Snakelike in-pipeline detection robot and application method

Abstract

The invention provides a snakelike metal pipeline internal detection robot and an application method, and belongs to the technical field of pipeline detection and maintenance. The robot mainly comprises two tank probe vehicles of the same structure and a snakelike joint body connected between the two tank probe vehicles. The tank probe vehicle integrates a crawler-type walking mechanism, a detection unit, an operation unit, a magnetic adsorption unit, a control unit and a power unit, can provide main driving force, is adsorbed on the wall of a metal pipe and executes detection operation. The snakelike joint body is composed of a plurality of joint sections connected through movable joints, the unique conical helical tooth meshing design of the snakelike joint body enables the joint sections to generate multi-degree-of-freedom deflection, and therefore the whole robot can flexibly adapt to bending changes of vertical, horizontal and various bent pipes, and stable snakelike winding movement is achieved. The problems that an existing pipeline robot is poor in adaptability to complex pipelines and single in function are solved, and long-distance and all-directional detection and multifunctional operation under the complex pipeline environment are achieved.

Description

Technical Field

[0001] This invention relates to the field of inspection and maintenance of electromechanical piping systems, and particularly to the detection and troubleshooting of metal pipes. Background Technology

[0002] Pipeline internal inspection is a crucial step in ensuring the safe operation of urban infrastructure. Currently, the inspection technology for large-diameter straight pipelines is relatively mature, but achieving accurate long-distance, cableless, and multi-functional detection in complex pipeline environments (such as pipelines with vertical sections, multiple bends, and small diameters) remains a significant challenge.

[0003] Utility model patent CN202320535375.2 discloses a pipeline inspection device based on a wheeled mobile platform. This device uses a motor to drive wheels to move along the inner wall of the pipeline and carries a camera to take pictures. However, this wheeled structure lacks the ability to actively adapt to changes in pipeline shape, making it prone to slipping and falling in vertical pipelines and difficult to navigate small-radius bends. Furthermore, the device has limited functionality, typically only providing image acquisition capabilities.

[0004] Utility model patent CN202320535377.1 discloses a pipeline robot with cleaning function. It adds a cleaning component to a mobile platform, attempting to integrate detection and cleaning. However, this robot still does not solve the problem of passage through complex geometric pipelines. Furthermore, its fixed mechanical structure lacks integrated signal enhancement, precise positioning, non-destructive testing, and other detection functions, and it cannot perform micro-repairs when defects are detected.

[0005] In summary, existing pipeline robots suffer from poor adaptability, inability to be fully applied to pipeline systems or auxiliary components, limited functionality, and short detection range due to reliance on cables. Therefore, it is necessary to invent a robotic system that can adapt to complex pipeline geometries, integrate multiple detection and operational functions, and enable long-distance cableless operation. Summary of the Invention

[0006] The purpose of this invention is to provide a modular serpentine pipe inspection robot that enables flexible movement and omnidirectional detection and operation in vertical, horizontal and curved pipes, significantly improving the intelligence level and reliability of pipeline inspection and maintenance.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] The tank-type detection vehicle includes a tracked walking mechanism, a detection unit, a working unit, a magnetic adsorption unit, a control unit, and a power unit that supplies power to the above components. The tracked walking mechanism provides the main driving force for the robot to move inside the pipeline. The detection unit is located at the front or side of the tank-type detection vehicle and is used to collect environmental information inside the pipeline. The working unit is used to mark or repair pipeline defects. The magnetic adsorption unit is located at the bottom of the tank-type detection vehicle and is used to adhere to the pipeline, adapting to the need for crawling on vertical metal pipelines.

[0009] The control unit connects the detection unit and the operation unit via a signal. The control unit drives the operation unit to perform operations inside the pipeline based on the feedback information from the detection unit. It is also connected to a host computer via a signal to store the detection and operation records inside the pipeline in real time.

[0010] The two ends of the serpentine joint body are detachably connected to two tank reconnaissance vehicles. It includes at least three joint segments connected by movable joints, which allow relative deflection between the joint segments, thereby enabling the entire serpentine joint body to adapt to the bending changes of the pipeline, which is helpful for working in various irregular pipelines or bends.

[0011] Preferably, the tracked walking mechanism includes a tank body, a tank drive unit, and a tank chain; the tank drive unit drives the tank chains located on both sides of the tank body to rotate.

[0012] The detection unit includes an end probe located at the front end of the tank body and side probes located on both sides of the tank body, which are used to detect the condition of the pipeline ahead of the pipeline and the environmental condition of the inner wall of the pipeline circumferentially.

[0013] The working unit is integrated on the tank body and includes a breaking drill bit, a liquid storage tank, a pumping device connected to the liquid storage tank through a pipeline, and a spray gun for directional spraying.

[0014] The spray gun is mounted on the liquid storage tank via a spray gun bracket. The liquid storage tank is connected to the inlet end of the spray gun via a pipeline. Its spray direction is controllable and it is used to spray fluid directionally into the target area on the inner wall of the pipeline.

[0015] The fluid stored in the storage tank is an adhesive, tracer, or flushing fluid, which is used to spray adhesive onto the defect location or target area of ​​the inner wall of the pipeline to temporarily repair and seal cracks and small hole damage, spray liquid viscous tracer for marking, or flush and remove small soft obstacles.

[0016] The breaking drill bit is located directly below the end probe and is driven by a miniature high-torque motor. It uses a high-speed rotating carbide cutting head to cut and break physical obstacles that affect the robot's movement.

