Full-automatic pipeline detection method, robot and device

Abstract

The invention relates to a full-automatic pipeline detection method, robot and device, and belongs to the technical field of pipeline detection. Comprising the following steps: inputting positioning reference information and parameter information of a detected pipeline to a pipeline detection robot through a handheld terminal controller; wherein the pipeline detection robot comprises a crawler; the three-dimensional space posture of the crawler is obtained, and whether the crawler inclines or not is judged; if yes, calculating a corresponding offset according to the three-dimensional space attitude, and adjusting the attitude of the crawler according to the offset; if not, the crawler is controlled to start crawling; a video image in the crawling process is obtained in real time, laser scanning is conducted on the pipeline section of the detected pipeline, and scanning information is obtained; generating a pipeline laser three-dimensional model according to the scanning information; and matching the pipeline laser three-dimensional model with the video image to obtain a detection result of the detected pipeline. According to the invention, the pipeline defect measurement precision and detection efficiency are improved, and the precise measurement of the pipeline attitude is realized.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection technology, and in particular to a fully automated pipeline inspection method, robot, and device. Background Technology

[0002] With the continuous upgrading and improvement of urban pipeline systems and the ongoing laying of new pipelines, older pipelines also face numerous problems. Once these pipelines develop functional defects (such as deposits, scale, obstructions, tree roots, and scum) or structural defects (such as cracks, deformation, misalignment, disconnection, foreign object penetration, and joint material detachment), it will seriously affect the normal work and lives of citizens. Therefore, in order to prevent emergencies and ensure the normal operation of pipelines, efficient, high-quality, and high-precision pipeline inspection is crucial.

[0003] Currently, common pipeline inspection methods include manual airbag dragging and CCTV pipeline inspection. The manual airbag dragging method works by attaching a rope to the end of an airbag, which is then attached to a rigid drag rope. The rope is passed through a manhole at one end of the pipeline and out the other. A person pulls the rope to detect internal deformations. While this method is simple and easy to operate, it has several drawbacks. Dragging the airbag is labor-intensive, can only detect one type of pipeline defect, and is prone to human error, making it difficult to meet the high-precision requirements of modern pipeline inspection. CCTV pipeline inspection consists of three parts: a crawler with a camera, a remote control, and a cable tray. The crawler enters the pipeline, moves along the pipe, records and photographs in real time, measures the location of damaged structures, and uploads the data to the operator's computer. Inspectors can then determine the pipeline's health condition, problem type, and location of damage based on the video images. While this method offers advantages such as visualization and high efficiency, it also has some drawbacks: First, the equipment is large and bulky, with many components, making it inconvenient to transport; second, the equipment structure is too long, making operation difficult and labor-intensive when entering the pipeline inlet; third, the driving direction is singular, only forward and backward; fourth, it is prone to tipping over inside the pipeline; fifth, it cannot accurately calculate the size of defects; sixth, it is not accurate enough in determining the location of defects; and seventh, it cannot measure the orientation (planar and vertical positions) of the pipeline being inspected. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defects of the prior art, such as high labor intensity, limited detection range, large human error, complex operation, bulky equipment, poor flexibility, easy to tip over, inaccurate defect measurement, inaccurate defect location judgment, and inability to measure pipeline posture.

[0005] Firstly, to solve the above-mentioned technical problems, the present invention provides a fully automatic pipeline inspection method, comprising: The positioning reference information and parameter information of the pipeline to be inspected are obtained, and the positioning reference information and parameter information are input into the pipeline inspection robot; wherein the pipeline inspection robot includes a crawler; The three-dimensional spatial posture of the crawler is acquired during the crawling process. Based on the three-dimensional spatial posture, it is determined whether the crawler has tilted. If so, the offset of the crawler in three-dimensional space is calculated based on the three-dimensional spatial posture, and the posture of the crawler is adjusted according to the offset until the posture parameters of the crawler are within a preset threshold range. If not, the crawler is controlled to start automatically crawling along the detected pipe. The system acquires video footage of the crawler during its crawling process in real time and performs laser scanning on the cross-section of the pipe being inspected to obtain scanning information. Based on the scanning information, a three-dimensional laser model of the pipeline is generated; the three-dimensional laser model of the pipeline is matched with the video image to obtain the detection result of the pipeline being inspected.

[0006] In one embodiment of the present invention, the step of generating a three-dimensional model of the pipeline laser based on the scanning information is as follows: Multiple sets of distance and angle data are acquired from the scan information. Spatial coordinate transformation is performed on each set of distance and angle data. The absolute coordinates of multiple target points on the inner wall of the detected pipe in the three-dimensional coordinate system are obtained by using the mapping formula from spherical coordinates to Cartesian coordinates. Construct a point cloud dataset based on the multiple absolute coordinates; The point cloud dataset is subjected to multi-layer filtering to obtain filtered point cloud data; based on the filtered point cloud data, a continuous three-dimensional mesh model of the inner wall of the pipe is generated by Poisson surface reconstruction; based on the three-dimensional mesh model of the inner wall of the pipe, a three-dimensional laser model of the pipe is obtained.

[0007] In one embodiment of the present invention, video footage of the crawler during its crawling process is acquired in real time, and the cross-section of the pipe being inspected is laser-scanned. The scanning information is obtained while the concentration of harmful gases inside the pipe is monitored in real time and fed back to the handheld terminal controller of the pipe inspection robot.

[0008] Secondly, to solve the above-mentioned technical problems, the present invention provides a fully automated pipeline inspection robot for implementing the above-mentioned fully automated pipeline inspection method, comprising: A handheld terminal controller is used to input the positioning reference information and parameter information of the pipeline being inspected; A crawler is used to receive the positioning reference information and the parameter information; wherein the crawler includes a measurement and positioning module, an attitude adjustment module, a crawling drive module, a laser scanning module, a recording module, and an internal storage module; the measurement and positioning module includes an inertial measurement unit, which is connected to the attitude adjustment module; the attitude adjustment module is connected to the crawling drive module; the crawling drive module includes multiple rotation and telescopic units; the laser scanning module is connected to one of the rotation and telescopic units; the recording module is connected to another of the rotation and telescopic units; the internal storage module is connected to the measurement and positioning module, the attitude adjustment module, the crawling drive module, the laser scanning module, and the recording module respectively; The computer software system is connected to the internal storage module.

