Large-diameter pressure pipeline detection robot

Abstract

The invention discloses a detection robot for a large-diameter pressure pipeline. The detection robot comprises a shell, an advancing propeller, a lifting propeller, a binocular camera, a voiceprint sensor and a pressure sensor, a forward thruster penetrates through the front and rear parts of the shell, and a lifting thruster penetrates through the upper and lower parts of the shell; and a knob switch is arranged at the rear part of the shell. The robot has the beneficial effects that full-active control is achieved, all functions are integrated in one cabin, full-automatic control can be achieved, free movement in the pipeline is achieved through the four propellers, the maintenance function can be added in the future, and the robot can flexibly move in the large-diameter pressure pipeline through cooperation of the advancing propeller and the lifting propeller; the detection position can be quickly reached, and the detection efficiency is improved; through comprehensive application of the binocular camera, the voiceprint sensor and the pressure sensor, information in the pipeline can be obtained from multiple angles, and the problems of cracks, corrosion, leakage, blockage and the like of the pipeline can be accurately detected.

Description

Technical Field

[0001] The present application belongs to the field of pipeline inspection technology, and more specifically, relates to a large-diameter pressure pipeline inspection robot. Background Art

[0002] Large-diameter pressure pipelines are widely used in numerous fields, including petroleum, chemical engineering, and water supply. Their operational status is directly related to production safety and economic benefits. However, the complex internal environment of large-diameter pressure pipelines makes manual inspection difficult, inefficient, and poses safety risks. Traditional inspection equipment lacks flexibility, accuracy, and endurance, making it difficult to meet the needs of comprehensive and efficient large-diameter pressure pipeline inspection.

[0003] Therefore, in response to the above technical problems, it is necessary to propose a large-diameter pressure pipeline inspection robot. Summary of the Invention

[0004] In response to the defects of the existing technology, the purpose of this application is to provide a large-diameter pressure pipeline inspection robot to solve the problems raised in the above background technology, such as the inflexible power system of the existing inspection robot, the single detection function, the inconvenience of power supply and charging, and the shell structure that is not conducive to assembly and maintenance.

[0005] A large-diameter pressure pipeline inspection robot includes a shell, a forward thruster, a lifting thruster, a binocular camera, a voiceprint sensor, and a pressure sensor;

[0006] The front and rear parts of the shell are provided with forward thrusters, and the upper and lower parts of the shell are provided with lifting thrusters;

[0007] The binocular camera, voiceprint sensor and pressure sensor are set on the front of the shell.

[0008] A knob switch is provided at the rear of the housing.

[0009] The front of the shell is also provided with a fill light.

[0010] A lithium battery is provided in the shell, and the lithium battery provides power for the forward thruster, the lifting thruster, the binocular camera, the voiceprint sensor, the pressure sensor and the fill light.

[0011] A magnetic charger is also provided at the rear of the shell, and the magnetic charger is connected to the lithium battery.

[0012] The housing comprises a first half housing and a second half housing, wherein the first half housing is connected to the second half housing.

[0013] The forward propeller includes two groups, each of which includes a first propulsion motor and a first propeller, and the output end of the first propulsion motor is connected to the first propeller.

[0014] The lifting thrusters include two groups, each comprising a second propulsion motor and a second propeller, wherein the output end of the second propulsion motor is connected to the second propeller.

[0015] There are multiple groups of lithium batteries.

[0016] The shell includes a controller, and the first propulsion motor, the second propulsion motor, the binocular camera, the voiceprint sensor and the pressure sensor are all connected to the controller.

[0017] Compared with the existing technology, it has the following beneficial effects:

[0018] 1. The present invention is fully actively controlled, with all functions integrated into one cabin. It is fully functional and can be fully automatically controlled. The four thrusters can achieve free movement in the pipeline, and maintenance functions can be added in the future.

[0019] 2. Through the coordination of the forward thruster and the lifting thruster, the robot can move flexibly in a large-diameter pressure pipeline and quickly reach the inspection position, thereby improving the inspection efficiency. The comprehensive application of binocular cameras, voiceprint sensors and pressure sensors can obtain information inside the pipeline from multiple angles and accurately detect problems such as cracks, corrosion, leakage, and blockage in the pipeline.

