timely detection of potential problems in pipelines can effectively prevent the leakage of harmful substances, thereby playing a positive role in environmental protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0055] Figure 1 It is a three-dimensional schematic diagram of an open-air pipeline inspection robot disclosed in the present invention being arranged on a target inspection pipeline;

[0056] Figure 2 It is a three-dimensional schematic diagram of the driving body disclosed in the present invention;

[0057] Figure 3 It is a three-dimensional schematic diagram of an open-air pipeline inspection robot disclosed in the present invention with the upper shell removed;

[0058] Figure 4 It is a three-dimensional schematic diagram of the detection subject disclosed in the present invention;

[0059] Figure 5 A three-dimensional schematic diagram of an image camera or an infrared camera disclosed in the present invention;

[0060] Figure 6 It is a three-dimensional schematic diagram of the acoustic sensor disclosed in the present invention;

[0061] Figure 7 It is a three-dimensional schematic diagram of the driving device disclosed in the present invention;

[0062] Figure 8 The present invention is a schematic flow chart of an open-air pipeline detection method disclosed in the present invention.

[0063] Reference numerals:

[0064] 0. Target detection pipeline; 1. Driving body; 11. Upper shell; 111. Upper groove; 12. Driving device; 121. Driving motor; 122. Driving gear; 123. Driven shaft; 124. First driven gear; 125. Second driven gear; 13. Driving wheel; 131. Driving shaft; 132. Driving gear; 14. Traveling wheel; 141. Traveling wheel shaft; 16. Roller; 17. Battery; 2. Detection body; 21. Lower shell; 22. Lower groove; 23. Support wheel; 231. Support wheel shaft; 3. Image camera; 4. Infrared camera; 5. Acoustic sensor; 6. Data processing module; 7. Communication positioning module; 8. Illuminating device; 9. Connecting structure; 91. First connecting lug; 92. Second connecting lug; 10. Control system.

[0065] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with the implementation methods and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0066] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0067] It should be noted that all directional indications (such as up, down, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0068] In addition, in the present invention, the descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0069] Furthermore, the technical solutions between the various embodiments of the present invention may be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in the field. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0070] Example 1

[0071] See also Figure 1-Figure 7 , this embodiment discloses an open-air pipeline inspection robot, which adopts a modular design, can be adapted according to pipelines of different diameters, and realizes efficient and multi-dimensional pipeline health status monitoring;

[0072] Specifically, the open-air pipeline inspection robot comprises: a detachably connected driving body 1 for driving walking and a detection body 2 for collecting data, and a control system 10; in this embodiment, the driving body 1 and the detection body 2 are quickly disassembled and assembled through a connection structure 9, so as to be easily installed on the outer wall of the target inspection pipeline 0;

[0073] The driving body 1 includes an upper shell 11 and a driving device 12 arranged in the upper shell 11, an upper groove 111 is provided in the middle of the upper shell 11, and a driving wheel 13 and a walking wheel 14 for walking on the outer wall of the target detection pipeline 0 are provided in the upper groove 111, and the driving device 12 is drivingly connected to the driving wheel 13; specifically, the driving wheel 13 is connected to the driving device 12 through a driving shaft 131, and driving gears 132 are provided at both ends of the driving shaft 131; the driving device 12 includes a driving motor 121, a driving gear 122 drivingly connected to the driving motor 121, and a driven shaft 123, the driving gear 122 is meshed with a first driven gear 124 in the middle of the driven shaft 123, and the second driven gears 125 at both ends of the driven shaft 123 are meshed with the driving gear 132, forming a two-stage transmission structure (see Figure 7 ), significantly improve the driving torque;

[0074] In this embodiment, two groups of walking wheels 14 are provided; the driving wheel 13 is arranged at one end of the upper groove 111, one group of walking wheels 14 is arranged at the other end of the upper groove 111, and the other group of walking wheels 14 is arranged in the middle of the upper groove 111, and two rollers 16 are arranged on the corresponding wheel axles of the driving shaft 131 and the driven wheel respectively; the arrangement of the driving wheel 13 and the walking wheel 14 of the double roller 16 can increase the contact area between the roller 16 and the target detection pipeline 0 and improve the walking stability;