[0009] In one embodiment of the present invention, the crawling drive module further includes a control unit and a plurality of drive components; the control unit is connected to the inertial measurement unit and the plurality of rotational telescopic units respectively; the plurality of rotational telescopic units are connected to the plurality of drive components respectively.

[0010] In one embodiment of the present invention, the drive assembly includes a power transmission rod and a drive roller; the power transmission rod and the drive roller are connected; the power transmission rod is connected to one of the rotary telescopic units.

[0011] In one embodiment of the present invention, the video recording module includes a photosensitive unit, an illumination unit, a temperature recognition unit, and a heating dryer; the photosensitive unit is connected to the illumination unit, and the temperature recognition unit is connected to the heating dryer.

[0012] In one embodiment of the present invention, the crawler further includes a housing, the surface of which is provided with a plurality of receiving cavities; the driving rollers of the recording module, the laser scanning module, and the crawling drive module are all disposed in different receiving cavities.

[0013] In one embodiment of the present invention, the opening end of the receiving cavity is provided with a sealing door, which is rotatably connected to the outer shell; the control unit of the crawling drive module controls the opening and closing state of the sealing door; when the sealing door is in the closed state, it is sealed and smoothly connected to the outer shell.

[0014] Thirdly, in order to solve the above-mentioned technical problems, the present invention provides a fully automatic pipeline inspection device, including the aforementioned fully automatic pipeline inspection robot.

[0015] Compared with the prior art, the above-described technical solution of the present invention has the following advantages: (1) The fully automatic pipeline inspection method, robot, and device described in this invention accurately captures the acceleration and angular velocity of the crawler within the pipeline through the inertial measurement unit of the measurement and positioning module, providing real-time data support for attitude control. The attitude adjustment module precisely calibrates the crawler's attitude based on this data, ensuring stable operation in complex pipeline environments. The crawling drive module, according to attitude adjustment commands, coordinates and controls multiple rotating and telescopic units and drive components through the control unit to achieve flexible movement of the crawler. The close linkage of each module enables the crawler to perform inspection tasks smoothly and efficiently within the pipeline, improving movement flexibility and effectively reducing the risk of tipping over. The laser scanning module and video recording module are connected to the rotating and telescopic units respectively, and can dynamically adjust the scanning and recording angles and ranges according to the crawler's real-time attitude and position, not only improving the comprehensiveness and data accuracy of the inspection, but also acquiring richer inspection information in complex pipeline environments, thereby expanding the effective inspection range. The internal storage module is interconnected with various functional modules, centrally storing measurement and positioning data, attitude adjustment records, laser scanning data, and video recordings. This centralized storage design facilitates subsequent data processing and analysis, improving the efficiency and reliability of data management, and provides a data foundation for optimizing crawler control strategies and detection algorithms. Furthermore, after the internal storage module interfaces with the computer software system, the accompanying software can generate a 3D model of the pipeline based on the collected point cloud data. Through automated data processing, it can achieve quantitative analysis and rating of defect levels, types, areas, and lengths. This design significantly reduces errors caused by human intervention and substantially improves the accuracy and speed of defect measurement.

[0016] (2) The present invention can effectively isolate dust, liquid and harmful gases through the sealed door, avoid corrosion of internal components and extend the service life of the equipment. At the same time, the module can be completely retracted into the receiving cavity when not in operation. With the sealing door closed structure, the overall size of the crawler can be greatly reduced and the portability of the crawler can be improved. In addition, each module is uniformly scheduled by the control unit to realize automatic start-stop and extension, reduce manual operation and shorten operation time.

[0017] (3) This invention can not only automatically identify the defect level, calculate the defect length and area, and solve the problem of inaccurate defect location judgment, but also realize the measurement of the three-dimensional posture of the pipeline under inspection, and at the same time add the ability to detect the type and concentration of harmful gases inside the pipeline. Attached Figure Description

[0018] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein: Figure 1 This is a flowchart of a fully automated pipeline inspection method according to a preferred embodiment of the present invention; Figure 2This is a side view of the internal structure of the crawler of a fully automated pipeline inspection robot according to a preferred embodiment of the present invention; Figure 3 This is a schematic diagram of the longitudinal section structure of a crawler inspection process of a fully automatic pipeline inspection robot in a preferred embodiment of the present invention. Figure 4 This is a front cross-sectional view of the crawler inspection process of a fully automated pipeline inspection robot in a preferred embodiment of the present invention. Figure 5 This is a rear cross-sectional view of the crawler inspection process of a fully automated pipeline inspection robot in a preferred embodiment of the present invention. Figure 6 This is a flowchart of a fully automated pipeline inspection robot inspection method according to a preferred embodiment of the present invention.

[0019] Explanation of reference numerals in the accompanying drawings: 1. Measurement and positioning module; 2. Attitude adjustment module; 3. Crawling drive module; 31. Rotation and telescopic unit; 32. Power transmission rod; 33. Drive roller; 4. Laser scanning module; 5. Video recording module; 6. Internal storage module; 7. Intelligent power supply module; 8. Gas monitoring module; 9. Communication and control module; 10. Outer shell; 11. Receiving cavity; 12. Sealing door. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0021] Example 1: Reference Figure 1 As shown, this embodiment of the invention provides a fully automated pipeline inspection method, including but not limited to the following steps: S1. Obtain the positioning reference information and parameter information of the pipeline to be inspected, and input the positioning reference information and parameter information into the pipeline inspection robot; wherein the pipeline inspection robot includes a crawler; S2. Obtain the three-dimensional spatial posture of the crawler during the crawling process, and determine whether the crawler has tilted based on the three-dimensional spatial posture; if so, calculate the offset of the crawler in three-dimensional space based on the three-dimensional spatial posture, and adjust the posture of the crawler according to the offset until the posture parameters of the crawler are within the preset threshold range; if not, control the crawler to start crawling automatically along the detected pipe. S3. Real-time acquisition of video footage of the crawler during the crawling process, and laser scanning of the cross-section of the pipe being inspected to obtain scanning information; S4. Based on the scanning information, generate a three-dimensional laser model of the pipeline; match the three-dimensional laser model of the pipeline with the video image to obtain the detection result of the pipeline being inspected.