[0020] 3. The setting of the fill light of the present invention ensures that the robot can work normally even in a pipeline environment with insufficient light; multiple sets of lithium batteries provide sufficient power, extending the working time of the robot; the design of the magnetic charger facilitates the charging operation of the robot and improves the adaptability of the robot in practical applications. The shell adopts a structure in which the first half shell and the second half shell are connected, which facilitates the installation, replacement and maintenance of the internal components of the robot and reduces maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 and Figure 2 is a schematic diagram of the structure of the invention;

[0022] Figure 3 It is a front-end structural diagram of the present invention;

[0023] Figure 4 It is a back-end structural diagram of the present invention;

[0024] Figure 5 It is a schematic diagram of the top structure of the present invention;

[0025] Figure 6 is a structural diagram of the forward propulsion device of the present invention;

[0026] Figure 7 It is a structural diagram of the lifting thruster of the present invention.

[0027] Reference numerals in the figure: 1. Shell; 101. First half shell; 102. Second half shell; 2. Forward thruster; 201. First propulsion motor; 202. First propeller; 3. Lifting thruster; 301. First propulsion motor; 302. Second propeller; 4. Binocular camera; 5. Voiceprint sensor; 6. Pressure sensor; 7. Knob switch; 8. Fill light; 9. Magnetic charger. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0029] In the specification and claims of this application, the terms "first" and "second" are used to distinguish different objects, rather than to describe a specific order of objects. For example, the terms "first control instruction" and "second control instruction" are used to distinguish different control instructions, rather than to describe a specific order of control instructions.

[0030] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0031] In the description of the embodiments of the present application, unless otherwise specified, "multiple" means two or more, for example, multiple processing units means two or more processing units, etc.; multiple elements means two or more elements, etc.

[0032] The following describes the embodiments of the present application in conjunction with the accompanying drawings. Figure 1 Combined with Figures 2 to 7 As shown, a large-diameter pressure pipeline inspection robot includes a shell 1, a forward propeller 2, a lifting propeller 3, a binocular camera 4, a voiceprint sensor 5 and a pressure sensor 6; the forward propeller 2 is provided through the front and rear parts of the shell 1, and the lifting propeller 3 is provided through the upper and lower parts of the shell 1; the binocular camera 4, the voiceprint sensor 5 and the pressure sensor 6 are arranged at the front of the shell 1, and the rear part of the shell 1 is provided with a knob switch 7.

[0033] A binocular camera 4 is located at the front of the housing 1 and is used to capture images of the interior of the pipe. Using binocular vision, it can achieve three-dimensional positioning and dimensional measurement of objects within the pipe, providing intuitive visual evidence for detecting defects such as cracks and deformations within the pipe.

[0034] The soundprint sensor 5 is used to collect sound signals from inside the pipeline. Different pipeline faults may produce different soundprint characteristics. By analyzing the sound signals collected by the soundprint sensor 5, it can be determined whether there are problems such as leakage or blockage in the pipeline.

[0035] Pressure sensor 6, located at the front of housing 1, measures pressure changes within the pipeline. Abnormal pressure is often a key indicator of pipeline failure. By monitoring the data from pressure sensor 6 in real time, abnormal pipeline pressure can be detected promptly, ensuring safe operation of the pipeline.

[0036] The front of the housing 1 is also provided with a fill light 8. When the light inside the pipe is insufficient, the fill light 8 can provide additional lighting to ensure that the binocular camera 4 can clearly obtain image information inside the pipe.

[0037] A lithium battery is provided in the housing 1, which provides power for the forward thruster 2, the lifting thruster 3, the binocular camera 4, the voiceprint sensor 5, the pressure sensor 6 and the fill light 8 to ensure the normal operation of each component of the robot.

[0038] The rear part of the shell 1 is also provided with a magnetic charger 9, which is connected to the lithium battery. The magnetic charger 9 facilitates charging of the robot. The charging function can be realized by simply aligning the charger with the magnetic charger 9 at the rear of the robot, thereby improving the convenience of charging.

[0039] The shell 1 includes a first half shell 101 and a second half shell 102. The shell 1 provides an installation base and protection for other components of the robot. The first half shell 101 is connected to the second half shell 102 to facilitate the assembly, maintenance, installation and replacement of internal components of the robot.

[0040] The forward propeller 2 includes two groups, and the forward propeller 2 includes a first propulsion motor 201 and a first propeller 202. The output end of the first propulsion motor 201 is connected to the first propeller 202. The first propulsion motor 201 drives the first propeller 202 to rotate, providing forward power for the robot, so that the robot can move axially in the pipeline.

[0041] The lifting thrusters 3 include two groups, each of which includes a second propulsion motor 301 and a second propeller 302. The output end of the second propulsion motor 301 is connected to the second propeller 302. The second propeller 302 is driven to rotate by the second propulsion motor 301, thereby enabling the robot to move up and down in the pipeline, thereby facilitating detection of different height positions of the pipeline.

[0042] There are multiple groups of lithium batteries, which can increase the battery life of the robot.

