Pipeline detection robot and detection method thereof

Abstract

The invention discloses a pipeline detection robot. The pipeline detection robot comprises a mobile platform and an auxiliary observation device, the mobile platform is provided with a walking mechanism, a camera and a clear water pipeline; the auxiliary observation device comprises a light-transmitting sleeve and a spray head, the light-transmitting sleeve is arranged around the camera, a light-transmitting baffle of the light-transmitting sleeve is arranged at the end, away from the camera, of the sleeve and located on the shooting path of the camera, the light-transmitting sleeve is connected with the camera in a sealed mode so as to cooperate with a lens of the camera to define a first containing cavity, and the spray head is connected with the clear water pipeline; the nozzle is arranged on the side, away from the camera, of the sleeve. The spray heads conduct continuous directional water flow cleaning on the outer surfaces of the light-transmitting baffles, and the water flow of the clear water pipeline has the double effects of observation window cleaning and pipe wall surface washing at the same time. The interference of turbid water and dirt attachment on optical detection is effectively overcome, and the image definition of pipeline inner wall defect detection, the continuity of detection operation and the reliability of an evaluation result under severe working conditions are remarkably improved.

Description

Technical Field

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

[0002] Pipeline inspection robots are specialized equipment used for real-time inspection and assessment of the internal conditions of pipelines. By integrating camera, sensor, and movement systems, they replace manual entry into high-risk or restricted pipe sections, providing objective evidence for pipeline condition diagnosis. When conducting internal inspections of water-containing pipelines such as municipal drainage systems, conventional acoustic detection technology, while capable of penetrating water for contour mapping, cannot effectively penetrate or identify layers of contaminants such as sediment and oil adhering to the pipe walls. This results in a blind spot for the pipe surface beneath these layers. Furthermore, the turbidity of the water significantly reduces the penetrating power of visible light or auxiliary illumination, limiting the field of view and reducing image clarity for optical imaging camera systems, making it difficult to obtain reliable visual information about underwater structures.

[0003] In other words, water turbidity and sediment cover together restrict the ability to visually detect and accurately assess the integrity and defects of pipeline walls under water conditions. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, one of the objectives of this invention is to provide a pipeline inspection robot that solves the problem of difficulty in inspection when the water is turbid and covered with silt.

[0005] The second objective of this invention is to provide a method for detecting pipelines using a pipeline inspection robot.

[0006] One of the objectives of this invention is achieved through the following technical solution:

[0007] A pipeline inspection robot, comprising:

[0008] A mobile platform, the mobile platform having a walking mechanism, the mobile platform being equipped with a camera and a clean water pipe, the camera being used to photograph the inner wall of the pipe;

[0009] An auxiliary observation device includes a light-transmitting sleeve and a nozzle. The light-transmitting sleeve is arranged around the camera. A light-transmitting baffle of the light-transmitting sleeve is located at the end of the light-transmitting sleeve away from the camera and on the camera's shooting path. The light-transmitting sleeve is sealed to the camera to form a first receiving cavity with the camera lens. The nozzle is connected to the clean water pipe and is located on the side of the light-transmitting sleeve away from the camera. The nozzle faces the outer wall of the light-transmitting baffle and is used to clean the outer wall of the light-transmitting baffle.

[0010] Furthermore, the nozzle is provided in multiple locations, and the multiple nozzles are distributed circumferentially around the light-transmitting sleeve.

[0011] Furthermore, the plurality of nozzles are distributed sequentially and at intervals along the outer edge of the light-transmitting baffle, so that the water jets from the plurality of nozzles work together to form a spiral water curtain on the outer wall of the light-transmitting baffle.

[0012] Furthermore, among the plurality of nozzles, two nozzles located on opposite sides of the light-transmitting baffle are arranged opposite each other, with the two opposite nozzles facing opposite directions to coordinately spray opposing water streams.

[0013] Furthermore, the mobile platform supports the camera via a first swing arm, and the mobile platform is equipped with a first swing drive mechanism, which drives the first swing arm.

[0014] Furthermore, a pipeline inspection robot also includes a second swing arm, wherein the mobile platform, the second swing arm, and the first swing arm are hinged sequentially, the camera is mounted on the first swing arm; the first swing drive mechanism is mounted on the second swing arm; the second swing drive mechanism is mounted on the mobile platform and drives the first swing arm.

[0015] Furthermore, the light-transmitting sleeve is movably sleeved on the first pendulum rod, and the auxiliary observation device also includes a moving drive mechanism. The moving drive mechanism is installed on the first pendulum rod and located in the first receiving cavity. The driving end of the moving drive mechanism is connected to the light-transmitting sleeve so that the light-transmitting baffle can move closer to or further away from the camera.

[0016] Furthermore, the first swing arm is provided with a fluid channel, one end of which is connected to the clean water pipe and the other end is connected to the first receiving cavity. The fluid channel is used to inject or discharge clean water into the first receiving cavity.