[0017] Preferably, the two sides of the spray gun are rotatably connected to the spray gun bracket via a rotating shaft, with the axis of rotation perpendicular to the extension direction of the pipe, so as to achieve fine adjustment of the spray angle.

[0018] Preferably, the liquid storage tank is connected to the tank body via a lifting mechanism, which drives the liquid storage tank and the spray gun mounted thereon to move up and down relative to the tank body to adjust the working height.

[0019] Preferably, the lifting mechanism includes a hydraulic rod one, a hydraulic rod two, and two sets of L-shaped brackets;

[0020] The first hydraulic rod and the second hydraulic rod are mounted on the tank body; the two sets of L-shaped brackets are connected by a connecting rod to form a bracket frame for supporting the liquid storage tank.

[0021] One end of the bracket frame is fixedly connected to the liquid storage tank, and the other end is connected to the piston rod end of the hydraulic rod two; the piston rod of the hydraulic rod one is hinged to one side of the cylinder of the hydraulic rod two, which is used to drive the hydraulic rod two to swing around its hinge point with the tank body, thereby driving the bracket frame and the liquid storage tank fixed thereon to achieve lifting and lowering movement through the extension and retraction movement of the hydraulic rod two.

[0022] Preferably, the detection unit further includes a gas sensor and a laser rangefinder; the gas sensor is used to detect the concentration of hazardous gases in the pipeline; the laser rangefinder is used to acquire geometric dimension data of the pipeline or the damaged area to be repaired; the gas sensor may include, but is not limited to, a methane sensor and / or a hydrogen sulfide sensor;

[0023] The control unit integrates the gas concentration data collected by the gas sensor with the geometric dimension data collected by the laser rangefinder to construct a comprehensive evaluation model of the internal state of the pipeline.

[0024] Preferably, the working unit further includes a working tool head and a tool holder; the tool holder is disposed on the tank body; the working tool head is detachably mounted on the tool holder, and the working tool head includes either a laser welding head or a grinding head;

[0025] The laser welding head is used to emit a focused laser beam to perform micro-area cladding welding on the metal pipe when a crack or weak point is detected, so as to achieve preliminary in-situ repair of the pipe.

[0026] The grinding head is used to perform rotary grinding or milling operations when rust or uneven surfaces are detected on the inner wall of the pipe, in order to remove the rust layer and prepare a smooth surface for subsequent welding repairs.

[0027] Preferably, each end of the joint segment is provided with a joint connecting protrusion, and adjacent joint segments are hinged together through corresponding joint connecting protrusions to form a movable joint;

[0028] Near the end of the joint, the joint segment connected to the protrusion is provided with a roller in the circumferential direction. The roller is densely covered with several inclined conical helical teeth to form a spiral tooth surface. The spiral gear shape enables the relative deflection of multiple degrees of freedom between adjacent joint segments, thereby driving the entire serpentine joint body to produce a meandering movement that adapts to the bending shape of the pipe, making it easy for the robot to flexibly crawl in vertical, horizontal and various bend pipes.

[0029] Preferably, the meshing surface of the conical helical tooth forms an angle of 15°-45° with the axis of the joint segment, enabling multi-degree-of-freedom bending between adjacent joint segments.

[0030] This invention also provides a method for applying a serpentine pipe-penetrating robot, comprising the following steps:

[0031] Step S1: System startup, pipe insertion, and initial attitude calibration

[0032] Step S11: After connecting all the robot components, the control unit performs status checks on the drive unit, magnetic adsorption unit, each joint segment, end probe, side probe, laser rangefinder and gas sensor of the tank detection vehicle, and summarizes the self-test results.

[0033] Step S12: After confirming that the system self-test is normal, place the robot as a whole into the entrance of the pipeline to be tested, ensuring that its initial direction of travel is basically consistent with the pipeline axis, and set one of the two tank detection vehicles as the main navigation vehicle according to the direction of travel.

[0034] Step S13: Based on the data from the inertial measurement unit on the tank detection vehicle, the control unit calculates the robot's initial attitude; by adjusting the corresponding speed difference of the tank chain, the robot moves stably inside the pipe;

[0035] Step S2: Environmental Perception and 3D Modeling

[0036] Step S21: Simultaneously acquire images of the inner wall of the pipe, geometric dimensions, and gas concentration data using the end probe and side probe;

[0037] Step S22: The control unit integrates the above data and uses a synchronous positioning and mapping algorithm to generate a three-dimensional point cloud model of the inside of the pipeline in real time, and identifies geometric deformation, defects and abnormal gas areas.

[0038] Step S3: Adaptive Travel and Obstacle Crossing Control

[0039] Within the straight pipe section, the control unit coordinates the drive units of the two tank detection vehicles to drive the tank chains to roll, enabling the robot to move along the pipe axis.

[0040] When in a vertical or inclined tube section, the magnetic adsorption unit is activated to adsorb onto the tube wall and provides an adsorption force that matches the robot's own weight and motion inertia.

[0041] When the pipe is bent, the control unit calculates the target deflection angle of each joint segment based on the preset curve model, and drives the serpentine joint body to bend to adapt to the pipe trajectory through the meshing transmission of the conical helical teeth.

[0042] By utilizing the symmetrically positioned end probes on two tank detection vehicles located at the front and rear of the serpentine joint main body, two-way environmental perception is achieved; when the forward path encounters an insurmountable and indestructible obstacle, the main navigation vehicle switches its direction of travel, and the entire vehicle reverses and retreats.

