A method and system for locating a shallow pipeline break based on multi-robot cooperation

Abstract

The application discloses a kind of shallow pipeline breakage positioning method and system based on multi-robot cooperation, which comprises: placing pipeline robot in pipeline, the rear end of pipeline robot is connected with cable reel for winding and unwinding cable, while placing mechanical dog at ground surface above pipeline robot;Control pipeline robot to travel in pipeline, as pipeline robot travels, cable in cable reel is pulled out, stop traveling when pipeline robot detects pipeline breakage point;Mechanical dog obtains the length variation of cable pulled out by cable reel, and travels to the initial motion direction of pipeline robot, gradually patrols inward with the length variation as radius;Signal receiver collects signal strength data transmitted by signal transmitter in real time during patrol;The positioning of mechanical dog when signal receiver receives maximum signal strength is taken as the position of pipeline breakage point.The application effectively improves the accuracy of pipeline breakage detection through the cooperative positioning of mechanical dog and pipeline robot.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection technology, specifically to a method and system for locating shallow pipeline damage based on multi-robot collaboration. Background Technology

[0002] Mobile robots play an indispensable role in the inspection of industrial infrastructure, such as underground pipelines in modern urban or industrial transportation environments. Because pipelines are typically buried underground, they face a variety of potential risks, including corrosion, wear, leaks, and impacts from external objects. Therefore, regular inspection and maintenance are crucial to ensure the safety and reliability of the pipelines. Traditional methods for inspecting underground pipelines primarily rely on remotely operated vehicles, but these are prone to problems such as signal loss and disconnection within the confined space of the pipeline.

[0003] Regarding location accuracy, GPS signals are typically unavailable in underground pipes or enclosed spaces, preventing the use of conventional satellite positioning systems for pipe robots. This makes precise positioning within pipes extremely difficult, necessitating reliance on alternative positioning technologies such as inertial navigation, odometry, or vision-based systems. However, these technologies still have limitations in terms of accuracy and reliability. During travel, the robot may tilt or rotate due to pipe bends, inclinations, or slopes. This unstable motion affects the robot's attitude control, consequently impacting the accurate estimation of its pose (position and orientation), especially when unsupported or when the pipe diameter varies.

[0004] Based on this, the present invention provides a method and system for locating shallow pipeline damage based on multi-robot collaboration, so as to achieve accurate positioning of robots in pipelines. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides a method and system for locating shallow pipe damage based on multi-robot collaboration.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a method for locating shallow pipe damage based on multi-robot collaboration, comprising the following steps:

[0007] S1: Place the pipeline robot inside the pipeline. Connect the rear end of the pipeline robot to a cable retractor for cable winding and unwinding. At the same time, place the mechanical dog on the ground above the pipeline robot.

[0008] The pipeline robot is equipped with a signal transmitter, and the mechanical dog is equipped with a signal receiver.

[0009] S2: Control the pipeline robot to move inside the pipeline. As the pipeline robot moves, the cable in the cable retractor is pulled out. When the pipeline robot detects a damage point in the pipeline, it stops moving.

[0010] S3: The robot dog obtains the length change value of the cable pulled out by the cable retractor (the current length of the cable minus the initial length of the cable), and travels the corresponding distance in the initial direction of movement of the pipeline robot (this position is the robot dog's initial position). It then performs an inspection step by step inward with the length change value as the radius. During the inspection, the signal receiver collects the signal strength data transmitted by the signal transmitter in real time.

[0011] S4: The location of the mechanical dog when the signal strength received by the signal receiver is the maximum is used as the location of the pipe rupture point.

[0012] As one possible implementation, the mechanical dog is further equipped with a sensor module for real-time acquisition of environmental data of the surrounding environment; the environmental data includes terrain and obstacles.

[0013] As one possible implementation, the sensor module further includes a lidar and a wide-angle camera.

[0014] As one possible implementation, the mechanical dog is further equipped with a positioning module, which enables precise GPS / BeiDou dual-precision positioning.

[0015] As one possible implementation, the pipeline robot is further equipped with a telephoto camera and a millimeter-wave radar to acquire environmental information in the pipeline.