[0017] Furthermore, the nozzle is connected to the clean water pipe via a flexible pipe.

[0018] The second objective of this invention is achieved by the following technical solution:

[0019] A method for detecting a pipeline inspection robot, comprising the pipeline inspection robot as described in claim 8, and including the following steps;

[0020] The mobile platform moves to the location on the pipeline that needs to be inspected;

[0021] Adjust the orientation and position of the camera so that it is aimed at the inner wall of the pipe to be observed;

[0022] The moving drive mechanism pushes out the light-transmitting sleeve and the light-transmitting baffle, and the clean water pipe injects water into the first receiving cavity through the fluid channel to achieve pressure balance inside and outside the first receiving cavity;

[0023] Water is sprayed onto the light-transmitting baffle through the nozzle, washing away the attached debris. The water flow can also wash away the attached substances on the inner wall of the pipe.

[0024] The camera captures clear images of the pipe's inner wall.

[0025] The retraction of the moving drive mechanism brings the light-transmitting baffle and the light-transmitting sleeve closer to the camera, and the water in the first accommodating cavity is recovered through the fluid channel.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0027] 1. The mobile platform has a walking mechanism, and the mobile platform is equipped with a camera and a clean water pipe. The camera is used to photograph the inner wall of the pipe. The walking mechanism ensures stable movement and precise stopping and positioning of the equipment in complex pipeline environments, providing a foundation for systematic continuous inspection.

[0028] 2. A light-transmitting sleeve is arranged around the camera, with a light-transmitting baffle located at the end of the sleeve furthest from the camera and positioned along the camera's shooting path. The light-transmitting sleeve is sealed to the camera, forming a first accommodating cavity in conjunction with the camera lens. This structure creates an isolated observation environment for the camera, effectively preventing turbid liquid from the pipe from entering the observation area and avoiding interference from the liquid on the imaging field of view.

[0029] 3. Based on the connection between the nozzle and the clean water pipe, the nozzle is located on the side of the light-transmitting sleeve away from the camera, facing the outer wall of the light-transmitting baffle, and is used to clean the outer wall of the light-transmitting baffle. The nozzle has a dual function: by continuously and directionally cleaning the outer surface of the light-transmitting baffle, it keeps the optical window in a contamination-free state, fundamentally ensuring the long-lasting clarity and reliability of the imaging optical path; at the same time, by flushing the inner wall of the pipe, it reduces the adhesion of contaminants and exposes the original structure of the inner wall of the pipe. This effectively overcomes the interference of water turbidity and dirt adhesion on optical detection, significantly improving the image clarity, the continuity of detection operations, and the reliability of evaluation results for detecting defects in the inner wall of the pipe under harsh working conditions. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the pipeline inspection robot of the present invention;

[0031] Figure 2 for Figure 1The side view shown;

[0032] Figure 3 for Figure 2 The sectional view shown.

[0033] In the diagram: 1. Mobile platform; 2. Walking mechanism; 3. Camera; 4. Clean water pipe; 5. Light-transmitting sleeve; 6. Nozzle; 7. First receiving cavity; 8. Light-transmitting baffle; 9. First swing arm; 10. First swing drive mechanism; 11. Second swing arm; 12. Second swing drive mechanism; 13. Moving drive mechanism; 14. Fluid channel; 15. Bendable pipe. Detailed Implementation

[0034] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0035] It should be noted that when an element is described as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is described as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0037] See Figures 1-3 A preferred embodiment of the present invention provides a pipeline inspection robot, comprising: a mobile platform 1 and an auxiliary observation device.

[0038] The mobile platform 1 has a walking mechanism 2, and is equipped with a camera 3 and a water pipe 4. The camera 3 is used to photograph the inner wall of the pipe. The mobile platform 1 is equipped with a walking mechanism 2 adapted to complex pipe bottom environments, such as a tracked or multi-wheel drive system. This walking mechanism 2 enables the robot to move and position stably in pipes with accumulated mud or obstacles. The front or top of the mobile platform 1 is equipped with a camera 3 for acquiring visual information. The camera 3 is encapsulated in a waterproof and dustproof housing and can be tilted and rotated by a rigid or servo-driven gimbal to capture images of different areas of the pipe wall. The mobile platform 1 integrates or tows a water pipe 4, which can be made of flexible and wear-resistant polymer pipes such as polyethylene, nylon, or polyurethane. One end of the pipe is connected to an external water supply source, and the outlet at the other end is strategically positioned in front of the field of view of the camera 3. When the robot performs inspection operations, a constant flow of water pumped through the clean water pipe 4 continuously washes the outer surface of the protective cover of the camera 3 and the pipe wall area to be inspected. This jet effectively disperses turbid water in a localized area in front of the lens and partially peels off or washes away loose deposits such as sludge, grease, or biofilm attached to the pipe wall, thus creating a temporary, relatively clear observation window for the camera 3. Through the coordinated operation of the precise movement and positioning of the walking mechanism 2, the multi-angle image acquisition of the camera 3, and the local environmental purification provided by the clean water pipe 4, the pipe inspection robot can significantly improve its ability to visualize and inspect the structural condition of the pipe wall, as well as the reliability of image recognition, even in conditions with water, especially turbid water, and surface coverings.