[0043] Step S4: Defect Identification and Operation Decision

[0044] Step S41: Based on the 3D model and real-time data, the control unit automatically identifies and classifies pipeline defects and their severity levels using real-time camera integrated AI image recognition technology;

[0045] Step S42: Generate work instructions based on the defect type and plan the path of the spray gun or other work tools;

[0046] Step S5: Precise Operation Execution

[0047] For marking or repair work, control the lifting mechanism to adjust the position of the spray gun so that it is aimed at the defective area and spray adhesive or tracer.

[0048] For obstacle-related tasks, when the robot is moving normally, the end probe continuously scans the pipeline environment in front of it; when it detects small rocks, cement sludge, weld beads or other hard obstacles in front of it, the high-precision sensor can determine its size, hardness and distance.

[0049] Based on sensor data, the control unit determines that the size of the obstacle is within the robot's physical processing capability and that it will affect the movement of the tracks or cause the serpentine joints to jam. At this time, the robot can automatically or receive a remote command to stop moving and start the demolition operation.

[0050] Positioning: Based on the real-time images provided by the end probe, the control unit precisely controls the pose of the robot as a whole or the front joints, aligning the breaking drill located directly below the probe with the center or weak point of the obstacle.

[0051] Contact: The robot drives the tank body forward slowly, causing the high-speed rotating breaking drill to contact and press against the obstacle;

[0052] Breakdown: The micro motor drives the drill bit to rotate at high speed, using the cutting force and impact force of its carbide cutting tip to cut and break the obstacle layer by layer until it is decomposed into pieces that can pass under or to the side of the robot.

[0053] For cleaning and grinding operations, the control unit controls the laser welding head or grinding components to perform cleaning, welding or grinding operations;

[0054] Step S6: Data Management and Safe Evacuation

[0055] Step S61: All the above sensor data, robot pose, defect information and operation logs need to be recorded with time and pipeline mileage markers, and stored and transmitted back to the host computer in real time;

[0056] Step S62: Upon completion of the task or receipt of a termination command, control the robot to move to the pipeline outlet or designated recycling point and execute the safety power-off procedure.

[0057] Compared with the prior art, the present invention has the following beneficial effects:

[0058] 1. This invention adopts a modular design of "two tank-like exploration vehicles + a central serpentine joint body," in which the conical helical tooth meshing structure of the joint segment can achieve multi-degree-of-freedom bending within a range of 15°-45°. This allows the robot to move flexibly and meanderingly like a snake, stably passing through vertical, horizontal, and various curved pipes, overcoming the pain points of traditional rigid robots or wheeled robots' poor adaptability and easy jamming in complex terrain pipelines, and realizing all-terrain adaptive crawling in complex underground pipe networks.

[0059] 2. This invention integrates an end probe, a side probe, a gas sensor, and a laser rangefinder, and uses a control unit to fuse multimodal data to construct a three-dimensional model of the pipeline's internal condition. This overcomes the limitations of past methods that could only capture images and were difficult to quantify and analyze, achieving millimeter-level precision synchronous perception and AI-powered intelligent diagnosis of 0.1mm-level cracks, corrosion, deformation, and concentrations of hazardous gases such as methane on the pipeline's inner wall. This provides maintenance decisions with data support comparable to a CT scan.

[0060] 3. This invention innovatively integrates the detection unit with the operation unit (spray gun, breaking drill bit, laser welding head, etc.) into one unit. When a defect is detected, it can be immediately marked or temporarily repaired using the spray gun, and even advanced operations such as obstacle removal and welding can be performed. This breaks the traditional model of separating detection and repair, significantly shortening the investigation and repair process that originally required several days, realizing a shift from passive discovery to proactive intervention, and improving efficiency by more than 5 times.

[0061] 4. This invention incorporates an electromagnetic permanent magnet coupling adsorption unit at the bottom of the tank-like vehicle. This unit can precisely adjust the adsorption force according to the pipe wall conditions, ensuring firm attachment within vertical pipes. Combined with the bidirectional detection capabilities of the symmetrical layout of the front and rear tank-like vehicles, when forward movement is obstructed, the main navigation vehicle can be immediately switched, and the robot can safely retreat using the rear sensing system. This provides dual safety assurance, completely eliminating the risk of the robot "going in and not returning" in hazardous environments, and also solving the problems of slipping and falling, and getting trapped in obstacles within vertical pipes.

[0062] 5. The working tool head adopts a modular design that allows for quick disassembly, enabling flexible switching between a spray gun, a breaking drill bit, a laser welding head, or a grinding head according to actual needs. This "one machine, multiple uses" design greatly enhances the robot's task adaptability, allowing it to easily handle various complex work scenarios ranging from marking, cleaning, obstacle removal to micro-repair, while reducing equipment investment and maintenance costs.

[0063] 6. This invention employs a distributed control system, coordinating the operation of each unit via a CAN bus and incorporating signal enhancement technology. All sensor data, robot pose, and operation logs are timestamped and transmitted back to the host computer in real time, constructing a digital twin model of the pipeline. This ensures stable, low-latency transmission of control commands and data streams in pipelines with significant burial depth and weak signals, providing ground personnel with a real-time, transparent panoramic view of the operation and supporting remote, precise decision-making.

