Mechanical equipment visual detection robot based on sensor and system thereof

Abstract

The invention discloses a mechanical equipment visual detection robot based on a sensor and a system thereof, and relates to the technical field of visual detection robots, the mechanical equipment visual detection robot comprises a pipeline robot, the left side of the pipeline robot is fixedly provided with a detection device, and the right side of the pipeline robot is fixedly provided with a cleaning device. According to the mechanical equipment visual detection robot based on the sensor and the system thereof, multi-dimensional detection of a target object is achieved through the visual detection module and integration of multiple advanced detection sensors, the comprehensiveness and accuracy of detection are improved, and the detection efficiency is improved. The camera assembly and the illuminating lamp are in a relatively parallel state with the inner wall of the pipeline, the bent position of the pipeline can be conveniently detected, the device can adapt to pipelines of different shapes, the pipeline robot and the cleaning device are arranged, the dirt position of the pipeline can be cleaned, the pipeline is cleaned firstly and then detected, the situation that much dirt exists in the pipeline is avoided, and the pipeline cleaning efficiency is improved. Therefore, the accuracy of the detection result is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of visual inspection robots, and particularly to a sensor-based visual inspection robot for mechanical equipment and its system. Background Art

[0002] Pipelines are widely used in daily life and industrial scenarios. In some special application scenarios, such as long-distance oil and gas pipelines, petrochemical pipelines, and nuclear industry pipelines, etc., due to the complexity and particularity of the pipeline interior, regular inspections and maintenance are required to ensure their safety and reliability.

[0003] Currently, the main methods for detecting pipeline inner wall damage include ultrasonic method, X-ray method, and camera method, etc. The ultrasonic method requires the use of a coupling agent and scans the entire pipe circumference, with low measurement efficiency. The X-ray method uses a high-energy radiation source and has a radiation risk. The camera method detects the inner wall by placing a camera device inside the pipeline and is difficult to apply to slender pipelines, which brings certain adverse effects to the usage process. To solve the deficiencies of the prior art, we propose a sensor-based visual inspection robot for mechanical equipment and its system. Summary of the Invention

[0004] The main purpose of the present invention is to provide a sensor-based visual inspection robot for mechanical equipment and its system, which can effectively solve the problems in the background art.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows: A sensor-based visual inspection robot for mechanical equipment includes a pipeline robot, a detection device is fixedly installed on the left side of the pipeline robot, and a cleaning device is fixedly installed on the right side of the pipeline robot; The detection device includes a flexible sleeve and a fixed frame. A first electric telescopic rod is fixedly installed on the side of the fixed frame. The output end of the first electric telescopic rod is fixedly installed with a first rack. A support frame is fixedly installed on the side of the fixed frame. A cross shaft is rotatably installed inside the support frame. A first fixed gear is fixedly sleeved on the right side of the cross shaft. A second fixed gear is fixedly sleeved at the lower end of the cross shaft. A limiting frame is fixedly installed at the right end of the support frame. The first rack is slidably installed inside the limiting frame. The side of the first rack is meshed with the outer surface of the first fixed gear. A rotating frame is rotatably installed on the side of the cross shaft. A connecting block is fixedly installed on the left side of the rotating frame. Camera assemblies and lighting lamps are fixedly installed on four sides of the connecting block. A second electric telescopic rod is fixedly installed on the side of the rotating frame. The output end of the second electric telescopic rod is fixedly installed with a second rack. The side of the second rack is meshed with the outer surface of the second fixed gear.

[0006] Preferably, the pipeline robot includes a fixed housing. Driving wheels are provided at both ends of the outer surface of the fixed housing. A filter screen is fixedly installed on the right side inside the fixed housing. An exhaust fan is fixedly installed inside the fixed housing. An air outlet is provided in the middle of the fixed housing.

[0007] Preferably, the fixing frame is fixedly installed on the side of the fixed housing. The flexible sleeve is fixedly installed on the side of the fixed housing and sleeved on the outer surfaces of the fixing frame and the rotating frame.

[0008] Preferably, the cleaning device includes a side housing. A fixed box is fixedly installed on the right side of the side housing. A first dust suction port is provided inside the side housing. A support bar is fixedly installed inside the fixed box. A rotating motor is fixedly installed at the upper end of the support bar. A driving gear is fixedly installed at the output end of the rotating motor. The driving gear is rotatably installed on the side of the support bar. An unfolding motor is fixedly installed in the middle of the support bar. A rotating shaft is fixedly installed at the output end of the unfolding motor.