[0016] As one possible implementation, the take-up device further includes a counter grinding wheel and a counter, the counter grinding wheel is mounted on the rotating shaft of the counter, the cable is wound on the counter grinding wheel, and the counter is used to obtain the length data of the pulled-out cable.

[0017] As one possible implementation, step S4 is further detailed as follows:

[0018] After acquiring signal strength at the initial position, the robot dog measures the signal strength change around that position, updates the robot's position according to the gradient direction, and performs signal measurement again. This process is repeated until the stopping condition is met.

[0019] Afterwards, the robotic dog was precisely positioned using both GPS and BeiDou navigation systems, and this location was used as the point of the pipeline rupture.

[0020] As one possible implementation, the stopping condition is that the signal strength change is less than a set threshold.

[0021] The present invention also provides a shallow pipeline damage location system based on multi-robot collaboration, which is applied as described above in the shallow pipeline damage location method based on multi-robot collaboration. The system includes: a pipeline robot, a mechanical dog, a cable retractor, a communication module, a control center station, and a signal strength indicator.

[0022] The pipeline robot is used to travel in pipelines and is equipped with a telephoto camera and millimeter-wave radar to acquire environmental information in the pipeline.

[0023] The mechanical dog is used to travel on the ground above the pipeline. It is equipped with a lidar for collecting real-time data on the surrounding environment, a wide-angle camera, and a positioning module for accurately locating the mechanical dog's position.

[0024] The pipeline robot and the mechanical dog communicate wirelessly through a communication module (selecting a low-frequency wireless communication module). The communication module includes a signal receiver and a signal transmitter. The signal receiver is installed on the mechanical dog, and the signal transmitter is installed on the pipeline robot.

[0025] The mechanical dog is connected to the control center via wireless communication, and the mechanical dog's location information is fed back to the control center.

[0026] The cable retractor, used for retracting and extending cables, includes a winding reel assembly. The winding reel assembly consists of a meter counter grinding wheel and a meter counter. The meter counter grinding wheel is mounted on the rotating shaft of the meter counter. The cable is wound around the meter counter grinding wheel. The meter counter is used to obtain the length data of the pulled-out cable. The cable retractor is wired to the pipeline robot via a cable, and wirelessly connected to the robot dog for signal transmission and data exchange.

[0027] The signal strength indicator is used to obtain the signal strength of the communication module and feed it back to the robot dog.

[0028] As one possible implementation, the take-up device further includes a mounting base, a pulley assembly, and a winding reel assembly;

[0029] The winding reel assembly is mounted on the mounting base, and the pulley assembly is mounted on the bottom of the mounting base;

[0030] The winding reel assembly is driven to rotate by a hand crank or a motor to reel in and unwind cables.

[0031] The beneficial effects of this invention are as follows:

[0032] This invention combines the collaboration of a robotic dog and a pipeline robot in the pipeline inspection process, and achieves precise positioning of the pipeline robot through signal transmission and reception technology. The collaborative positioning of the robotic dog and the pipeline robot improves the accuracy of pipeline damage detection, making it suitable for further promotion and application. Attached Figure Description

[0033] Figure 1 A simplified flowchart of a shallow pipeline damage location method based on multi-robot collaboration, provided as an embodiment of the present invention;

[0034] Figure 2 A schematic diagram of a shallow pipeline damage location system based on multi-robot collaboration, provided as an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the pipeline robot in an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of the mechanical dog in an embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram of the take-up device in an embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of the winding reel assembly in an embodiment of the present invention.

[0039] The labels in the attached diagram are as follows:

[0040] 10. Pipeline robot; 20. Mechanical dog; 30. Control center station; 40. Cable retractor; 11. Telephoto camera; 12. Millimeter-wave radar; 13. 433 signal transmitter; 21. Wide-angle camera; 22. LiDAR; 23. Signal receiver; 24. Positioning module; 41. Winding reel assembly; 42. Mounting base; 43. Pulley assembly; 44. Hand crank; 45. Motor; 411. Meter counter grinding wheel; 412. Meter counter. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] First, the applicable scenarios of this invention are introduced. This invention can be applied to the field of shallow pipelines, and mainly to corrugated pipes. Due to the bending, tilting, or slope of the pipeline, the environment is complex and it is a closed space, which makes long-distance signal transmission impossible and positioning devices may also deviate. To solve the above problems, this invention proposes a method and system for locating damage in shallow pipelines based on multi-robot collaboration.