[0022] This invention provides a fully automated pipeline inspection method that effectively solves many problems existing in the prior art, including high labor intensity, limited inspection range, large human error, complex operation, bulky equipment, poor flexibility, easy tipping, inaccurate defect measurement, inaccurate defect location judgment, and inability to measure pipeline posture. It acquires the three-dimensional spatial posture of the crawler within the pipeline, providing real-time data for posture adjustment. Before and during crawler startup, the three-dimensional spatial posture is monitored in real time to determine the tilt state. If tilted, the crawler is dynamically adjusted to a preset threshold based on the offset; if stable, it crawls normally. This design effectively avoids crawler tipping or posture deviation caused by uneven pipeline inner walls or slope changes, ensuring continuous stability during the inspection process. Simultaneous video image acquisition and pipeline cross-section laser scanning are performed. Video recording captures visual images of the pipeline inner wall (such as surface defects like cracks and corrosion), while laser scanning acquires precise structural data of the pipeline cross-section, achieving dual acquisition and avoiding missed defects due to single data types. By matching laser 3D models with video footage to generate detection results, abstract model data and intuitive image data can be mutually verified. This design can accurately quantify defect dimensions (such as length and area) based on the model, and locate the specific location of defects through images, reducing errors in manual analysis and making the detection results more convincing and traceable, providing accurate decision-making basis for subsequent pipeline repair and maintenance.

[0023] Specifically, in step S1, when operators conduct pipeline inspection, they can rely on construction drawings or professional measuring equipment (such as laser rangefinders, GNSS locators, etc.) to collect positioning reference information and key parameter information of the pipeline being inspected. The positioning reference information includes the coordinates of the starting and ending points, and the key parameter information includes pipe diameter, pipe length, and laying slope. Subsequently, the coordinates and parameter data are input into the crawler of the pipeline inspection robot via a handheld terminal controller, providing a data foundation for the crawler's subsequent path planning and inspection operations. The crawler's main control unit (such as the control unit in its drive module) receives and parses the data transmitted by the handheld terminal controller, and autonomously completes path planning accordingly. Specifically, it can plan the travel trajectory based on the pipe length and the starting and ending coordinates, while matching an appropriate travel speed based on the pipeline laying slope.

[0024] In the pipeline inspection process, in order to prevent the crawler from tipping over during crawling and to obtain stable and clear images and 3D models, it is necessary to acquire the 3D spatial posture of the crawler in real time during crawling.

[0025] Specifically, in step S2, the three-dimensional spatial pose of the crawler is obtained, including the pitch angle. Roll angle and yaw angle Based on these three attitude angle parameters, the offset of the crawler in the three-dimensional coordinate system is accurately calculated using a spatial kinematics model. , , ).

[0026] For example, suppose the crawler moves a distance of 1 / 2000 liters within a tiny time interval. With the starting point coordinates as the origin, establish a three-dimensional coordinate system (X-axis is the axial direction of the inspected pipe, Y-axis is the horizontal radial direction, and Z-axis is the vertical radial direction). The formula for calculating the offset is: .

[0027] Furthermore, the crawler's attitude is adjusted based on the offset until its attitude parameters fall within a preset threshold range. This preset threshold range includes a threshold interval for the crawler's tilt angle in the forward / backward or left / right directions, specifically corresponding to the pitch angle in the crawler's three-dimensional spatial attitude. Roll angle .

[0028] For example, setting the pitch angle The threshold range is Roll angle The threshold range is That is, when the pitch angle of the crawler satisfies And the roll angle satisfies If the crawler's pitch angle meets the allowable range, it is determined that the tilt has not exceeded the permissible range and no attitude adjustment is required; Or the roll angle satisfies If the tilt exceeds the preset range, the crawler's attitude must be adjusted immediately based on the offset.

[0029] It should be noted that step S2, which involves acquiring the three-dimensional spatial posture of the crawler during the crawling process and determining whether the crawler has tilted based on the three-dimensional spatial posture, is continuously performed throughout the entire pipeline inspection process.

[0030] Specifically, in step S3, video footage of the crawler during its crawling process is acquired in real time, and the cross-section of the pipe being inspected is scanned using laser. This scanning information is obtained while simultaneously monitoring the concentration of harmful gases inside the pipe and feeding it back to the handheld terminal controller of the pipe inspection robot. These harmful gases include hydrogen sulfide (H2S), ammonia (NH3), and carbon monoxide (CO).

[0031] Specifically, in step S4, the step of generating a three-dimensional model of the pipeline laser based on the scanning information is as follows: S410. Acquire multiple sets of distance and angle data from the scanning information, perform spatial coordinate transformation on each set of distance and angle data, and obtain the absolute coordinates of multiple target points on the inner wall of the detected pipe in the three-dimensional coordinate system through the mapping formula from spherical coordinates to Cartesian coordinates.

[0032] For example, each set of distance and angle data includes a distance value. Horizontal deflection angle and vertical pitch angle For distance values and angle data ( , A spatial coordinate transformation is performed, and the absolute coordinates of the target point in the three-dimensional coordinate system are calculated using the mapping formula from spherical coordinates to Cartesian coordinates. The expression for the mapping formula is: ; ; .

[0033] S420. Construct a high-density point cloud dataset based on multiple absolute coordinates.

[0034] S430. Perform multi-layer filtering on the point cloud dataset to obtain filtered point cloud data; based on the filtered point cloud data, generate a continuous three-dimensional mesh model of the inner wall of the pipe using the Poisson surface reconstruction method; based on the three-dimensional mesh model of the inner wall of the pipe, obtain a three-dimensional laser model of the pipe.