[0064] In summary, this invention integrates a tracked walking platform, a serpentine joint body capable of multi-degree-of-freedom bending, and a multi-functional detection and operation module into a single unit, and coordinates these components through an intelligent distributed control system. This solution fundamentally solves the industry bottlenecks of traditional pipeline robots, such as poor maneuverability in complex pipeline geometries, limited functionality, inability to perform intervention operations while detecting, and difficulties in retreating from hazards. Through magnetic adsorption design in hardware, modular tool heads, and multi-sensor fusion and intelligent decision-making algorithms in software, it achieves high adaptability to various pipeline environments, long-distance autonomous operation capabilities, and an efficient and safe operating mode integrating "detection-diagnosis-marking-micro-repair," significantly improving the automation and intelligence level of pipeline inspection and maintenance. Attached Figure Description

[0065] Figure 1 A three-dimensional structural diagram of a snake-shaped pipe-penetrating robot provided as an embodiment of the present invention. Figure 1 ;

[0066] Figure 2 A three-dimensional structural diagram of a snake-shaped pipe-penetrating robot provided as an embodiment of the present invention. Figure 2 ;

[0067] Figure 3A schematic diagram of the structure of a tank detection vehicle in a serpentine pipe-penetrating robot provided for an embodiment of the present invention;

[0068] Figure 4 A three-dimensional structural diagram of a tank detection vehicle lifting spray gun in a serpentine pipe-penetrating robot provided as an embodiment of the present invention. Figure 1 ;

[0069] Figure 5 A three-dimensional structural diagram of a tank detection vehicle lifting spray gun in a serpentine pipe-penetrating robot provided as an embodiment of the present invention. Figure 2 ;

[0070] Figure 6 for Figure 4 A schematic diagram of the side view structure;

[0071] Figure 7 A schematic diagram of the bottom structure of a tank-type detection vehicle in a serpentine pipe-penetrating robot provided as an embodiment of the present invention;

[0072] Figure 8 A schematic diagram of the serpentine joint body in a serpentine pipe-penetrating robot provided as an embodiment of the present invention;

[0073] Figure 9 This is a flowchart illustrating a method for using a serpentine pipe-penetrating robot, as provided in an embodiment of the present invention.

[0074] The serial numbers in the diagram are as follows:

[0075] 100. Tank Detection Vehicle I; 101. Tank Body; 102. Tank Drive Unit; 103. Tank Chain; 104. Liquid Storage Tank; 105. Spray Gun Bracket; 106. Spray Gun; 107. Battery; 108. Breaking Drill Bit; 109. Hydraulic Rod II; 110. Connecting Rod; 111. Magnetic Adsorption Unit; 112. Hydraulic Rod I; 113. L-Shaped Bracket; 114. Side Probe; 115. Tank Connecting Protrusion; 200. Tank Detection Vehicle II; 300. Serpentine Joint Body; 301. Joint Segment; 302. Joint Connecting Protrusion; 303. Roller; 304. Conical Helical Gear. Detailed Implementation

[0076] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0077] like Figure 1 and Figure 2As shown, this invention discloses a serpentine pipe-penetrating robot, which includes two identical tank-type probe vehicles and a serpentine joint body 300 connected between the two tank-type probe vehicles.

[0078] like Figure 3 As shown, the two identical tank detection vehicles are Tank Detection Vehicle 100 and Tank Detection Vehicle 200. Each tank detection vehicle includes a tracked running gear, a detection unit, an operating unit, a magnetic adsorption unit, a control unit, and a power unit that supplies power to the above components;

[0079] The tracked walking mechanism is used to provide the main driving force for the robot to move in the pipeline. It includes a tank body 101, a tank drive unit 102, and a tank chain 103. The tank drive unit 102 drives the tank chain 103, which is located on both sides of the tank body 101, to roll.

[0080] The detection unit set is set at the front and sides of the tank detection vehicle, forming a multi-sensor fusion all-round environmental information acquisition system. Specifically, it includes an end probe set at the front of the tank body 101 and side probes 114 set on both sides of the tank body 101, which are used to detect the status of the pipeline in front of the pipeline and the environmental status of the inner wall of the pipeline in the circumference, respectively, and to acquire and record the structural status and visible environment inside the pipeline in real time.

[0081] An end probe is installed at the center of the front end of the tank body 101, and probes 114 are also installed on both sides. All of them use high-definition cameras with multiple angles and positions. The cameras are designed optically and structurally to cover the robot's frontal field of view, the sides and part of the rear of the pipe circumferential inner wall, and realize the full-process, no blind spots, multi-view synchronous image recording and storage of the pipe inner wall.

[0082] Furthermore, in this embodiment, the end probe employs an axially extendable rotary tactile sensor (not shown in the accompanying drawings, but fully disclosed in the specification text) to actively detect whether there are physical blockages, structural foreign objects, or thickness abnormalities in the pipeline ahead during operation. It can also perform preliminary contact-based probing and marking of suspected defect points, achieving proactive front-end detection. Additionally, it can transmit multi-angle images in real time, providing the operator with an immersive perception of the pipeline's internal conditions, assisting in navigation, obstacle avoidance, and focused inspection.

[0083] High-definition image data, based on complete recordings, is synchronously stored in onboard or remote storage. After the robot completes its task, all image data can be reviewed, compared from multiple angles, and subjected to 3D modeling and in-depth analysis to accurately and quantitatively assess the morphology and development trend of defects such as corrosion and cracks. This allows for the handling of complex defect diagnosis and source tracing analysis tasks that cannot be completed immediately on-site due to limitations in computing power and time.