[0009] Preferably, a rotating disk is rotatably installed inside the side housing. A second dust suction port is provided on the side of the rotating disk. A first cross track is fixedly installed on the left side of the rotating disk. A rotating gear is fixedly installed on the right side of the rotating disk. The outer surfaces of the driving gear and the rotating gear are meshed with each other. A fixing plate is fixedly installed on the left side of the rotating disk. A second cross track is fixedly installed on the right side of the fixing plate.

[0010] Preferably, rotating blades are fixedly installed on the outer surface of the rotating shaft. Push rods are rotatably installed at the four corners of the rotating blades. A fixed block is rotatably installed at one end of each push rod. Sliding blocks are fixedly installed on both sides of the fixed block. The two sliding blocks are respectively slidably installed on the outer surfaces of the first cross track and the second cross track. A cleaning brush is fixedly installed on the side of the fixed block.

[0011] Preferably, the side housing is detachably installed on the side of the fixed housing. The first dust suction port and the second dust suction port are communicated with the inside of the fixed housing.

[0012] A visual inspection robot system includes an inspection robot, a communication module, a data processing module, and a human-computer interaction module; Among them, a visual inspection module, a remote control module, a cleaning module, and a warning and alarm module are provided inside the inspection robot. The remote control module is used to execute the instructions of the control algorithm to realize the movement of the inspection robot in the pipeline. The warning and alarm module is used to prompt the position of the inspection robot inside the pipeline; The communication module includes a wireless communication module and a Bluetooth module. Through the communication module, the inspection robot can communicate with the operator in real time and receive control instructions; The data processing module processes the image data obtained by the visual detection module inside the inspection robot. Using image stitching technology, multiple images are combined into a complete image of the inner wall of the pipeline. The human-machine interaction module includes a monitoring platform and a handheld remote control. Control commands are sent to the inspection robot through the handheld remote control, and the situation of the inner wall of the pipeline is observed through the monitoring platform. Preferably, the visual detection module includes a high-definition camera, an infrared thermal imaging camera, and a low-light camera. The high-definition camera is used to obtain high-resolution images of the target object, capable of clearly capturing the surface details of the object. The infrared thermal imaging camera is used to detect the temperature distribution of the target object, and potential faults or abnormalities are discovered by analyzing the temperature differences. The low-light camera plays a role in an environment with extremely weak light, ensuring that the robot can also perform effective detection work in a dark environment.

[0013] Preferably, the visual detection module further includes image acquisition: the camera continuously acquires images inside the pipeline and transmits the image data to the control core. Through the illumination of a polarized light source, the image contrast is enhanced. Image preprocessing: The acquired original images are preprocessed, including noise filtering, brightness adjustment, and contrast enhancement, to remove interference. Defect detection and classification module: Basic image processing algorithms are used to analyze the preprocessed images.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. In the present invention, through the set human-machine interaction system, the operator can remotely control the inspection robot to move inside the pipeline. And through the visual detection module, by integrating a variety of advanced detection sensors, multi-dimensional detection of the target object is achieved, greatly improving the comprehensiveness and accuracy of the detection. For example, in pipeline detection, the high-definition camera can clearly capture the surface condition of the inner wall of the pipeline, and the infrared thermal imager can detect temperature anomalies inside the pipeline. The data of multiple sensors complement each other, making the detection results more reliable.

[0015] 2. In the present invention, through the set detection device, multi-directional rotation of the connecting block is realized, so that the camera assembly and the lighting lamp are in a relatively parallel state with the inner wall of the pipeline, facilitating the detection of pipeline bends and enabling the device to adapt to pipelines of different shapes.

[0016] 3. In the present invention, by setting the pipeline robot and the cleaning device, the dirt in the pipeline can be cleaned. First, the pipeline is cleaned and then detected, avoiding the situation that too much dirt inside the pipeline affects the detection of the inspection robot and further improving the accuracy of the detection results.

[0017] 4. In the present invention, by setting up a warning and alarm module to emit an alarm sound, the operator can determine the position of the pipeline break according to the sound and mark it on the outside of the pipeline, which is convenient for subsequent processing of the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the structure of the detection device of the present invention; Figure 3 is a schematic diagram of the structure of the cleaning brush of the present invention; Figure 4 is a schematic diagram of the left-side exploded structure of the cleaning device of the present invention; Figure 5 is a schematic diagram of the right-side exploded structure of the cleaning device of the present invention; Figure 6 is a schematic diagram of the structure of the pipeline robot of the present invention; Figure 7 is a schematic diagram of the system module of the present invention.