[0075] The detection body 2 includes a lower shell 21 adapted to the upper shell 11, a lower groove 22 is provided in the middle of the lower shell 21, a support wheel 23 is provided in the lower groove 22, and a support wheel shaft 231 of the support wheel 23 is arranged in parallel with the drive wheel 13 shaft and the walking wheel shaft 141; correspondingly, in this embodiment, three groups of support wheels 23 are arranged in the lower groove 22, which are respectively arranged corresponding to the drive wheel 13 and the two groups of walking wheels 14, and form a three-point clamping structure for the target detection pipeline 0; the combination of the two-stage gear transmission and the three-point clamping structure ensures stable walking on the inclined and slippery pipeline surface;

[0076] The two side walls of the lower groove 22 are respectively provided with an image camera 3 for obtaining images of defects on the exterior of the pipeline, an infrared camera 4 for obtaining images of blockage inside the pipeline, and an array of acoustic sensors 5 for detecting wear and leakage of the inner wall of the pipeline;

[0077] The upper groove 111 and the lower groove 22 are relatively buckled and arranged to form an accommodation space for the target detection pipeline 0 to pass through; the arrangement of the accommodation space enables the detection robot to fit closely to the outer wall of the target detection pipeline 0, thereby ensuring the stability and accuracy of the detection;

[0078] The control system 10 includes a data processing module 6 and a communication positioning module 7. The data processing module 6 is used to receive the collected data of the detection subject 2 and perform pre-processing;

[0079] The communication and positioning module is used to transmit the detection data and positioning information to the ground control center in real time;

[0080] In the present invention, the pipeline inspection robot is conveniently installed on the outer wall of the target inspection pipeline 0 through the detachable driving body 1 and the detection body 2, and can stably walk on the outer wall of the pipeline by relying on the limit design of the driving wheel 13 and the supporting wheel 23, without stopping production or setting up additional tracks. Such a setting enables it to adapt to pipeline inspection tasks under complex terrain conditions, comprehensively monitor the health status of the pipeline, greatly improve the inspection efficiency and coverage, and reduce the limitations and risks of manual inspection;

[0081] In addition, in the present invention, by being equipped with advanced acoustic sensors 5, infrared cameras 4, image cameras 3 and efficient data analysis algorithms, the external and internal conditions of the pipeline can be monitored in real time, including information such as wall thickness changes, surface damage, and sediment distribution, so that pipeline blockage, pipeline leakage or pipeline surface damage can be effectively identified; this multi-sensor fusion design realizes the comprehensive analysis of sound-light-image multi-field information, which can effectively predict potential risk points and give early warnings, thereby significantly improving the intelligent level of pipeline detection, effectively preventing the occurrence of emergencies, and ensuring the safe operation of the pipeline;

[0082] The present invention is not only suitable for the detection of conventional open-air pipelines, but can also be widely used in pipeline health monitoring in fields such as rare earth leaching mining, thereby improving rare earth extraction efficiency, optimizing pipeline management processes, and providing strong support for the sustainable development of the industry.

[0083] As a preferred embodiment, a lighting device 8 is provided at the bottom of the lower groove 22 to provide lighting for the image camera 3; preferably, the lighting device 8 is an array of lamp beads arranged along the length direction of the bottom of the groove; specifically, in the present embodiment, an LED array of lamp beads extending along the length direction is provided at the bottom of the lower groove 22, and its light intensity is automatically adjusted by the ambient light sensor to ensure clear imaging of the image camera 3 at night or in low illumination environments; at the same time, the design of the LED array of lamp beads extending along the length direction of the bottom of the lower groove 22 can evenly illuminate the outer wall of the pipe, thereby improving the imaging quality of the image camera 3 and ensuring the accuracy of the detection results.