[0043] Example 1

[0044] See attached document Figure 1 As shown, this embodiment provides a method for locating shallow pipe damage based on multi-robot collaboration, including the following steps:

[0045] S1: Place the pipe robot 10 inside the pipe. The rear end of the pipe robot 10 is connected to a cable retractor 40 for cable winding and unwinding. At the same time, place the mechanical dog 20 on the ground above the pipe robot 10. The pipe robot 10 is equipped with a signal transmitter 13, and the mechanical dog 20 is equipped with a signal receiver 23.

[0046] In this embodiment, the mechanical dog 20 is equipped with a sensor module (including a lidar 22, a wide-angle camera 21, etc.) to collect real-time environmental data of the surrounding environment of the mechanical dog 20. The environmental data includes terrain, obstacles, etc., thereby assisting the mechanical dog 20 in avoiding obstacles. In addition, the mechanical dog 20 is also equipped with a positioning module 24, through which the mechanical dog 20 performs accurate GPS / BeiDou dual-precision positioning.

[0047] In this embodiment, the pipeline robot 10 is equipped with a telephoto camera 11 and a millimeter-wave radar 12 to acquire environmental information in the pipeline in order to identify damage points and obstacles in the pipeline.

[0048] In this embodiment, the take-up device 40 includes a meter counter 412, a grinding wheel 411, and a meter counter 412. The grinding wheel 411 is mounted on the rotating shaft of the meter counter 412. The cable is wound around the grinding wheel 411 of the meter counter 412. The meter counter 412 is used to obtain the length data of the pulled-out cable. To ensure the accuracy of the length measurement, the grinding wheel 411 of the meter counter 412 is only fully wound with one layer of cable.

[0049] S2: Control the pipeline robot 10 to move inside the pipeline. As the pipeline robot 10 moves, the cable in the cable retractor 40 is pulled out. When the pipeline robot 10 detects a damage point in the pipeline, it stops moving.

[0050] S3: The mechanical dog 20 obtains the length change value of the cable pulled out by the cable retractor 40 (the current length of the cable minus the initial length of the cable), and moves the corresponding distance in the initial direction of movement of the pipeline robot 10 (this position is the initial position of the mechanical dog 20), and performs inspections inward step by step with the length change value as the radius; during the inspection, the signal receiver 23 collects the signal strength data transmitted by the signal transmitter 13 in real time.

[0051] S4: The location of the mechanical dog 20 when the signal strength received by the signal receiver 23 is the maximum is taken as the location of the pipe rupture point; the specific steps are as follows:

[0052] After acquiring signal strength at the initial position, the robotic dog 20 measures the signal strength change around that position, updates the robot position according to the gradient direction, and performs signal measurement again. This process is repeated until a stopping condition is met, such as when the signal strength change is less than a set threshold.

[0053] Subsequently, the mechanical dog 20 was precisely positioned using GPS / BeiDou dual-precision positioning, and this location was used as the location of the pipeline rupture point.

[0054] Example 2

[0055] See attached document Figure 2-4 As shown, this embodiment also provides a shallow pipeline damage location system based on multi-robot collaboration, which applies the shallow pipeline damage location method based on multi-robot collaboration in embodiment 1. The system includes: a pipeline robot 10, a mechanical dog 20, a cable retractor 40, a communication module, a control center station 30, and a signal strength indicator (not shown in the figure).

[0056] Pipeline robot 10, used to travel in pipelines, is equipped with a telephoto camera 11 and a millimeter-wave radar 12 to acquire environmental information in the pipeline;

[0057] The mechanical dog 20 is used to travel on the ground above the pipeline. It is equipped with a lidar 22 for collecting real-time data on the surrounding environment of the mechanical dog 20, a wide-angle camera 21, and a positioning module 24 for accurately locating the position of the mechanical dog 20.

[0058] The pipeline robot 10 and the robotic dog 20 communicate wirelessly via a communication module (a low-frequency wireless communication module such as 433MHz, 868MHz, or 915MHz is selected). The communication module includes a signal receiver 23 and a signal transmitter 13. The signal receiver 23 is installed on the robotic dog 20, and the signal transmitter 13 is installed on the pipeline robot 10. In this embodiment, a 433MHz signal transmitter 13 and a receiver are selected to enable communication between the robot inside the pipeline and the ground surface.