[0019] In the figure: 1, pipeline robot; 2, detection device; 3, cleaning device; 11, fixed housing; 12, drive wheel; 13, filter screen; 14, exhaust fan; 15, air outlet; 21, flexible sleeve; 22, fixing frame; 23, support frame; 24, cross shaft; 25, first fixed gear; 26, limiting frame; 27, first electric telescopic rod; 28, first rack; 29, rotating frame; 210, second fixed gear; 211, second electric telescopic rod; 212, second rack; 213, connecting block; 214, camera assembly; 215, lighting lamp; 31, side shell; 32, fixed box; 33, support bar; 34, first dust suction port; 35, rotating disk; 36, second dust suction port; 37, first cross track; 38, fixing plate; 39, unfolding motor; 310, rotating shaft; 311, rotating blade; 312, pushing rod; 313, fixing block; 314, sliding block; 315, cleaning brush; 316, rotating motor; 317, driving gear; 318, rotating gear; 319, second cross track. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] In order to make the technical means, creative features, achieved purposes and functions of the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

[0021] Embodiment 1, a sensor-based visual inspection robot for mechanical equipment, including a pipeline robot 1, a detection device 2 and a cleaning device 3. The detection device 2 is fixedly installed on the left side of the pipeline robot 1, and the right side of the pipeline robot 1 is fixedly installed with the cleaning device 3; As Figure 2As shown in the figure, the detection device 2 includes a flexible sleeve 21 and a fixing frame 22. A first electric telescopic rod 27 is fixedly installed on the side of the fixing frame 22. The output end of the first electric telescopic rod 27 is fixedly installed with a first rack 28. A support frame 23 is fixedly installed on the side of the fixing frame 22. A cross shaft 24 is rotatably installed inside the support frame 23. A first fixed gear 25 is fixedly sleeved on the right side of the cross shaft 24. A second fixed gear 210 is fixedly sleeved at the lower end of the cross shaft 24. A limit frame 26 is fixedly installed at the right end of the support frame 23. The first rack 28 is slidably installed inside the limit frame 26. The side of the first rack 28 meshes with the outer surface of the first fixed gear 25. A rotating frame 29 is rotatably installed on the side of the cross shaft 24. A connecting block 213 is fixedly installed on the left side of the rotating frame 29. Camera assemblies 214 and lighting lamps 215 are fixedly installed on the four sides of the connecting block 213. A second electric telescopic rod 211 is fixedly installed on the side of the rotating frame 29. The output end of the second electric telescopic rod 211 is fixedly installed with a second rack 212. The side of the second rack 212 meshes with the outer surface of the second fixed gear 210.

[0022] By providing the flexible sleeve 21, and the flexible sleeve 21 is of a flexible design, when the connecting block 213 turns, the flexible sleeve 21 swings freely according to the changes of the support frame 23 and the rotating frame 29, so that the detection device 2 can bend along with the bending of the pipeline, which is convenient for detecting the inner wall of the pipeline.

[0023] As Figure 6 shown in the figure, the pipeline robot 1 includes a fixed housing 11, a filter net 13 and an exhaust fan 14. Driving wheels 12 are arranged at both ends of the outer surface of the fixed housing 11. The right side inside the fixed housing 11 is fixedly installed with the filter net 13. The exhaust fan 14 is fixedly installed inside the fixed housing 11. An air outlet 15 is provided in the middle of the fixed housing 11.

[0024] Among them, the fixing frame 22 is fixedly installed on the side of the fixed housing 11. The flexible sleeve 21 is fixedly installed on the side of the fixed housing 11 and sleeved on the outer surfaces of the fixing frame 22 and the rotating frame 29.

[0025] Embodiment 2, as Figures 3 - 5 shown in the figure, the cleaning device 3 includes a side shell 31. A fixed box 32 is fixedly installed on the right side of the side shell 31. A first dust suction port 34 is provided inside the side shell 31. A support bar 33 is fixedly installed inside the fixed box 32. A rotating motor 316 is fixedly installed at the upper end of the support bar 33. The output end of the rotating motor 316 is fixedly installed with a driving gear 317. The driving gear 317 is rotatably installed on the side of the support bar 33. An unfolding motor 39 is fixedly installed in the middle of the support bar 33. The output end of the unfolding motor 39 is fixedly installed with a rotating shaft 310.