[0084] The side probe 114 uses an ultrasonic thickness gauge, a laser displacement sensor, or an eddy current sensor to continuously and accurately detect the environmental conditions of the circumferential inner wall of the pipeline during operation, such as wall thickness, corrosion depth, coating peeling, or geometric deformation, thereby achieving quantitative detection of the health status of the pipe body.

[0085] Furthermore, in this embodiment, the detection unit also includes a gas sensor and a laser rangefinder; the gas sensor is used to detect the concentration of hazardous gas in the pipeline; the laser rangefinder is used to acquire the geometric dimensions of the pipeline. The gas sensor is a methane sensor and / or a hydrogen sulfide sensor;

[0086] The control unit constructs a comprehensive evaluation model of the internal condition of the pipeline by fusing gas concentration data collected by gas sensors with geometric dimension data collected by laser rangefinders.

[0087] The work unit, used to mark or repair pipeline defects, includes a storage tank 104, a pumping device connected to the storage tank 104 via a pipeline, and a spray gun 106 for directional spraying.

[0088] The spray gun 106 is mounted on the liquid storage tank 104 via the spray gun bracket 105. Its spray direction is controllable and it is used to spray fluid in a directional manner onto the target area of ​​the inner wall of the pipe. The liquid storage tank 104 is connected to the inlet end of the spray gun 106 via a pipeline. The fluid stored in the liquid storage tank 104 is an adhesive, tracer, or flushing fluid. It is used to spray liquid viscous tracer to the defect location or target area of ​​the inner wall of the pipe for marking, or to spray adhesive to temporarily repair and seal cracks and small hole damage, or to flush and remove small soft obstacles.

[0089] Furthermore, in this embodiment, the two sides of the spray gun 106 are rotatably connected to the spray gun bracket 105 via a rotating shaft, with its rotation axis perpendicular to the pipe extension direction, to achieve fine adjustment of the spray angle. The adhesive sprayed from the storage tank 104 is used to temporarily repair and seal cracks or small holes in the inner wall of the pipe; or flushing fluid or compressed gas is sprayed to flush or blow away small soft obstacles in the pipe.

[0090] Furthermore, in this embodiment, the working unit also includes a breaking drill 108 located directly below the end probe, which is driven by a miniature high-torque motor and uses a high-speed rotating carbide cutting head to cut and break physical obstacles that affect the robot's movement.

[0091] The liquid storage tank 104 is connected to the tank body 101 via a lifting mechanism. The lifting mechanism is used to drive the liquid storage tank 104 and the spray gun 106 mounted on it to move up and down relative to the tank body 101 to adjust the working height.

[0092] like Figures 4 to 6As shown, the lifting mechanism includes a hydraulic rod 112, a hydraulic rod 109, and two sets of L-shaped brackets 113. Hydraulic rod 112 and hydraulic rod 109 are mounted on the tank body 101. The two sets of L-shaped brackets 113 are connected by a connecting rod 110, forming a bracket frame for supporting the liquid storage tank 104. One end of the bracket frame is fixedly connected to the liquid storage tank 104, and the other end is connected to the piston rod end of hydraulic rod 109. The piston rod of hydraulic rod 112 is hinged to one side of the cylinder of hydraulic rod 109, driving hydraulic rod 109 to swing around its hinge point with the tank body 101. The extension and retraction of hydraulic rod 109 then drives the bracket frame and the liquid storage tank 104 fixed thereon to achieve lifting and lowering movements.

[0093] Furthermore, in this embodiment, the working unit also includes a working tool head and a tool holder; the tool holder is mounted on the tank body 101; the working tool head is detachably mounted on the tool holder, and the working tool head includes any one of a breaking drill bit, a laser welding head, or a grinding head;

[0094] The breaking drill bit is driven by a micro motor and is used to rotate at high speed to cut and break small rocks, solidified deposits or other hard obstacles that affect the robot's movement inside the pipe, clearing obstacles and opening the way for the robot.

[0095] Laser welding heads are used to emit focused laser beams to perform micro-area cladding welding on metal pipes when cracks or weak points are detected, thereby achieving preliminary in-situ repair of the pipes.

[0096] Grinding heads are used to perform rotary grinding or milling operations when rust or uneven surfaces are detected on the inner wall of a pipe, in order to remove the rust layer and prepare a smooth surface for subsequent welding repairs.

[0097] like Figure 7 As shown, the magnetic adsorption unit is installed at the bottom of the tank detection vehicle to adsorb onto the pipe, adapting to the need for crawling on vertical metal pipes; in this embodiment, the magnetic adsorption unit 111 is an electromagnetic permanent magnet coupling device, which includes an iron core, several tile-shaped permanent magnets uniformly embedded in the iron core, and a three-phase winding wound in the iron core slot; the control unit is configured to continuously adjust the magnitude of the adsorption force of the magnetic adsorption unit 111 acting on the inner wall of the ferromagnetic pipe by passing an alternating current with a DC bias to the three-phase winding.

[0098] The control unit connects the detection unit and the operation unit via signals. The control unit drives the operation unit to perform operations in the pipeline based on the feedback information from the detection unit, and connects to a host computer via signals to store the detection and operation records in the pipeline in real time.

[0099] like Figure 8As shown, the two ends of the serpentine joint body 300 can be detachably connected to two tank reconnaissance vehicles. It includes four joint segments 301 connected by movable joints. The two ends of the joint segments 301 are respectively provided with joint connecting protrusions 302. Adjacent joint segments 301 are hinged to form movable joints through corresponding joint connecting protrusions 302.