[0059] The mechanical dog 20 is connected to the control center station 30 via wireless communication, and the mechanical dog 20 feeds back the location information of the control center station 30.

[0060] See attached document Figure 5 and 6As shown, the cable retractor 40 is used for retracting and extending cables. It includes a winding reel assembly 41, which consists of a meter counter 412, a grinding wheel 411, and the meter counter 412. The grinding wheel 411 is mounted on the rotating shaft of the meter counter 412. The cable is wound around the grinding wheel 411 of the meter counter 412. The meter counter 412 is used to obtain the length data of the pulled-out cable. The cable retractor 40 is wired to the pipeline robot 10 via a cable, and wirelessly connected to the robot dog 20 for signal transmission and data exchange. A signal strength indicator is used to obtain the signal strength of the communication module and feed it back to the robot dog 20.

[0061] When the pipeline robot 10 detects a pipeline rupture point, it will automatically stop moving. Then, the robot dog 20 receives the distance data measured by the meter counter 412 and moves the corresponding distance in the initial direction of movement of the pipeline robot 10. Using this as a radius, it gradually inspects inward. By detecting the maximum value of the signal, it determines the relative position of the pipeline robot 10 in space. This process can achieve relative positioning between the two, keeping the robot dog 20 and the pipeline robot 10 in a basically perpendicular relative position. At this time, the robot dog 20 performs precise positioning through its built-in positioning module 24. Then, the robot dog 20 sends the relevant data to the control center station 30. After completing the data transmission, it stops moving, which facilitates the subsequent positioning detection and maintenance work inside the pipeline by the operators.

[0062] In this embodiment, the take-up device 40 includes a mounting base 42, a pulley assembly 43 (universal wheel), and a winding reel assembly 41; the winding reel assembly 41 is mounted on the mounting base 42, and the pulley assembly 43 is mounted on the bottom of the mounting base 42; the winding reel assembly 41 is driven to rotate by a hand crank 44 or a motor 45 to realize the winding and unwinding of the cable.

[0063] After the pipeline robot 10 detects a breach and stops, the robotic dog 20 processes the received signal and gradually detects the maximum signal value to maintain a relative perpendicular position to the robot inside the pipeline. Due to the presence of pipes, soil, concrete, etc., the signal transmission distance will be greatly reduced, and excessive distance will significantly increase the difficulty of communication and the effectiveness of the signal. Therefore, the implementation of this system is based on a layered pipeline.

[0064] In summary, the robotic dog 20 is used for surface positioning of the pipeline robot 10. Because the pipeline robot 10 communicates via a wired connection, it cannot accurately locate the inspection and maintenance positions within pipelines with poor wireless signals. The robotic dog 20, through signal position tracking and adjustment, keeps its position roughly perpendicular to the pipeline robot 10 (acceptable errors are allowed between the two robots).

[0065] To maintain the relative positioning of the robotic dog 20 and the pipeline robot 10, the robotic dog 20 can track the relative position of the pipeline robot 10. The robotic dog 20 is equipped with a signal receiving module, a positioning module 24, a wide-angle camera 21, and a lidar 22. During the tracking of the pipeline robot 10, the robotic dog 20 advances the distance corresponding to the change in cable length measured by the meter counter 412 in the initial direction of travel of the pipeline robot 10, and then performs a patrol inward with this as the radius. After collecting the signal strength at the initial position, it measures the change in signal strength in a small range around the position, updates the robot position according to the gradient direction, and performs signal measurement again. This process is repeated until a stopping condition is reached, such as when the change in signal strength is less than a set threshold.

[0066] Afterwards, the mechanical dog 20 performs precise GPS / BeiDou dual-precision positioning through the positioning module 24 and sends a completion signal to the control center station 30 to remind it of the subsequent tasks.