[0035] For example, the steps of performing multi-layer filtering on the original point cloud data are as follows: First, a statistical filtering algorithm is used to remove outlier noise points caused by reflections from the inner wall of the pipe and interference from impurities; second, radius filtering is used to remove sparsely distributed outliers; finally, a surface fitting algorithm is used to smooth adjacent point clouds and eliminate point cloud fluctuations caused by measurement errors. The filtered point cloud data is then used to generate a continuous three-dimensional mesh model of the inner wall of the pipe using a Poisson surface reconstruction algorithm. This model is then combined with texture mapping technology to give the model the realistic image features of the inner wall of the pipe, ultimately constructing a three-dimensional laser model of the pipe.

[0036] Furthermore, if the inspected pipeline has defects, its corresponding laser 3D model will contain specific defect information. Based on this, the pipeline laser 3D model can be matched with video footage. Matching methods include feature point matching, projection matching, and motion trajectory constraint methods.

[0037] For example, the steps of the feature point matching method are as follows: extract key geometric features (such as the spatial coordinates of three-dimensional feature points such as protrusions, depressions, and welds on the inner wall of the pipe) from the laser three-dimensional model, and extract corresponding visual features (such as corners, edges, and textures) from the video image. Calculate the similarity between the two using feature descriptors such as SIFT and SURF to achieve the matching of the spatial coordinates of the feature points with the pixel positions of the image.

[0038] This invention converts each set of data individually and combines it with a precise mapping formula, reducing data conversion errors at the source and ensuring millimeter-level accuracy of target point coordinates, laying a high-precision foundation for subsequent modeling. Secondly, multi-layer filtering effectively removes invalid data such as outliers and sparse anomalies, eliminating the influence of factors such as pipe inner wall reflection and impurity interference, ensuring high density and high purity of point cloud data. Furthermore, the Poisson surface reconstruction algorithm can transform discrete point clouds into continuous three-dimensional mesh models, automatically filling the minute gaps in scanning blind spots, and completely restoring the geometric features of pipe curvature, inner diameter changes, etc., which is particularly suitable for the modeling needs of complex pipelines. At the same time, the accurate three-dimensional model can quantify the spatial parameters of pipeline defects, avoiding misjudgments or missed detections caused by perspective deviations in traditional two-dimensional image detection, providing objective and traceable three-dimensional data evidence for pipeline safety assessment.

[0039] Example 2: Reference Figures 2 to 3 As shown, this embodiment of the invention provides a fully automated pipeline inspection robot for implementing a fully automated pipeline inspection method provided in Embodiment 1, comprising: A handheld terminal controller is used to input the positioning reference information and parameter information of the pipeline being inspected; A crawler is used to receive positioning reference information and parameter information. The crawler includes a measurement and positioning module 1, an attitude adjustment module 2, a crawling drive module 3, a laser scanning module 4, a video recording module 5, and an internal storage module 6. The measurement and positioning module 1 includes an inertial measurement unit (IMU) connected to the attitude adjustment module 2. The attitude adjustment module 2 is connected to the crawling drive module 3. The crawling drive module 3 includes multiple rotation and telescopic units 31. The laser scanning module 4 is connected to one of the rotation and telescopic units 31. The video recording module 5 is connected to another rotation and telescopic unit 31. The internal storage module 6 is connected to the measurement and positioning module 1, the attitude adjustment module 2, the crawling drive module 3, the laser scanning module 4, and the video recording module 5. The computer software system is connected to the internal storage module 6.

[0040] The fully automated pipeline inspection robot provided in this embodiment has functions such as pipeline imaging, cross-section scanning, pipeline attitude measurement, and gas monitoring. Specifically, the measurement and positioning module accurately measures the crawler's acceleration and angular velocity within the pipeline using an inertial measurement unit, providing real-time data for attitude adjustment. The attitude adjustment module precisely adjusts the crawler's attitude based on this data, ensuring stable operation in complex pipeline environments. The crawling drive module, according to the instructions from the attitude adjustment module, coordinates multiple rotating and telescopic units and drive components through a control unit to achieve flexible movement of the crawler. This close collaboration between modules allows the crawler to perform inspection tasks smoothly and efficiently within the pipeline, improving flexibility and effectively reducing the risk of tipping over. The laser scanning module and recording module are connected to the rotating and telescopic units, enabling flexible adjustment of the scanning and recording angles and ranges based on changes in the crawler's attitude and position. This design not only improves the comprehensiveness and accuracy of the inspection but also acquires richer data in complex pipeline environments, thereby increasing the inspection range. The internal storage module is connected to all functional modules, centrally storing measurement and positioning data, attitude adjustment records, laser scanning data, and video recording data. This centralized storage method facilitates subsequent data processing and analysis, improving the efficiency and reliability of data management. Simultaneously, centrally stored data can be used to optimize the crawler's control strategies and detection algorithms. The internal storage module is connected to the computer software system, and with the help of accompanying software, a 3D model of the pipeline can be generated. By processing the collected point cloud data, the software can achieve quantitative analysis and rating of defect levels, types, areas, and lengths. This design effectively reduces human error and significantly improves the accuracy of defect measurement. Furthermore, the relative independence between modules means that when one module fails, the impact is relatively small, preventing the entire system from crashing.

[0041] Specifically, the fully automated pipeline inspection robot described in this embodiment of the invention integrates multiple functions, including pipeline imaging, cross-section scanning, pipeline attitude measurement, and gas monitoring. Its working principle is as follows: (Referring to...) Figures 3 to 5As shown, during the inspection process, the crawler enters the pipeline and crawls along it. The video recording module 5 mounted at the front records real-time video, while the laser scanning module 4 (LiDAR) mounted at the rear scans the pipeline cross-section. Simultaneously, the inertial measurement unit (IMU) built into the measurement and positioning module 1 measures the pipeline's three-dimensional spatial attitude and detects the concentration of harmful gases inside the pipeline. After the inspection is completed, the hard drive storing the data in the crawler is connected to the computer software system. Using the accompanying software, a three-dimensional model of the pipeline can be generated with a single click. By processing the collected point cloud data, quantitative analysis and rating of defect levels, types, areas, and lengths can be achieved. Furthermore, the computer software system can display the pipeline's trajectory in both horizontal and vertical directions. Finally, through a one-click automated operation, the three-dimensional model of the pipeline is precisely matched with the recorded images to extract defect information and generate an inspection report. This process effectively avoids human error and significantly improves inspection efficiency.