[0084] As a preferred embodiment, the driving body 1 also includes a battery 17 for powering the driving motor 121; preferably, two groups of batteries 17 are provided, and the two groups of batteries 17 are symmetrically arranged about the upper groove 111; in this embodiment, the battery 17 supports hot-swappable replacement, which can extend the battery life.

[0085] As a preferred embodiment, at least two image cameras 3 and at least two infrared cameras 4 are provided on the side walls of the lower groove 22; and the image cameras 3 and the infrared cameras 4 are respectively arranged on the two side walls of the lower groove 22, and each pair of the image cameras 3 and the infrared cameras 4 are arranged at intervals along the length direction of the lower groove 22; in this embodiment, two image cameras 3 and two infrared cameras 4 are provided, one image camera 3 and one infrared camera 4 are respectively arranged on the two opposite side walls of the lower groove 22, and are respectively used to obtain the appearance image information and the internal temperature image information of one side at the position, and the two image cameras 3 and the two infrared cameras 4 are respectively arranged in an interlaced manner, so as to obtain the appearance image information of the entire pipeline and the internal temperature image information of the entire pipeline, and then the internal and external health conditions (appearance defects and internal blockages) of the pipeline can be detected;

[0086] At least three acoustic sensors 5 are provided on the side walls of the lower groove 22, respectively located on the two side walls of the lower groove 22, and are staggered with the image camera 3 and the infrared camera 4;

[0087] In this embodiment, six acoustic sensors 5 are provided to form an acoustic sensor 5 array. The six acoustic sensors 5 are arranged in pairs on two opposite side walls of the lower groove 22, and three pairs of acoustic sensors 5 are respectively arranged near both ends and the middle of the lower groove 22. The arrangement of the acoustic sensor 5 array can comprehensively detect the wear and leakage points of the inner wall of the pipeline through sound wave reflection.

[0088] Visible light, infrared and acoustic sensors 5 work together to synchronously obtain data on the inner and outer walls and internal status of the pipeline, solve the blind spot problem of traditional single-mode detection, and achieve multi-dimensional health detection of the pipeline.

[0089] As a preferred embodiment, the driving body 1 and the detecting body 2 are detachably connected via a connecting structure 9;

[0090] Preferably, the connecting structure 9 includes a first connecting lug 91 arranged on both sides of the upper shell 11, and a second connecting lug 92 arranged on both sides of the lower shell 21, and the first connecting lug 91 and the second connecting lug 92 are matched with each other; the first connecting lug 91 and the second connecting lug 92 are detachably connected by bolts and / or positioning pins; optionally, the connecting lugs can be replaced with electromagnetic locks or quick clamping mechanisms to meet the disassembly and assembly efficiency requirements under different working conditions.

[0091] Example 2

[0092] The present invention also provides an open-air pipeline detection system, comprising:

[0093] An open-air pipeline inspection robot as provided in the first aspect;

[0094] A remote control terminal communicates with the open-air pipeline detection robot to send a target open-air pipeline detection task to the open-air pipeline detection robot and obtain detection data during the robot's execution of the target detection task;

[0095] The remote control terminal is equipped with an image detection algorithm, which is used to detect and identify abnormalities in the real-time video obtained by the image camera 3 and the infrared camera 4; preferably, the image detection algorithm adopts the yolov8 target detection algorithm;

[0096] A sound detection algorithm is also deployed to pick up the acoustic signal obtained by the acoustic sensor 5 to capture the acoustic signal of pipeline leakage;

[0097] The image camera 3 and the infrared camera 4 carried by the robot are used to obtain the appearance image information and the internal temperature image information of the pipeline respectively, while the acoustic sensor 5 is used to capture the acoustic signals around the pipeline.

[0098] During the inspection process, the robot moves along the pipeline according to a preset path or through autonomous navigation, while collecting video, infrared image and acoustic signal data in real time, and transmits this data to the remote control terminal through the communication positioning module;

[0099] The remote control terminal establishes a connection with the open-air pipeline inspection robot through the communication positioning module. The operator sets the inspection task parameters of the target open-air pipeline on the terminal interface, such as the inspection path, inspection speed, data collection frequency, etc., and sends these parameters to the robot in the form of task instructions.