[0100] Near the end of the joint connecting protrusion 302, the joint segment 301 is provided with a roller 303 in the circumferential direction. The roller 303 is densely covered with several inclined conical helical teeth 304 to form a spiral tooth surface. The spiral gear shape enables the relative deflection of multiple degrees of freedom between adjacent joint segments 301, thereby driving the entire serpentine joint body 300 to produce a meandering motion that adapts to the bending shape of the pipe, making it easy for the robot to achieve flexible serpentine crawling in vertical, horizontal and various bend pipes.

[0101] Furthermore, in this embodiment, the meshing surface of the conical helical tooth 304 forms an angle of 15°-45° with the axis of the joint segment 301, enabling multi-degree-of-freedom bending between adjacent joint segments 301.

[0102] Furthermore, in this embodiment, the wheel surface of the roller 303 is made of an elastic wear-resistant material, and its axial profile is adapted to the curvature of the inner wall of the pipe.

[0103] In this embodiment, the power unit is a battery 107, which is located inside the tank body 101 between the two tank chains 103.

[0104] In addition, such as Figure 9 As shown, this embodiment provides a pipe detection method based on a snake-shaped pipe detection robot, including the following steps:

[0105] Step S1: System startup, pipe insertion, and initial attitude calibration

[0106] Step S11: After connecting all the robot components, the control unit performs status checks on the drive unit 102, magnetic adsorption unit 111, various joint segments 301, end probe, side probe 114, laser rangefinder and gas sensor of the tank detection vehicle 100 and 200, and summarizes the self-test results.

[0107] Step S12: After confirming that the system self-test is normal, place the robot as a whole into the entrance of the pipeline to be tested, ensuring that its initial direction of travel is basically consistent with the pipeline axis, and set one of the two tank detection vehicles as the main navigation vehicle according to the direction of travel.

[0108] Step S13: Based on the inertial measurement unit (IMU) data on the tank detection vehicle, the control unit calculates the robot's initial attitude; by adjusting the rotational speed difference of the corresponding tank chain 103, the robot moves stably inside the pipe;

[0109] Step S2: Environmental Perception and 3D Modeling

[0110] Step S21: Simultaneously acquire images of the inner wall of the pipe, geometric dimensions, and gas concentration data through the end probe and side probe 114;

[0111] Step S22: The control unit integrates the above data and uses the Simultaneous Localization and Mapping (SLAM) algorithm to generate a three-dimensional point cloud model of the inside of the pipeline in real time, and identifies geometric deformation, defects and abnormal gas areas.

[0112] Step S3: Adaptive Travel and Obstacle Crossing Control

[0113] Within the straight pipe section, the control unit coordinates the drive units 102 of the two tank detection vehicles to drive the tank chain 103 to roll, so that the robot can move along the pipe axis.

[0114] When in a vertical or inclined tube section, the magnetic adsorption unit 111 is activated to adsorb the tube wall and provides an adsorption force that matches the robot's own weight and motion inertia.

[0115] When the pipe is bent, the control unit calculates the target deflection angle of each joint segment 301 based on the preset Serpenoid curve model, and drives the serpentine joint body 300 to bend to adapt to the pipe trajectory through the meshing transmission of the conical helical teeth 304.

[0116] By utilizing the symmetrically positioned end probes on two tank detection vehicles located at the front and rear of the serpentine joint main body 300, two-way environmental perception is achieved; when encountering an insurmountable obstacle on the current path, the main navigation vehicle and the direction of travel are switched, and the entire vehicle reverses and retreats;

[0117] Step S4: Defect Identification and Operation Decision

[0118] Step S41: Based on the 3D model and real-time data, the control unit automatically identifies and classifies pipeline defects and their severity levels using AI algorithms;

[0119] Step S42: Generate work instructions based on the defect type and plan the path of spray gun 106 or other work tools;

[0120] Step S5: Precise Operation Execution

[0121] For marking or repair work, control the lifting mechanism to adjust the spray gun position 106 so that it is aimed at the defective area and spray adhesive or tracer;

[0122] For obstacle-crossing operations, the end effector continuously scans the pipeline environment ahead as the robot moves normally. When it detects obstacles such as small rocks, cement deposits, weld beads, or other hard obstacles, the high-precision sensors can determine their size, hardness, and distance.

[0123] Based on sensor data, the control unit determines that the obstacle's size is within the robot's physical handling capabilities and that it will affect track movement or cause the serpentine joints to jam. In this case, the robot can automatically or receive a remote command to pause its movement and initiate the obstacle removal procedure.

[0124] Positioning: Based on the real-time images provided by the end probe, the control unit precisely controls the pose of the robot as a whole or the front joints, aligning the breaking drill located directly below the probe with the center or weak point of the obstacle.

[0125] Contact: The robot drives the tank body forward slowly, causing the high-speed rotating breaking drill 108 to contact and press against the obstacle.

[0126] Breakdown: The micro motor drives the drill bit to rotate at high speed, using the cutting force and impact force of its carbide cutting tip to cut and break the obstacle layer by layer until it is decomposed into fragments that can be passed under or to the side of the robot.

[0127] For cleaning and grinding operations, the control unit controls the laser welding head to perform cleaning, welding or grinding operations;

[0128] Step S6: Data Management and Safe Evacuation

[0129] Step S61: All the above sensor data, robot pose, defect information and operation logs need to be recorded with time and pipeline mileage markers, and stored and transmitted back to the host computer in real time;

[0130] Step S62: Upon completion of the task or receipt of a termination command, control the robot to move to the pipeline outlet or designated recycling point and execute the safety power-off procedure.