[0042] Specifically, the crawler is the main device for data acquisition during pipeline inspection. It includes a measurement and positioning module 1, an attitude adjustment module 2, a crawling drive module 3, an internal storage module 6, a video recording module 5, and a laser scanning module 4. The crawling drive module 3 includes multiple rotating and telescopic units 31 and multiple drive components. The drive components include a power transmission rod 32 and a drive roller 33, wherein the power transmission rod 32 is connected to the drive roller 33, and the power transmission rod 32 is also connected to one of the rotating and telescopic units 31. Furthermore, the multiple rotating and telescopic units 31 are respectively connected to the laser scanning module 4, the multiple drive components, and the video recording module 5.

[0043] Specifically, the measurement and positioning module 1 is the core module for autonomous navigation, measuring the acceleration and angular velocity of the crawler moving inside the pipe. The measurement and positioning module 1 includes an inertial measurement unit (IMU), which comprises sensors such as gyroscopes and accelerometers. By calculating acceleration and angular velocity data in real time, the IMU can continuously acquire and output the crawler's three-dimensional attitude, displacement, and velocity information to determine the crawler's three-dimensional coordinates inside the pipe. The parameters of each component of the IMU are described exemplarily below.

[0044] For example, the performance parameters of the inertial measurement unit are: three-axis attitude measurement, used to accurately capture the spatial attitude of the pipeline, wherein the azimuth (Z-axis) measurement range is ±180°, the roll angle measurement range is ±180°, and the pitch angle measurement range is ±90°.

[0045] Specifically, the attitude adjustment module 2 is used to sense the crawler's tilt attitude by measuring the inertial measurement unit (IMU) in the positioning module 1. The IMU can measure the crawler's pitch angle in real time. Roll angle and yaw angle The system transmits these angular electrical signals to the control unit in the crawling drive module 3. Based on the received signals, the control unit accurately calculates the crawler's offset in three-dimensional space. , , The system sends correction commands to the rotary telescopic unit 31, power transmission rod 32, and drive roller 33, causing the crawler to return to its normal posture and continue moving forward. If the crawler still cannot continue moving forward after posture correction, it indicates that an obstacle has been encountered. At this time, the rotary telescopic unit 31, power transmission rod 32, and drive roller 33 will perform circumferential rotation and telescopic operations on the cross-section of the pipe until the obstacle is successfully avoided and the crawler continues to move forward, thereby improving obstacle avoidance efficiency and safety. To ensure the stable operation of the crawler in complex environments, when the crawler's tilt angle in the forward / backward or left / right directions exceeds a set threshold (e.g., tilt angle ≥ 2°), the posture adjustment module 2 will automatically activate to adjust the crawler's posture and keep it within a safe operating range.

[0046] Specifically, the crawling drive module 3 also includes a control unit. The control unit includes a control chip, which is the core component. It is responsible for receiving signals sent by the attitude adjustment module 2 and performing rapid processing and calculation, thereby accurately controlling the movement of the rotating telescopic unit 31, the power transmission rod 32 and the drive roller 33, ensuring that the crawler can move smoothly and efficiently in the pipe and realize functions such as attitude adjustment and obstacle avoidance.

[0047] Furthermore, the rotating telescopic unit 31 enables 360° omnidirectional rotation and flexible telescopic operation. The power transmission rod 32 is made of high-strength stainless steel, possessing excellent strength and durability. The drive rollers 33 feature 360° omnidirectional rotation and crawling capabilities, employing a universal wheel design to ensure flexible movement within the pipe. They also possess a degree of elasticity; for example, when four rollers are in contact with the inner wall of the pipe, they can fit tightly, providing stable grip and good adaptability.

[0048] Specifically, the recording module 5 includes a high-definition camera, a photosensitive unit, an illumination unit, a temperature recognition unit, and a heating dryer. The photosensitive unit is connected to the illumination unit, and the temperature recognition unit is connected to the heating dryer. The photosensitive unit can sense the light intensity inside the pipe in real time. In cases of insufficient light, the photosensitive unit automatically sends a signal to the illumination unit to trigger the lights to turn on, ensuring the camera can clearly capture images inside the pipe. The temperature recognition unit is responsible for monitoring temperature changes inside the pipe. When a large temperature difference is detected inside the pipe, which may cause condensation on the camera lens, the temperature recognition unit sends a signal to the heating dryer to activate the heating function, quickly removing the condensation from the lens and ensuring a clear view for the camera.

[0049] Specifically, for laser scanning module 4, it emits laser pulses and precisely records the time difference between emission and reflection. In this embodiment, using the speed of light as a constant, the module calculates the precise distance to the target point. Simultaneously, with the help of a built-in precision angle sensor, the system can determine the emission direction of the laser beam. Subsequently, the system comprehensively calculates the measured distance and angle data and converts these data into points (X, Y, Z) in a three-dimensional coordinate system, gradually constructing a dense point cloud dataset. Finally, after filtering, a precise three-dimensional model of the pipeline is generated from this point cloud data, providing intuitive and detailed data support for pipeline inspection and analysis.

[0050] Specifically, for the internal storage module 6, a portable hard drive can be used as the main storage medium.

[0051] Specifically, the crawler also includes a communication and control module 9, which includes a Bluetooth module and a 5G network module. The communication and control module 9 establishes a connection with the various modules of the fully automated pipeline inspection robot through Bluetooth and 5G network to achieve stable and efficient data transmission and remote control functions.