[0100] When the robot is performing the inspection task, it transmits the collected images, infrared images and acoustic signal data back to the remote control terminal in real time. The image detection algorithm on the terminal (using the YOLOv8 target detection algorithm) analyzes the real-time video obtained by the image camera 3 and the infrared camera 4 to identify abnormal conditions such as cracks, corrosion, and deformation on the pipeline surface. At the same time, the sound detection algorithm analyzes the acoustic signal captured by the acoustic sensor 5 to identify the specific acoustic characteristics generated by the pipeline leakage.

[0101] The operator can view the test results in real time through the display screen of the remote control terminal and remotely control the robot as needed, such as adjusting the test speed, changing the test path or pausing the test task.

[0102] During the inspection process, the remote control terminal summarizes and analyzes all the collected data and generates a detailed inspection report. The report includes information such as the abnormal location, abnormal type, and severity of the pipeline, and also provides the original data of the appearance image, infrared image, and acoustic signal for further analysis.

[0103] If a leak or other serious abnormality is detected in the pipeline, the system will automatically trigger an alarm and push relevant information to the maintenance personnel's mobile terminal or monitoring platform for timely maintenance.

[0104] The present invention can detect open-air pipelines from both visual and acoustic dimensions by integrating multiple detection devices such as an image camera 3, an infrared camera 4 and an acoustic sensor 5. The application of the YOLOv8 target detection algorithm enables the system to quickly and accurately identify abnormal conditions on the pipeline surface, while the sound detection algorithm can accurately capture the acoustic signals generated by pipeline leakage, thereby achieving all-round detection of the pipeline, effectively improving the accuracy and reliability of the detection; and the open-air pipeline detection robot of the present invention can move autonomously and complete the detection task without direct manual contact with the pipeline, greatly reducing the work intensity and safety risks of the detection personnel. At the same time, the deployment of the remote control terminal makes the detection process more flexible and efficient, reducing the use cost and maintenance cost of the equipment.

[0105] Example 3

[0106] See also Figure 8 The present invention further provides an open-air pipeline detection method, which performs pipeline health detection based on the open-air pipeline detection system provided in the second aspect, wherein the method comprises the following steps:

[0107] First, the driving body 1 and the detection body 2 of the open-air pipeline detection robot are connected and installed on the outer wall of the target detection pipeline 0. The driving body 1 is tightly fitted with the outer wall of the pipeline through the driving device 12 at the bottom to ensure that the robot can travel stably. The detection body 2 is equipped with an image camera 3, an infrared camera 4 and an acoustic sensor 5 to obtain the appearance image, internal temperature distribution image and acoustic signal of the pipeline.

[0108] After the installation is completed, start the open-air pipeline inspection robot. The robot travels along the outer wall of the target detection pipeline 0, and turns on the lighting device 8 at the same time to ensure that the image camera 3 can clearly capture the appearance image of the outer wall of the pipeline. The image camera 3 records the outer wall of the target detection pipeline 0, and transmits the obtained real-time appearance image information to the data processing module 6 and the remote control terminal. At the same time, the infrared camera 4 obtains the temperature distribution image information inside the target detection pipeline 0 through the thermal conduction characteristics of the outer wall of the pipeline, and transmits the real-time internal temperature image information to the data processing module 6 and the remote control terminal. The acoustic sensor 5 collects the sound signals around the pipeline in real time, and transmits the signals to the data processing module 6 and the remote control terminal;

[0109] After receiving the appearance image information, internal temperature image information and sound signal data from the detection robot, the remote control terminal starts the image detection algorithm and sound detection algorithm deployed on the terminal to perform abnormality recognition;

[0110] Image detection algorithm: The image detection algorithm analyzes the appearance image information and internal temperature image information obtained by the image camera 3 and the infrared camera 4 respectively. If within the preset time range, the internal temperature image shows an abnormal temperature distribution area exceeding the preset area (for example, the area of ​​the abnormal temperature area exceeds 10% of the cross-sectional area of ​​the pipeline), the corresponding section of the pipeline is judged to be blocked, and a blockage abnormality report is generated, which includes information such as the blockage location and the area of ​​the abnormal area;