[0131] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0132] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0133] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A snake-shaped pipe-penetrating robot, characterized in that, It includes two identical tank detection vehicles, and a serpentine joint body (300) connecting the two tank detection vehicles. The tank-type detection vehicle includes a tracked walking mechanism, a detection unit, a working unit, a magnetic adsorption unit, a control unit, and a power unit that supplies power to the above components. The tracked walking mechanism provides the main driving force for the robot to move inside the pipeline. The detection unit is located at the front or side of the tank-type detection vehicle and is used to collect environmental information inside the pipeline. The working unit is used to mark or repair pipeline defects. The magnetic adsorption unit is located at the bottom of the tank-type detection vehicle and is used to adhere to the pipeline, adapting to the need for crawling on vertical metal pipelines. The control unit connects the detection unit and the operation unit via a signal. The control unit drives the operation unit to perform operations inside the pipeline based on the feedback information from the detection unit. It is also connected to a host computer via a signal to store the detection and operation records inside the pipeline in real time. The two ends of the serpentine joint body (300) are detachably connected to two tank reconnaissance vehicles. It includes at least three joint segments (301) connected by movable joints, which allow relative deflection between the joint segments, so that the entire serpentine joint body (300) can adapt to the bending changes of the pipeline, which is helpful for working in various irregular pipelines or bends.

2. The serpentine pipe-penetrating robot according to claim 1, characterized in that, The tracked walking mechanism includes a tank body (101), a tank drive unit (102), and a tank chain (103); the tank drive unit (102) drives the tank chain (103) located on both sides of the tank body (101) to roll. The detection unit includes an end probe located at the front end of the tank body (101) and side probes (114) located on both sides of the tank body (101), which are used to detect the state of the pipeline ahead of the pipeline and the environmental state of the inner wall of the pipeline circumferentially. The working unit is integrated on the tank body (101) and includes a breaking drill bit (108), a liquid storage tank (104), a pumping device connected to the liquid storage tank (104) through a pipeline, and a spray gun (106) for directional spraying. The spray gun (106) is mounted on the liquid storage tank (104) via a spray gun bracket (105). The liquid storage tank (104) is connected to the inlet end of the spray gun (106) via a pipeline. Its spray direction is controllable and it is used to spray fluid directionally into the target area on the inner wall of the pipeline. The fluid stored in the storage tank (104) is an adhesive, tracer or flushing fluid, which is used to spray adhesive onto the defect location or target area of ​​the inner wall of the pipeline to temporarily repair and seal cracks and small hole damage, spray liquid viscous tracer for marking, or flush and remove small soft obstacles. The breaking drill bit (108) is located directly below the end probe. It is driven by a miniature high-torque motor and uses a high-speed rotating carbide cutting head to cut and break physical obstacles that affect the robot's movement.

3. The serpentine pipe-penetrating robot according to claim 2, characterized in that, The two sides of the spray gun (106) are rotatably connected to the spray gun bracket (105) via a rotating shaft, and its rotation axis is perpendicular to the extension direction of the pipe, so as to achieve fine adjustment of the spray angle.

4. The serpentine pipe-penetrating robot according to any one of claims 2 or 3, characterized in that, The liquid storage tank (104) is connected to the tank body (101) via a lifting mechanism. The lifting mechanism is used to drive the liquid storage tank (104) and the spray gun (106) mounted thereon to move up and down relative to the tank body (101) to adjust the working height.

5. The serpentine pipe-penetrating robot according to claim 4, characterized in that, The lifting mechanism includes hydraulic rod one (112), hydraulic rod two (109) and two sets of L-shaped brackets (113). The first hydraulic rod (112) and the second hydraulic rod (109) are mounted on the tank body (101); the two sets of L-shaped brackets (113) are connected by a connecting rod (110) to form a bracket frame for supporting the liquid storage tank (104); One end of the bracket frame is fixedly connected to the liquid storage tank (104), and the other end is connected to the piston rod end of the hydraulic rod two (109); the piston rod of the hydraulic rod one (112) is hinged to one side of the cylinder of the hydraulic rod two (109) to drive the hydraulic rod two (109) to swing around its hinge point with the tank body (101), thereby driving the bracket frame and the liquid storage tank (104) fixed thereon to achieve lifting and lowering movement through the extension and retraction movement of the hydraulic rod two (109).

6. The serpentine pipe-penetrating robot according to claim 2, characterized in that, The detection unit also includes a gas sensor and a laser rangefinder; the gas sensor is used to detect the concentration of hazardous gases in the pipeline; the laser rangefinder is used to acquire geometric dimension data of the pipeline or the damaged area to be repaired; the gas sensor may include, but is not limited to, a methane sensor and / or a hydrogen sulfide sensor; The control unit integrates the gas concentration data collected by the gas sensor with the geometric dimension data collected by the laser rangefinder to construct a comprehensive evaluation model of the internal state of the pipeline.

7. The serpentine pipe-penetrating robot according to claim 2, characterized in that, The working unit also includes a working tool head and a tool holder; the tool holder is mounted on the tank body (101); the working tool head is detachably mounted on the tool holder, and the working tool head includes either a laser welding head or a grinding head; The laser welding head is used to emit a focused laser beam to perform micro-area cladding welding on the metal pipe when a crack or weak point is detected, so as to achieve preliminary in-situ repair of the pipe. The grinding head is used to perform rotary grinding or milling operations when rust or uneven surfaces are detected on the inner wall of the pipe, in order to remove the rust layer and prepare a smooth surface for subsequent welding repairs.