[0052] Specifically, the crawler also includes an intelligent power supply module 7, which has an emergency power reserve function. During pipeline inspection, if the crawler's power suddenly runs out, the system will automatically activate the emergency power reserve to ensure the crawler can safely return to the pipe opening. The intelligent power supply module 7 is connected to the measurement and positioning module 1, attitude adjustment module 2, crawling drive module 3, laser scanning module 4, recording module 5, and internal storage module 6. Furthermore, the intelligent power supply module 7 also has a crawling mileage prediction and early warning function, accurately predicting the remaining crawling distance based on the remaining power. For example, when the remaining crawling mileage is less than twice the already crawled mileage, the intelligent power supply module 7 will issue an early warning, reminding the operator to take timely measures. This early warning condition can be flexibly adjusted according to actual inspection needs. Simultaneously, the crawler is equipped with various power-saving measures, such as reducing energy consumption through its own attitude adjustment and route optimization, while the detection / monitoring device achieves intelligent power saving through a "sleep-wake" mode, effectively extending the crawler's endurance.

[0053] Specifically, the crawler also includes a gas monitoring module 8, which can monitor the oxygen concentration and various harmful gases in the pipeline in real time. The gas monitoring module 8 is connected to the communication and control module 9. This gas concentration data is transmitted and displayed on the handheld terminal controller in a timely manner, providing operators with real-time environmental information. Gas monitoring employs methods such as electrochemical oxidation-reduction reactions to ensure the accuracy and reliability of the monitoring results. This function is of significant safety importance in preventing personnel from accidentally entering the pipeline in unknown hazardous environments.

[0054] Specifically, refer to Figure 2 As shown, the crawler also includes a housing 10, the surface of which has multiple receiving cavities 11. When the crawler is not activated, the recording module 5, the laser scanning module 4, and the drive rollers 33 of the drive assembly are all housed in different receiving cavities 11. A sealing door 12 is provided at the opening end of each receiving cavity 11, and the sealing door 12 is rotatably connected to the housing 10. The opening and closing state of the sealing door 12 is controlled by the control unit (control chip) of the crawler drive module 3. When the sealing door 12 is in the closed state, it is sealed and smoothly connected to the housing 10.

[0055] Furthermore, the recording module 5, laser scanning module 4, and drive components are each connected to an independent rotating telescopic unit 31, with each unit employing a differentiated layout on the crawler to adapt to functional requirements. Specifically, the rotating telescopic units 31 connected to the recording module 5 and laser scanning module 4 are installed relative to each other (e.g., deployed at the front and rear of the crawler respectively), enabling bidirectional synchronous data acquisition. In this embodiment, four drive components are preferably configured, and their corresponding rotating telescopic units 31 also adopt a relative installation design to ensure balanced force distribution and stable movement of the crawler. It should be noted that the installation positions of the rotating telescopic units 31 connected to the four drive components do not overlap with the positions of the rotating telescopic units 31 corresponding to the recording module 5 and laser scanning module 4, avoiding structural interference when different modules operate and ensuring that each functional component operates independently and collaboratively.

[0056] Furthermore, the coordinated telescopic control process of the video recording module 5, the laser scanning module 4, and the independent rotating telescopic units 31 connected to the drive assembly is as follows: After the crawler starts, the control unit of the crawling drive module 3 first controls the sealing door 12 to open, reserving a channel for the subsequent modules to extend. Subsequently, the control unit precisely sends action signals to each rotating telescopic unit 31. Among them, after receiving the signal, the rotating telescopic unit 31 connected to the drive assembly drives the power transmission rod 32 to move, thereby driving the drive roller 33 connected to it to extend out of the receiving cavity 11; at the same time, the rotating telescopic units 31 connected to the video recording module 5 and the laser scanning module 4 start synchronously, smoothly pushing the corresponding detection module to the outside of the receiving cavity 11 to complete the detection preparation. After the detection operation is completed, each rotating telescopic unit 31 moves in reverse, driving the drive roller 33, the video recording module 5, and the laser scanning module 4 to retract synchronously into the receiving cavity 11, and all the sealing doors 12 close immediately, realizing the reset of the equipment from the working state to the storage and protection state.

[0057] This invention, through its design, comprehensively improves the accuracy, adaptability, and efficiency of pipeline inspection operations. The video recording and laser scanning modules, via relatively mounted rotating and telescopic units (e.g., front-to-back layout), enable bidirectional synchronous data acquisition. Combined with flexible module extension and retraction, they can adapt to different pipe diameters, avoiding blind spots and providing comprehensive and accurate raw data for defect identification and 3D modeling. The relatively positioned drive components, combined with the rotating and telescopic units, form a symmetrical force-bearing structure, ensuring smooth movement of the crawler and reducing the risk of tipping over. Furthermore, the roller extension and retraction adapt to different pipe diameters, preventing jamming or slippage. A linkage mechanism between the sealing door and the telescopic unit: during inspection, the sealing door automatically opens to ensure smooth extension of each functional module; after operation, the sealing door closes synchronously to completely seal the cavity. This design effectively isolates dust, liquid, and harmful gases, preventing corrosion of internal components and extending equipment lifespan. Simultaneously, when not in operation, the modules can be completely retracted into the cavity, significantly reducing the overall size of the crawler and improving portability. In addition, each module is uniformly scheduled by the control unit, achieving automated start-stop and extension / retraction, reducing manual operation and shortening operation time.

[0058] Specifically, the handheld terminal controller mainly comprises three key components: a Bluetooth communication and control module, an information writing module, and a screen display module. Based on these modules, the handheld terminal controller establishes a stable communication connection with the crawler, thus forming a two-way interactive mechanism: on the one hand, operators can send control commands such as start / stop, speed adjustment, and detection mode switching to the crawler through the handheld terminal controller; on the other hand, the crawler can transmit real-time data such as images of the pipeline interior, location information, and equipment operating status (e.g., battery level, temperature) back to the terminal, facilitating real-time monitoring of the operation progress and timely adjustment of operating parameters by the operator.