[0111] For appearance image information, the image detection algorithm (using the YOLOv8 target detection algorithm) compares it with the preset normal pipeline appearance information. If the appearance image information is detected to be different from the normal pipeline appearance information (for example, cracks, corrosion, or deformation, etc.), the appearance of the corresponding section of the pipeline is judged to be abnormal, and an appearance abnormality report is generated, which includes information such as the abnormality type and location;

[0112] Sound detection algorithm: The sound detection algorithm analyzes the sound signal collected by the acoustic sensor 5. If the intensity or frequency characteristics of the real-time sound signal triggers the preset sound threshold (for example, the intensity of the sound signal exceeds 3 times the background noise), it is determined that the corresponding section of the pipeline has leaked, and a leak report is generated, which includes information such as the leak location and the characteristics of the sound signal;

[0113] During the detection process, the remote control terminal generates a blockage anomaly report, an appearance anomaly report, and a leakage report in real time based on the anomaly identification results, and stores these reports in the local database. At the same time, the operator can view the detection results and anomaly reports in real time through the interface of the remote control terminal. If a serious anomaly is detected, the system will automatically trigger an alarm and push the anomaly report to the maintenance personnel's mobile terminal or monitoring platform so that maintenance measures can be taken in a timely manner.

[0114] The present invention can detect open-air pipelines from three dimensions: appearance, internal temperature and acoustic signal by integrating an image camera 3, an infrared camera 4 and an acoustic sensor 5. The application of image detection algorithm and sound detection algorithm enables the system to quickly and accurately identify pipeline blockage, appearance abnormality and leakage and other health problems, and realize comprehensive health monitoring and accurate diagnosis of pipelines;

[0115] The inspection robot collects data in real time during driving and transmits the data to the remote control terminal. The detection algorithm on the terminal can analyze the data in real time and generate abnormal reports, and the operator can monitor the inspection process in real time. Once an abnormal situation is detected, the system can quickly issue an alarm and notify maintenance personnel, greatly shortening the abnormality processing time and improving the safety and reliability of the pipeline.

[0116] As a preferred embodiment, the data processing module 6 pre-processes the real-time appearance image information, the real-time internal temperature image information and the real-time sound signal, including denoising, enhancement and format conversion.

[0117] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. An open-air pipeline inspection robot, characterized in that: include: A detachably connected driving body and detection body, and a control system; The driving body comprises an upper shell and a driving device arranged in the upper shell, an upper groove is arranged in the middle of the upper shell, a driving wheel for walking on the outer wall of the target detection pipeline is arranged in the upper groove, and the driving device is drivingly connected to the driving wheel; The detection body comprises a lower shell matched with the upper shell, a lower groove is provided in the middle of the lower shell, and a supporting wheel matched with the driving wheel is provided in the lower groove. An image camera for acquiring images of defects on the exterior of the pipeline, an infrared camera for acquiring images of blockage inside the pipeline, and an acoustic sensor array for detecting wear and leakage of the inner wall of the pipeline are respectively arranged on the two side walls of the lower groove; The upper groove and the lower groove are relatively buckled and arranged to form an accommodating space for the target detection pipeline to pass through; The control system includes a data processing module and a communication positioning module, wherein the data processing module is used to receive the collected data of the detection subject and perform pre-processing; The communication and positioning module is used to transmit the detection data and positioning information to the ground control center in real time.

2. The open-air pipeline inspection robot according to claim 1, characterized in that: A lighting device is provided at the bottom of the lower groove to provide lighting for the image camera.

3. An open-air pipeline inspection robot according to claim 1 or 2, characterized in that: The driving body further comprises a running wheel, wherein the running wheel and the driving wheel are matched and arranged in pairs, and are respectively arranged at two ends of the upper groove; The running wheel comprises a running wheel shaft and two rollers rotatably arranged on the running wheel shaft; The driving wheel comprises a driving shaft and two rollers rotatably arranged on the driving shaft, and driving gears are respectively arranged at both ends of the driving shaft for meshing connection with the driving device.