8. The serpentine pipe-penetrating robot according to claim 1, characterized in that, The two ends of the joint segment (301) are respectively provided with joint connecting protrusions (302), and adjacent joint segments (301) are hinged together through corresponding joint connecting protrusions (302) to form a movable joint; The joint segment (301) near the end joint connecting protrusion (302) is provided with a roller (303) in the circumferential direction. The roller (303) is densely covered with several inclined conical helical teeth (304) to form a spiral tooth surface. The spiral gear shape enables the relative deflection of multiple degrees of freedom between adjacent joint segments (301), thereby driving the entire serpentine joint body (300) to produce a meandering motion that adapts to the bending shape of the pipe, making it easy for the robot to achieve flexible serpentine crawling in vertical, horizontal and various bend pipes.

9. The serpentine pipe-penetrating robot according to claim 8, characterized in that, The meshing surface of the conical helical tooth (304) forms an angle of 15°-45° with the axis of the joint segment (301), enabling multi-degree-of-freedom bending between adjacent joint segments (301).

10. A method for applying a serpentine pipe-penetrating robot based on any one of claims 1 to 9, characterized in that, Includes the following steps: Step S1: System startup, pipe insertion, and initial attitude calibration Step S11: After connecting the various components of the robot, the control unit performs status detection on the drive unit (102), magnetic adsorption unit (111), various joint segments (301), end probe, side probe (114), laser rangefinder and gas sensor of the tank detection vehicle, and summarizes the self-test results. Step S12: After confirming that the system self-test is normal, place the robot as a whole into the entrance of the pipeline to be tested, ensuring that its initial direction of travel is basically consistent with the pipeline axis, and set one of the two tank detection vehicles as the main navigation vehicle according to the direction of travel. Step S13: Based on the data from the inertial measurement unit on the tank detection vehicle, the control unit calculates the robot's initial attitude; by adjusting the speed difference of the corresponding tank chain (103), the robot moves stably in the pipe; Step S2: Environmental Perception and 3D Modeling Step S21: Simultaneously acquire images of the inner wall of the pipe, geometric dimensions, and gas concentration data using the end probe and side probe (114); Step S22: The control unit integrates the above data and uses a synchronous positioning and mapping algorithm to generate a three-dimensional point cloud model of the inside of the pipeline in real time, and identifies geometric deformation, defects and abnormal gas areas. Step S3: Adaptive Travel and Obstacle Crossing Control Within the straight pipe section, the control unit coordinates the drive units (102) of the two tank detection vehicles to drive the tank chain (103) to roll, so that the robot moves along the pipe axis; When the tube is vertical or inclined, the magnetic adsorption unit (111) is activated to adsorb the tube wall and provide an adsorption force that matches the robot's weight and motion inertia. When the pipe is bent, the control unit calculates the target deflection angle of each joint segment (301) based on the preset curve model, and drives the serpentine joint body (300) to bend to adapt to the pipe trajectory through the meshing transmission of the conical helical teeth (304). By utilizing the symmetrically arranged end probes on two tank detection vehicles set at the front and rear of the serpentine joint main body (300), two-way environmental perception is achieved; when the forward path encounters an insurmountable and indestructible obstacle, the main navigation vehicle and the direction of travel are switched, and the whole vehicle retreats and withdraws. Step S4: Defect Identification and Operation Decision Step S41: Based on the 3D model and real-time data, the control unit automatically identifies and classifies pipeline defects and their severity levels using real-time camera integrated AI image recognition technology; Step S42: Generate work instructions based on the defect type and plan the path of the spray gun (106) or other work tools; Step S5: Precise Operation Execution For marking or repair work, control the lifting mechanism to adjust the position of the spray gun (106) so that it is aimed at the defective area and spray adhesive or tracer; For obstacle-related tasks, when the robot is moving normally, the end probe continuously scans the pipeline environment in front of it; when it detects small rocks, cement sludge, weld beads or other hard obstacles in front of it, the high-precision sensor can determine its size, hardness and distance. Based on sensor data, the control unit determines that the size of the obstacle is within the robot's physical processing capability and that it will affect the movement of the tracks or cause the serpentine joints to jam. At this time, the robot can automatically or receive a remote command to stop moving and start the demolition operation. Positioning: Based on the real-time images provided by the end probe, the control unit precisely controls the pose of the robot as a whole or the front joints, aligning the breaking drill located directly below the probe with the center or weak point of the obstacle. Contact: The robot drives the tank body forward slowly, causing the high-speed rotating breaking drill 108 to contact and press against the obstacle; Breakdown: The micro motor drives the drill bit to rotate at high speed, using the cutting force and impact force of its carbide cutting tip to cut and break the obstacle layer by layer until it is decomposed into pieces that can pass under or to the side of the robot. For cleaning and grinding operations, the control unit controls the laser welding head or grinding components to perform cleaning, welding or grinding operations; Step S6: Data Management and Safe Evacuation Step S61: All the above sensor data, robot pose, defect information and operation logs need to be recorded with time and pipeline mileage markers, and stored and transmitted back to the host computer in real time; Step S62: Upon completion of the task or receipt of a termination command, control the robot to move to the pipeline outlet or designated recycling point and execute the safety power-off procedure.

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