[0026] Among them, a rotating disk 35 is rotatably installed inside the side shell 31. A second dust suction port 36 is provided on the side of the rotating disk 35. A first cross track 37 is fixedly installed on the left side of the rotating disk 35. A rotating gear 318 is fixedly installed on the right side of the rotating disk 35. The driving gear 317 meshes with the outer surface of the rotating gear 318. A fixing plate 38 is fixedly installed on the left side of the rotating disk 35. A second cross track 319 is fixedly installed on the right side of the fixing plate 38.

[0027] Among them, a rotating blade 311 is fixedly installed on the outer surface of the rotating shaft 310. Push rods 312 are rotatably installed at the four corners of the rotating blade 311. One end of each push rod 312 is rotatably installed with a fixing block 313. Sliding blocks 314 are fixedly installed on both sides of the fixing block 313. The two sliding blocks 314 are respectively slidably installed on the outer surfaces of the first cross track 37 and the second cross track 319. A cleaning brush 315 is fixedly installed on the side of the fixing block 313.

[0028] When the unfolding motor 39 controls the rotation of the rotating shaft 310 to make the rotating blade 311 rotate, at this time, the push rod 312 will push the fixing block 313 to move outward along the first cross track 37 and the second cross track 319, so that the cleaning brush 315 moves out of the inside of the side shell 31, and the cleaning brush 315 fits onto the inner wall surface of the pipeline. Then, the rotating motor 316 is used to control the rotation of the driving gear 317, and through the transmission of the rotating gear 318, the rotating disk 35 and the fixing plate 38 rotate, and the cleaning brush 315 on the outer surfaces of the second cross track 319 and the first cross track 37 rotates, and the inner wall of the pipeline is cleaned by the cleaning brush 315.

[0029] Among them, the side shell 31 is detachably installed on the side of the fixed shell 11. The first dust suction port 34 and the second dust suction port 36 are communicated with the inside of the fixed shell 11.

[0030] Embodiment 3, a visual inspection robot system, includes an inspection robot, a communication module, a data processing module, and a human-computer interaction module; Among them, a visual inspection module, a remote control module, a cleaning module, and a warning and alarm module are provided inside the inspection robot. The remote control module is used to execute the instructions of the control algorithm to realize the movement of the inspection robot in the pipeline, and through the warning and alarm module, the position of the inspection robot inside the pipeline is prompted; The communication module includes a wireless communication module and a Bluetooth module. Through the communication module, the inspection robot can communicate with the operator in real time and receive control instructions; The data processing module processes the image data obtained by the visual inspection module inside the inspection robot. Using image stitching technology, multiple images are synthesized into a complete image of the inner wall of the pipeline; The human-computer interaction module includes a monitoring platform and a handheld remote control. Control instructions are sent to the inspection robot through the handheld remote control, and the situation of the inner wall of the pipeline is observed through the monitoring platform. Among them, the visual inspection module includes a high-definition camera, an infrared thermal imaging camera, and a low-light camera. The high-definition camera is used to obtain high-resolution images of the target object and can clearly capture the surface details of the object. The infrared thermal imaging camera is used to detect the temperature distribution of the target object and discover potential faults or anomalies by analyzing the temperature differences. The low-light camera plays a role in an environment with extremely weak light to ensure that the robot can also perform effective detection work in a dark environment.

[0031] Among them, the visual inspection module also includes image acquisition: the camera collects images inside the pipeline in real time and transmits the image data to the control core. Through the illumination of the polarized light source, the image contrast is enhanced. Image preprocessing: The collected original images are preprocessed, including noise filtering, brightness adjustment, and contrast enhancement to remove interference. Defect detection and classification module: The preprocessed images are analyzed using basic image processing algorithms.