[0059] Specifically, the computer software system possesses powerful data processing and analysis capabilities. It can generate a 3D pipeline model from point cloud data collected in the field with a single click. By setting specific attribute parameters, it can extract and quantitatively analyze the defect level, type, area, and length in the model, while simultaneously rating it according to relevant standards. Furthermore, the built-in inertial measurement unit can display the pipeline's trajectory in both horizontal and vertical directions in real time. Through one-click automated operation, the software can accurately match the pipeline's 3D model with video footage, extract defect levels and types, and generate detailed inspection reports. Moreover, the software supports historical data comparison, analyzing the combined effects of the pipeline's internal material properties (such as aging rate and strength decay) and external environmental factors (such as corrosive medium concentration and load frequency), thereby predicting defect development trends and providing a scientific basis for pipeline maintenance.

[0060] Specifically, refer to Figure 6 As shown, the specific inspection steps of the pipeline inspection robot in this embodiment are as follows: Step 1: Simultaneously turn on the handheld terminal controller and the crawler to establish a Bluetooth communication connection.

[0061] Step 2: After successful connection, click the self-test button on the handheld terminal controller and observe the indicator lights corresponding to the crawler's drive roller 33, camera, measurement and positioning module 1, laser scanning module 4, etc.: If all indicator lights are green, it means that each component can be used normally; if any component is abnormal, its corresponding indicator light will be red, and it needs to be dealt with on site in time.

[0062] Step 3: After the equipment self-test is normal, input the starting point position (i.e., the three-dimensional coordinates of the pipe inlet) and other relevant pipe parameters on the handheld terminal controller; after the crawler is adjusted to a suitable posture, click the start button to start the detection operation.

[0063] Step 4: Throughout the entire operation, the crawler, through its own attitude adjustment module 2, maintains its forward axis perpendicular to the cross-section of the inspected pipe, crawling stably inside the pipe. If an obstacle is encountered during operation, and the crawler cannot continue moving after returning to its normal posture, the rotation and extension unit 31, the power transmission rod 32, and the drive roller 33 will rotate and extend circumferentially within the pipe's cross-section until the obstacle is successfully avoided, and then continue moving forward. It should be noted that throughout the entire inspection process, the attitude adjustment module 2 and the crawling drive module 3 work together to complete the crawler's attitude adjustment, ensuring that it maintains a stable operating state at all times.

[0064] Step 5: During the crawling process along the pipeline, all systems of the crawler work in sync: the front recording module 5 records the footage in real time, the rear LiDAR scans the pipeline cross-section with laser, and the built-in inertial measurement unit detects the three-dimensional spatial attitude of the pipeline in real time; simultaneously, the gas monitoring module 8 continuously monitors the concentration of harmful gases inside the pipe, and the data is synchronously fed back to the handheld terminal controller. When the crawler reaches the end of the pipeline, it will automatically complete a 180° reversal and continue working along the return path. The LiDAR continues to scan the pipeline cross-section, and the camera continues to record footage until it returns to the starting point, at which point all detection operations automatically stop.

[0065] Step 6: After the test is completed, turn off the machine power, clean and wipe the dirty areas on the outside of the crawler, and then remove the internal data storage device.

[0066] Step 7: Connect the crawler's data storage device to the computer software system. After opening the processing software and reading the field-collected data, the system will automatically generate a 3D laser model of the pipeline, simultaneously displaying key information such as defect location, deformation area, and length. For points exceeding the deformation limit, the system will automatically mark them and capture the corresponding images, providing a visual representation of the pipeline's overall health status. Simultaneously, it can display the pipeline's 3D spatial attitude (including horizontal and vertical trajectories) recorded by the built-in inertial measurement unit, according to actual needs. The accompanying software can generate a 3D pipeline model with a single click from the point cloud data collected during the field phase. By setting attribute parameters, it automatically extracts the defect level, type, area, and length from the model, and performs quantitative analysis and rating based on specifications. Finally, through one-click automated operation, the 3D pipeline model is precisely matched with the video footage to extract the defect level and type and generate an inspection report.

[0067] Step 8: In the office processing stage, after the computer system completes the identification of defect types and levels and the office staff confirms the findings, the inspection report can be generated with a single click using computer software. This type of precise and efficient inspection operation provides reliable technical support for ensuring project quality.

[0068] The fully automated pipeline inspection robot described in this invention has several core functions, which can comprehensively improve the automation and intelligence level of pipeline inspection. Its specific advantages are as follows: In terms of movement and obstacle avoidance, its drive roller 33 adopts a universal wheel design, which can rotate 360° and has a certain degree of elasticity. At the same time, through the coordinated operation of the built-in posture adjustment module 2 and the crawling drive module 3, the robot can stabilize its crawling posture and has the ability to automatically adjust, ensuring the stability of its movement.

[0069] In terms of inspection and data acquisition, the fully automated pipeline inspection robot can simultaneously perform 3D laser scanning and video recording. Utilizing a built-in inertial measurement unit, it accurately measures the pipeline's 3D spatial attitude and vectorizes the pipeline by inputting coordinates, precisely locating the generated 3D model and captured images. For defect analysis, the fully automated pipeline inspection robot can automatically identify defect types and locations, calculate defect sizes, and assess defect levels and predict development trends. It also has the function of automatically capturing both a 3D model image and a video image of the same location; that is, while locating defects in the 3D model, it simultaneously extracts corresponding defect images from the video recording.

[0070] In terms of processes and auxiliary functions, the fully automated pipeline inspection robot can automatically return to the starting point after completing the outward inspection, achieving fully automated round-trip inspection. It can automatically generate inspection reports based on the set defect level range. In addition, it is equipped with a gas concentration detection system (which can monitor oxygen content, toxic gases, etc.) and has early warning functions and energy-saving technology, which can ensure inspection safety and optimize energy consumption in real time.