[0067] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for locating shallow pipe damage based on multi-robot collaboration, characterized in that, Includes the following steps: S1: Place the pipeline robot inside the pipeline. The rear end of the pipeline robot is connected to a cable retractor for retracting and extending the cable. At the same time, place the mechanical dog on the ground above the pipeline robot. The cable retractor includes a meter counter grinding wheel and a meter counter. The meter counter grinding wheel is mounted on the rotating shaft of the meter counter. The cable is wound around the meter counter grinding wheel. The meter counter is used to obtain the length data of the pulled-out cable. The pipeline robot is equipped with a signal transmitter, and the mechanical dog is equipped with a signal receiver. S2: Control the pipeline robot to move inside the pipeline. As the pipeline robot moves, the cable in the cable retractor is pulled out. When the pipeline robot detects a damage point in the pipeline, it stops moving. S3: The robotic dog obtains the length change value of the cable pulled out by the cable retractor and travels the corresponding distance in the initial direction of movement of the pipeline robot, and performs inspections inward step by step with the length change value as the radius; during the inspection, the signal receiver collects the signal strength data transmitted by the signal transmitter in real time. S4: The location of the mechanical dog when the signal strength received by the signal receiver is the maximum is taken as the location of the pipe breakage point. The specific steps are as follows: After acquiring signal strength at the initial position, the robot dog measures the signal strength change around that position, updates the robot's position according to the gradient direction, and performs signal measurement again. This process is repeated until the stopping condition is met. Afterwards, the robotic dog was precisely positioned using both GPS and BeiDou navigation systems, and this location was used as the point of the pipeline rupture.

2. The method for locating shallow pipe damage based on multi-robot collaboration according to claim 1, characterized in that, The robotic dog is equipped with a sensor module for collecting real-time environmental data, including terrain and obstacles.

3. The method for locating shallow pipe damage based on multi-robot collaboration according to claim 2, characterized in that, The sensor module includes a lidar and a wide-angle camera.

4. The method for locating shallow pipe damage based on multi-robot collaboration according to claim 1, characterized in that, The robotic dog is equipped with a positioning module, which enables it to perform precise GPS / BeiDou dual-precision positioning.

5. The method for locating shallow pipe damage based on multi-robot collaboration according to claim 1, characterized in that, The pipeline robot is equipped with a telephoto camera and millimeter-wave radar to acquire environmental information in the pipeline.

6. The shallow pipeline damage location method based on multi-robot collaboration according to claim 1, characterized in that, The stopping condition is that the change in signal strength is less than the set threshold.

7. A shallow pipeline damage location system based on multi-robot collaboration, characterized in that, The method for locating shallow pipe damage based on multi-robot collaboration as described in any one of claims 1 to 6 includes: a pipe robot, a robotic dog, a cable retractor, a communication module, a control center station, and a signal strength indicator. The pipeline robot is used to travel in pipelines and is equipped with a telephoto camera and millimeter-wave radar to acquire environmental information in the pipeline. The mechanical dog is used to travel on the ground above the pipeline. It is equipped with a lidar for collecting real-time data on the surrounding environment, a wide-angle camera, and a positioning module for accurately locating the mechanical dog's position. The pipeline robot and the robotic dog communicate wirelessly through a communication module, which includes a signal receiver and a signal transmitter. The signal receiver is installed on the robotic dog, and the signal transmitter is installed on the pipeline robot. The mechanical dog is connected to the control center via wireless communication, and the mechanical dog's location information is fed back to the control center. The cable retractor, used for retracting and extending cables, includes a winding reel assembly. The winding reel assembly consists of a meter counter grinding wheel and a meter counter. The meter counter grinding wheel is mounted on the rotating shaft of the meter counter. The cable is wound around the meter counter grinding wheel. The meter counter is used to obtain the length data of the pulled-out cable. The cable retractor is wired to the pipeline robot via a cable, and wirelessly connected to the robot dog for signal transmission and data exchange. The signal strength indicator is used to obtain the signal strength of the communication module and feed it back to the robot dog.

8. The shallow pipeline damage location system based on multi-robot collaboration according to claim 7, characterized in that, The take-up device includes a mounting base, a pulley assembly, and a winding reel assembly; The winding reel assembly is mounted on the mounting base, and the pulley assembly is mounted on the bottom of the mounting base; The winding reel assembly is driven to rotate by a hand crank or a motor to reel in and unwind cables.

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