[0032] It should be noted that the present invention is a sensor-based visual inspection robot and system for mechanical equipment. When in use, the pipeline robot 1 is placed inside the pipeline to be inspected. The operator controls the movement of the pipeline robot 1 inside the pipeline through the handheld remote control, and through the monitoring platform, visual inspection of the inner wall of the pipeline is carried out through the camera assembly 214 and the lighting lamp 215. During the inspection of the pipeline by the pipeline robot 1, according to the bending situation of the pipeline, the operator can control the telescopic movement of the first electric telescopic rod 27 through the handheld remote control, so that the first rack 28 moves and pushes the first fixed gear 25 to rotate. The first fixed gear 25 drives the cross shaft 24 to rotate inside the support frame 23, causing the connecting block 213 to swing up and down. Through the telescopic movement of the second electric telescopic rod 211, the second rack 212 moves and pushes the second fixed gear 210 to rotate, causing the rotating frame 29 to rotate on the outer surface of the cross shaft 24, making the connecting block 213 swing left and right, thereby realizing the multi-directional rotation of the connecting block 213 and making the camera assembly 214 and the lighting lamp 215 in a relatively parallel state with the inner wall of the pipeline, facilitating the inspection of the bent part of the pipeline. When there is a lot of dirt on the inner wall of the pipeline and it is not convenient to detect the inner wall of the pipeline, at this time, the operator holds the remote control to control the pipeline robot 1 to move to the dirt area, controls the cleaning module to clean, starts the unfolding motor 39, makes the rotating shaft 310 rotate, the rotating piece 311 rotates, and the push rod 312 will push the fixed block 313 to move outward along the first cross track 37 and the second cross track 319, so that the cleaning brush 315 moves out of the inside of the side shell 31. The cleaning brush 315 fits to the inner wall surface of the pipeline, and controls the driving gear 317 to rotate through the rotating motor 316. Through the transmission of the rotating gear 318, the rotating disc 35 and the fixing plate 38 are rotated, and the cleaning brushes 315 on the outer surfaces of the second cross track 319 and the first cross track 37 are rotated, and the inner wall of the pipeline is cleaned by the cleaning brush 315. During this process, the exhaust fan 14 works, so that the right side of the side shell 31 is in a negative pressure state. The dust generated by the cleaning of the cleaning brush 315 enters the inside of the fixed housing 11 through the first dust suction port 34 and the second dust suction port 36, and is intercepted by the filter screen 13, so that the dust stays inside the fixed housing 11 and the filter screen 13, realizing the cleaning of the pipeline. After the cleaning is completed, the detection is carried out again by the detection device 2; When the detection robot detects that there are damages and cracks on the inner wall of the pipeline, the warning and alarm module of the detection robot emits an alarm sound. The operator can determine the position of the pipeline damage according to the sound and make a mark on the outside of the pipeline for convenient later processing of the pipeline.

[0033] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A sensor-based visual inspection robot for mechanical equipment, including a pipeline robot (1), characterized in that: A detection device (2) is fixedly installed on the left side of the pipeline robot (1), and a cleaning device (3) is fixedly installed on the right side of the pipeline robot (1). The detection device (2) includes a flexible sleeve (21) and a fixing frame (22). A first electric telescopic rod (27) is fixedly installed on the side of the fixing frame (22). The output end of the first electric telescopic rod (27) is fixedly installed with a first rack (28). A support frame (23) is fixedly installed on the side of the fixing frame (22). A cross shaft (24) is rotatably installed inside the support frame (23). A first fixed gear (25) is fixedly sleeved on the right side of the cross shaft (24). A second fixed gear (210) is fixedly sleeved on the lower end of the cross shaft (24). A limit frame (26) is fixedly installed at the right end of the support frame (23). The first rack (28) is slidably installed inside the limit frame (26). The side of the first rack (28) meshes with the outer surface of the first fixed gear (25). A rotating frame (29) is rotatably installed on the side of the cross shaft (24). A connecting block (213) is fixedly installed on the left side of the rotating frame (29). Camera assemblies (214) and lighting lamps (215) are fixedly installed on the four sides of the connecting block (213). A second electric telescopic rod (211) is fixedly installed on the side of the rotating frame (29). The output end of the second electric telescopic rod (211) is fixedly installed with a second rack (212). The side of the second rack (212) meshes with the outer surface of the second fixed gear (210).

2. The visual inspection robot for mechanical equipment based on sensors according to claim 1, characterized in that: The pipeline robot (1) includes a fixed housing (11). Driving wheels (12) are arranged at both ends of the outer surface of the fixed housing (11). A filter screen (13) is fixedly installed on the right side inside the fixed housing (11). An exhaust fan (14) is fixedly installed inside the fixed housing (11). An air outlet (15) is formed in the middle of the fixed housing (11).