4. The open-air pipeline inspection robot according to claim 3, characterized in that: The driving device includes a driving motor, a driving gear drivingly connected to the driving motor, and a driven shaft; A first driven gear meshing with the driving gear is disposed in the middle of the driven shaft, and second driven gears are disposed at both ends of the driven shaft, and the second driven gears are meshed and connected with the driving gears to drive the driving wheel to move.

5. The open-air pipeline inspection robot according to claim 4, characterized in that: The driving body also includes a battery for supplying power to the driving motor.

6. An open-air pipeline inspection robot according to claim 1 or 2, characterized in that: At least two of the image cameras and at least two of the infrared cameras are provided on the side wall of the lower groove; The image camera and the infrared camera are respectively arranged on two side walls of the lower groove opposite to each other, and each pair of the image camera and the infrared camera are arranged at intervals along the length direction of the lower groove; At least three acoustic sensors are provided on the side walls of the lower groove, respectively located on the two side walls of the lower groove, and are staggered with the image camera and the infrared camera.

7. An open-air pipeline inspection robot according to claim 1 or 2, characterized in that: The driving body and the detecting body are detachably connected via a connecting structure; The connection structure includes a first connection lug arranged on both sides of the upper shell, and a second connection lug arranged on both sides of the lower shell, and the first connection lug and the second connection lug are matched and correspondingly arranged; the first connection lug and the second connection lug are detachably connected by bolts and / or positioning pins.

8. An open-air pipeline detection system, characterized in that: include: An open-air pipeline inspection robot as described in any one of claims 1 to 7; A remote control terminal communicates with the open-air pipeline detection robot to send a target open-air pipeline detection task to the open-air pipeline detection robot and obtain detection data during the robot's execution of the target detection task; The remote control terminal is equipped with an image detection algorithm, which is used to detect and identify anomalies in the real-time video obtained by the image camera and the infrared camera respectively; A sound detection algorithm is also deployed to pick up the sound signal obtained by the acoustic sensor and capture the acoustic signal of pipeline leakage.

9. An open-air pipeline detection method, the method is based on the open-air pipeline detection system according to claim 8 to perform pipeline health detection, characterized in that: The method comprises the following steps: S1: The driving body and the detection body are connected and installed on the outer wall of the target detection pipe; S2: starting the open-air pipeline inspection robot, wherein the open-air pipeline inspection robot moves along the outer wall of the target inspection pipeline and turns on the lighting device at the same time; The image camera records the outer wall of the target detection pipeline and transmits the obtained real-time appearance image information to the data processing module and the remote control terminal; The infrared camera obtains the internal temperature distribution image information of the target detection pipeline, and transmits the obtained real-time internal temperature image information to the data processing module and the remote control terminal; The acoustic sensor obtains the acoustic signal of the target detection pipeline and transmits the obtained real-time acoustic signal to the data processing module and the remote control terminal; S3: The image detection algorithm deployed on the remote control terminal performs abnormality recognition on the appearance image information and the internal temperature image information respectively; If, within the preset time range, the internal temperature image shows an abnormal temperature distribution area exceeding the preset area, the corresponding section of the pipeline is judged to be blocked and a blockage abnormality report is generated; If the detected appearance image information is different from the normal pipeline appearance information, the appearance of the corresponding section of the pipeline is judged to be abnormal, and an appearance abnormality report is generated; The sound detection algorithm deployed on the remote control terminal performs abnormality identification on the sound signal; If the detected real-time acoustic signal triggers the sound threshold, it is determined that the corresponding section of the pipeline has a leak and a leak report is generated.

10. The open-air pipeline inspection robot according to claim 9, characterized in that: The image detection algorithm adopts the YOLOv8 target detection algorithm; the sound detection algorithm performs abnormality recognition based on the frequency and amplitude of the sound signal.

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