[0071] Furthermore, compared to existing CCTV pipeline inspection technologies, this invention effectively addresses numerous shortcomings in the CCTV pipeline inspection process, constructing a systematic solution that comprehensively covers multiple dimensions including equipment, operation, inspection, and data processing. Specifically, in terms of equipment and operation, it effectively solves the portability issues caused by the bulkiness and complex components of traditional robotic equipment, while reducing the manual labor intensity when the crawler enters and exits the pipeline. Regarding motion and environmental adaptation, it overcomes the limitations of the crawler's single drive direction (supporting only forward and backward movement), its tendency to tip over, and its inability to automatically avoid obstacles, improving its mobility in complex pipeline environments. In terms of inspection process efficiency, it solves the problem of the crawler's inability to automatically perform return inspection after completing the outward pipeline inspection, resulting in long overall time consumption, thus optimizing the entire inspection process. Regarding data acquisition and analysis accuracy, it fills several functional gaps, namely, it can not only automatically identify defect levels and calculate defect length and area, solving the problem of inaccurate defect location judgment, but also achieve the measurement of the three-dimensional posture of the inspected pipeline, and adds the ability to detect the type and concentration of harmful gases inside the pipeline. In terms of subsequent processing and battery life management, it not only alleviates the pressure of heavy workload and long report generation cycle of personnel in the internal processing stage, but also solves the actual need to predict the length of pipeline that can be inspected based on the robot's current remaining power, providing more efficient, accurate and convenient technical support for pipeline inspection.

[0072] Example 3: This embodiment provides a fully automatic pipeline inspection device, including a fully automatic pipeline inspection robot provided in Embodiment 2.

[0073] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0074] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0075] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0076] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0077] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A fully automated pipeline inspection method, characterized in that, include: The positioning reference information and parameter information of the pipeline to be inspected are obtained, and the positioning reference information and parameter information are input into the pipeline inspection robot; The pipeline inspection robot mentioned above includes a crawler; The three-dimensional spatial posture of the crawler is acquired during the crawling process. Based on the three-dimensional spatial posture, it is determined whether the crawler has tilted. If so, the offset of the crawler in three-dimensional space is calculated based on the three-dimensional spatial posture, and the posture of the crawler is adjusted according to the offset until the posture parameters of the crawler are within a preset threshold range. If not, the crawler is controlled to start automatically crawling along the detected pipe. The system acquires video footage of the crawler during its crawling process in real time and performs laser scanning on the cross-section of the pipe being inspected to obtain scanning information. Based on the scanning information, a three-dimensional laser model of the pipeline is generated; the three-dimensional laser model of the pipeline is matched with the video image to obtain the detection result of the pipeline being inspected.

2. The fully automatic pipeline inspection method according to claim 1, characterized in that, The steps for generating a three-dimensional model of the pipeline laser based on the scan information are as follows: Multiple sets of distance and angle data are acquired from the scan information. Spatial coordinate transformation is performed on each set of distance and angle data. The absolute coordinates of multiple target points on the inner wall of the detected pipe in the three-dimensional coordinate system are obtained by using the mapping formula from spherical coordinates to Cartesian coordinates. Construct a point cloud dataset based on the multiple absolute coordinates; The point cloud dataset is subjected to multi-layer filtering to obtain filtered point cloud data; Based on the filtered point cloud data, a continuous three-dimensional mesh model of the inner wall of the pipe is generated using the Poisson surface reconstruction method; based on the three-dimensional mesh model of the inner wall of the pipe, a three-dimensional laser model of the pipe is obtained.

3. The fully automatic pipeline inspection method according to claim 1, characterized in that, The system acquires video footage of the crawler during its crawling process in real time and performs laser scanning on the cross-section of the pipe being inspected. In addition to obtaining the scanning information, it also monitors the concentration of harmful gases inside the pipe in real time and feeds it back to the handheld terminal controller of the pipe inspection robot.

4. A fully automated pipeline inspection robot, used to implement the fully automated pipeline inspection method according to any one of claims 1 to 3, characterized in that, include: A handheld terminal controller is used to input the positioning reference information and parameter information of the pipeline being inspected; A crawler is used to receive the positioning reference information and the parameter information; wherein the crawler includes a measurement and positioning module, an attitude adjustment module, a crawling drive module, a laser scanning module, a recording module, and an internal storage module; the measurement and positioning module includes an inertial measurement unit, which is connected to the attitude adjustment module; the attitude adjustment module is connected to the crawling drive module; the crawling drive module includes multiple rotation and telescopic units; the laser scanning module is connected to one of the rotation and telescopic units; the recording module is connected to another of the rotation and telescopic units; the internal storage module is connected to the measurement and positioning module, the attitude adjustment module, the crawling drive module, the laser scanning module, and the recording module respectively; The computer software system is connected to the internal storage module.

5. The fully automated pipeline inspection robot according to claim 4, characterized in that, The crawling drive module further includes a control unit and multiple drive components; the control unit is connected to the inertial measurement unit and multiple rotation and telescopic units respectively; the multiple rotation and telescopic units are connected to multiple drive components respectively.

6. The fully automated pipeline inspection robot according to claim 5, characterized in that, The drive assembly includes a power transmission rod and a drive roller; the power transmission rod and the drive roller are connected; the power transmission rod is connected to one of the rotary telescopic units.

7. The fully automated pipeline inspection robot according to claim 4, characterized in that, The video recording module includes a photosensitive unit, an illumination unit, a temperature recognition unit, and a heating dryer; the photosensitive unit is connected to the illumination unit, and the temperature recognition unit is connected to the heating dryer.

8. The fully automated pipeline inspection robot according to claim 4, characterized in that, The crawler also includes a housing, the surface of which is provided with multiple receiving cavities; the driving rollers of the recording module, the laser scanning module, and the crawling drive module are all disposed in different receiving cavities.

9. A fully automated pipeline inspection robot according to claim 8, characterized in that, The opening end of the receiving cavity is provided with a sealing door, which is rotatably connected to the outer shell; the control unit of the crawling drive module controls the opening and closing state of the sealing door; when the sealing door is in the closed state, it is sealed and smoothly connected to the outer shell.

10. A fully automatic pipeline inspection device, characterized in that, Includes a fully automated pipeline inspection robot as described in any one of claims 4 to 9.

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