[0043] The shell 1 includes a controller, and the first propulsion motor 201, the second propulsion motor 301, the binocular camera 4, the voiceprint sensor 5 and the pressure sensor 6 are all connected to the controller. The controller is used to receive and process the data collected by each sensor, and control the operation of the propeller according to a preset program to realize the robot's autonomous movement and detection functions.

[0044] Compared with the existing technology, it has the following beneficial effects:

[0045] This invention features fully active control, integrating all functions into a single cabin. This fully integrated system allows for fully automatic control, and four thrusters enable free movement within the pipeline, with the option of future maintenance capabilities. Through the coordination of the forward thruster 2 and the lifting thruster 3, the robot can flexibly maneuver within large-diameter pressure pipelines, quickly reaching inspection locations and improving inspection efficiency. The combined use of a binocular camera 4, a voiceprint sensor 5, and a pressure sensor 6 enables acquisition of pipeline internal information from multiple angles, accurately detecting cracks, corrosion, leaks, blockages, and other issues.

[0046] The setting of the fill light 8 of the present invention ensures that the robot can work normally even in a pipeline environment with insufficient light; multiple groups of lithium batteries provide sufficient power, extending the working time of the robot; the design of the magnetic charger 9 facilitates the charging operation of the robot and improves the adaptability of the robot in practical applications. The shell 1 adopts a structure in which the first half shell 101 and the second half shell 102 are connected, which facilitates the installation, replacement and maintenance of the internal components of the robot and reduces maintenance costs.

[0047] Working principle:

[0048] Assembly of the robot: Assemble the first propulsion motor 201 and the first propeller 202 into the forward propeller 2, and assemble the second propulsion motor 301 and the second propeller 302 into the lifting propeller 3; install the forward propeller 2 at the front and rear parts of the shell 1, and the lifting propeller 3 at the upper and lower parts of the shell 1, install the binocular camera 4, voiceprint sensor 5, pressure sensor 6 and fill light 8 at the front of the shell 1, install the lithium battery in the shell 1, and connect the lines to various electrical components, install the magnetic charger 9 at the rear part of the shell 1 and connect it to the lithium battery,

[0049] Install the knob switch 7 at the rear of the shell 1, install the controller inside the shell 1, and connect the first propulsion motor 201, the second propulsion motor 301, the binocular camera 4, the voiceprint sensor 5 and the pressure sensor 6 to the controller, connect the first half shell 101 and the second half shell 102 to complete the assembly of the robot.

[0050] Operating Process: Turning on the rotary switch 7 activates the robot, and the controller initializes all components. Based on the inspection requirements, the controller controls the operation of the forward thruster 2 and the lifting thruster 3, moving the robot to the designated inspection position within the pipeline. During this movement, the binocular camera 4 captures real-time images of the pipeline's interior, the voiceprint sensor 5 collects sound signals from within the pipeline, and the pressure sensor 6 measures pressure changes within the pipeline. This data is transmitted to the controller for processing and analysis.

[0051] Data Processing and Feedback: The controller analyzes the collected data to determine whether there is a pipeline fault. If a fault is detected, the controller can transmit the relevant information to an external monitoring device via the wireless communication module, so that personnel can promptly understand the pipeline status. When Charging is Needed: When the lithium battery is low, remove the robot from the pipeline and use the magnetic charger 9 to charge the lithium battery.

[0052] Example 1: Urban water supply pipeline detection

[0053] Application scenario: In urban water supply systems, large-diameter pressure pipes bear the crucial task of transporting large quantities of water. As they age, corrosion and cracks may develop within the pipes, impacting the quality and safety of the water supply. This example uses a large-diameter pressure pipe inspection robot to inspect urban water supply pipes.

[0054] Specific steps: Perform a comprehensive inspection of the robot to ensure all components are functioning properly and the lithium battery is fully charged. Configure the robot's operating parameters, such as forward speed and lifting range, based on the specific conditions of the water supply pipeline. Communicate with the water supply department to determine the inspection timeframe, preferably during periods of relatively low water consumption to minimize impact on residents' water use.

[0055] Place the robot into the water supply pipe through the dedicated delivery port and turn on the knob switch 7 to start the robot. The controller controls the forward thruster 2 and the lifting thruster 3 according to preset parameters, making the robot slowly move along the pipe axis and adjust its height in time to conduct a comprehensive inspection of the pipe interior.