3. The visual inspection robot for mechanical equipment based on sensors according to claim 2, wherein: The fixed frame (22) is fixedly installed on the side of the fixed housing (11). The flexible sleeve (21) is fixedly installed on the side of the fixed housing (11) and sleeved on the outer surfaces of the fixed frame (22) and the rotating frame (29).

4. A sensor-based mechanical equipment visual inspection robot according to claim 2, characterized in that: The cleaning device (3) includes a side shell (31). A fixed box (32) is fixedly installed on the right side of the side shell (31). A first dust suction port (34) is formed inside the side shell (31). A support bar (33) is fixedly installed inside the fixed box (32). A rotating motor (316) is fixedly installed at the upper end of the support bar (33). The output end of the rotating motor (316) is fixedly installed with a driving gear (317). The driving gear (317) is rotatably installed on the side of the support bar (33). An unfolding motor (39) is fixedly installed in the middle of the support bar (33). The output end of the unfolding motor (39) is fixedly installed with a rotating shaft (310).

5. A sensor-based mechanical equipment visual inspection robot according to claim 4, characterized in that: A rotating disk (35) is rotatably installed inside the side shell (31). A second dust suction port (36) is formed on the side of the rotating disk (35). A first cross track (37) is fixedly installed on the left side of the rotating disk (35). A rotating gear (318) is fixedly installed on the right side of the rotating disk (35). The outer surfaces of the driving gear (317) and the rotating gear (318) are meshed with each other. A fixing plate (38) is fixedly installed on the left side of the rotating disk (35). A second cross track (319) is fixedly installed on the right side of the fixing plate (38).

6. The visual inspection robot for mechanical equipment based on sensors according to claim 5, characterized in that: A rotating piece (311) is fixedly installed on the outer surface of the rotating shaft (310). Push rods (312) are rotatably installed at the four corners of the rotating piece (311). One end of each push rod (312) is rotatably installed with a fixing block (313). Sliding blocks (314) are fixedly installed on both sides of the fixing block (313). The two sliding blocks (314) are respectively slidably installed on the outer surfaces of the first cross track (37) and the second cross track (319). A cleaning brush (315) is fixedly installed on the side of the fixing block (313).

7. A sensor-based visual inspection robot for mechanical equipment according to claim 6, characterized in that: The side shell (31) is detachably installed on the side of the fixed shell (11). The first dust suction port (34) and the second dust suction port (36) are communicated with the inside of the fixed shell (11).

8. A visual inspection robot system, the visual inspection robot system being applicable to the sensor-based mechanical equipment visual inspection robot according to any one of claims 1 to 7, characterized in that: Including a detection robot, a communication module, a data processing module, and a human-computer interaction module; Among them, a visual detection module, a remote control module, a cleaning module, and a warning and alarm module are arranged inside the detection robot. The remote control module is used to execute the instructions of the control algorithm to realize the movement of the detection robot in the pipeline. The warning and alarm module is used to prompt the position of the detection robot inside the pipeline; The communication module includes a wireless communication module and a Bluetooth module. Through the communication module, the detection robot can communicate with the operator in real time and receive control instructions; The data processing module processes the image data obtained by the visual detection module inside the detection robot. Using image stitching technology, multiple images are synthesized into a complete image of the inner wall of the pipeline; The human-computer interaction module includes a monitoring platform and a handheld remote control. Control instructions are sent to the detection robot through the handheld remote control, and the situation of the inner wall of the pipeline is observed through the monitoring platform.

9. The visual inspection robot system according to claim 8, characterized in that: The visual detection module includes a high-definition camera, an infrared thermal imaging camera, and a low-light camera. The high-definition camera is used to obtain high-resolution images of the target object and can clearly capture the surface details of the object. The infrared thermal imaging camera is used to detect the temperature distribution of the target object and discover potential faults or abnormalities by analyzing the temperature difference. The low-light camera plays a role in an extremely weak light environment to ensure that the robot can also perform effective detection work in the dark environment.

10. The visual inspection robot system according to claim 9, characterized in that: The visual detection module also includes image acquisition: the camera continuously acquires images inside the pipeline and transmits the image data to the control core. Through the illumination of the polarized light source, the image contrast is enhanced; Image preprocessing: The acquired original images are preprocessed, including noise filtering, brightness adjustment, and contrast enhancement, to remove interference; Defect Detection and Classification Module: Analyze the preprocessed image using basic image processing algorithms.

Images