[0056] Data collection and analysis: Binocular camera 4 continuously captures images of the interior of the pipeline, soundprint sensor 5 collects sound signals within the pipeline, and pressure sensor 6 monitors pressure changes within the pipeline in real time. The controller performs a preliminary analysis of the collected data to determine whether there are any abnormalities in the pipeline. For example, if binocular camera 4 captures obvious cracks or corrosion on the inner wall of the pipeline, or if soundprint sensor 5 detects abnormal water flow sounds, or if pressure sensor 6 records abnormal pressure fluctuations, the controller will mark these locations and record the relevant data in detail.

[0057] Feedback on test results: After the robot completes the test, it transmits the test data and analysis results to the monitoring center of the water supply department through the wireless communication module. Based on the feedback information, the staff will further evaluate and deal with the problematic pipeline parts, such as arranging maintenance personnel to repair them, or taking preventive measures to prevent the problem from further deteriorating.

[0058] Example 2: Oil pipeline inspection

[0059] Application scenario: Oil pipelines are usually laid outdoors in complex environments and are subject to long-term geological and climate changes. Pipelines are prone to failures such as leakage and deformation. This embodiment uses a large-diameter pressure pipeline inspection robot to inspect oil pipelines.

[0060] Specific operations include giving the robot special treatments such as waterproofing and explosion-proofing to adapt to the special environment inside the oil pipeline, and checking the various functions of the robot to ensure that it can operate stably in complex environments.

[0061] Cooperate with the oil company's technical staff to determine the inspection route and key inspection areas.

[0062] To deploy the robot, an access hatch is opened at a suitable location on the oil pipeline and the robot is lowered into the pipeline. After the robot is activated, its operating status is monitored in real time by the ground control station. The robot follows a pre-set route, with forward thrusters 2 and lift thrusters 3 working in tandem to adapt to the varying directions and slopes of the pipeline.

[0063] Detection and diagnosis: The binocular camera 4 captures images inside the pipeline, the voiceprint sensor 5 monitors whether there are abnormal sounds caused by oil leakage, and the pressure sensor 6 monitors pressure changes in the pipeline. The controller analyzes the collected data in real time. When signs of leakage are found in the pipeline, such as the voiceprint sensor 5 detecting a special sound produced by the leakage and the pressure sensor 6 indicating a sudden drop in pressure, the robot will immediately mark the leakage location and send an alarm message to the ground control station via wireless communication.

[0064] For follow-up processing, after receiving the alarm, the ground control station notified the oil company's emergency response team to rush to the scene.

[0065] Based on the accurate location information provided by the robot, the emergency response team can quickly take measures, such as closing relevant valves, plugging and repairing leaks, etc., to reduce the losses and environmental pollution caused by oil leaks.

[0066] It is easy for those skilled in the art to understand that the above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A large-diameter pressure pipeline inspection robot, characterized by: It includes a shell, a forward thruster, a lifting thruster, a binocular camera, a voiceprint sensor, and a pressure sensor; The front and rear parts of the shell are provided with forward thrusters, and the upper and lower parts of the shell are provided with lifting thrusters; The binocular camera, voiceprint sensor and pressure sensor are set on the front of the shell. A knob switch is provided at the rear of the housing.

2. The large-diameter pressure pipeline inspection robot according to claim 1, characterized in that: A fill light is also provided on the front of the shell.

3. The large-diameter pressure pipeline inspection robot according to claim 1, characterized in that: A lithium battery is provided in the shell, and the lithium battery provides power for the forward thruster, the lifting thruster, the binocular camera, the voiceprint sensor, the pressure sensor and the fill light respectively.

4. The large-diameter pressure pipeline inspection robot according to claim 1, characterized in that: A magnetic charger is also provided at the rear of the shell, and the magnetic charger is connected to the lithium battery.

5. The large-diameter pressure pipeline inspection robot according to claim 1, characterized in that: The housing includes a first half-shell and a second half-shell, wherein the first half-shell is connected to the second half-shell.

6. The large-diameter pressure pipeline inspection robot according to claim 1, characterized in that: The forward propeller is provided in two groups, and the forward propeller includes a first propulsion motor and a first propeller, and the output end of the first propulsion motor is connected to the first propeller.

7. The large-diameter pressure pipeline inspection robot according to claim 6, characterized in that: The lifting propeller includes two groups, each of which includes a second propulsion motor and a second propeller, and the output end of the second propulsion motor is connected to the second propeller.

8. The large-diameter pressure pipeline inspection robot according to claim 3, characterized in that: The lithium batteries are provided in multiple groups.

9. The large-diameter pressure pipeline inspection robot according to claim 7, characterized in that: The shell also includes a controller, and the first propulsion motor, the second propulsion motor, the binocular camera, the voiceprint sensor and the pressure sensor are all connected to the controller.

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