[0039] The auxiliary observation device includes a light-transmitting sleeve 5 and a nozzle 6. The light-transmitting sleeve 5 is arranged around the camera 3. A light-transmitting baffle 8 of the light-transmitting sleeve 5 is located at the end of the light-transmitting sleeve 5 away from the camera 3 and is positioned on the shooting path of the camera 3. The light-transmitting sleeve 5 is sealed to the camera 3 to form a first receiving cavity 7 with the lens of the camera 3. The nozzle 6 is connected to the clean water pipe 4 and is located on the side of the light-transmitting sleeve 5 away from the camera 3. The nozzle 6 faces the outer wall of the light-transmitting baffle 8 and is used to clean the outer wall of the light-transmitting baffle 8. The light-transmitting sleeve 5 can be made of materials such as plastic, optical glass, or resin. The sleeve is coaxially fitted and tightly surrounds the lens portion of the camera 3. At the end of the light-transmitting sleeve 5 away from the camera 3, a light-transmitting baffle 8 serving as an observation window is fixedly installed. The light-transmitting baffle 8 completely covers and is perpendicular to the shooting light path of the camera 3. The near end of the light-transmitting sleeve 5 is statically sealed to the lens housing of the camera 3 via a sealing ring or structural adhesive, thus forming a first accommodating cavity 7 with a controllable internal environment together with the lens. A nozzle 6, connected to the clean water pipe 4, is located on the outer side of the end of the light-transmitting sleeve 5. Its spray outlet can be designed as a fan-shaped, conical, or cylindrical structure, and the water outlet direction of the nozzle 6 is directly aimed at the outer wall surface of the light-transmitting baffle 8. During the detection operation, the nozzle 6 continuously sprays water onto the outer wall of the light-transmitting baffle 8. This water flow forms a dynamically renewed cleaning liquid film on the baffle surface. Through fluid shearing and flushing action, it effectively removes contaminants such as sticky sludge, oily residues, or microbial films adhering to the baffle, and partially peels off or washes away loose deposits such as sludge, grease, or biofilm adhering to the pipe wall, thereby creating a temporary and relatively clear observation window for the camera 3. At the same time, this flowing water curtain also constitutes a physical barrier, preventing suspended particles in the external turbid water from directly contacting the optical interface. Through the synergy of physical isolation achieved by the light-transmitting sleeve 5 and the sealing structure, the optical channel provided by the light-transmitting baffle 8, and the directional active cleaning implemented by the nozzle 6, this device creates and maintains a locally clean and stable observation window for the camera 3 in the turbid and contaminated pipe water. This ensures that the camera 3 can continuously acquire high-definition visual images of the inner wall of the pipe, significantly improving the reliability and accuracy of visual detection of pipe wall defects under siltation and turbidity conditions.

[0040] Working Principle: After traveling and precisely positioning itself within the pipeline via the walking mechanism 2, it connects to the clean water pipeline 4 via a nozzle 6 located on the outer side of the end of the light-transmitting sleeve 5. The water outlet direction of the nozzle 6 is directly aimed at the outer wall surface of the light-transmitting baffle 8. During the inspection operation, the nozzle 6 continuously sprays water onto the outer wall of the light-transmitting baffle 8. This water flow forms a dynamically renewed cleaning liquid film on the baffle surface. Through fluid shearing and flushing action, it effectively removes contaminants such as sticky sludge, oily residues, or microbial films adhering to the baffle, and partially peels off or washes away loose deposits attached to the pipe wall, thus creating a temporary, relatively clear observation window for the camera 3. At the same time, this flowing water curtain also constitutes a physical barrier, preventing suspended particles in the external turbid water from directly contacting the optical interface. Finally, the camera 3 obtains a clear image of the inner wall of the pipeline after it has been cleaned by the water flow through the continuously kept clean light-transmitting baffle 8.

[0041] Clearly, the walking mechanism 2 ensures stable movement and precise positioning of the equipment in complex pipeline environments, providing a foundation for systematic continuous detection. Based on the light-transmitting sleeve 5 surrounding the camera 3, the light-transmitting baffle 8 of the light-transmitting sleeve 5 is located at the end of the sleeve 5 furthest from the camera 3 and on the camera 3's shooting path. The light-transmitting sleeve 5 and camera 3 are sealed together. This structure creates an isolated observation environment for the camera 3, effectively preventing turbid liquid from entering the observation area and avoiding interference with the imaging field of view. Based on the nozzle 6 connected to the clean water pipe 4, the nozzle 6 is located on the side of the light-transmitting sleeve 5 furthest from the camera 3. The nozzle 6 has a dual function: by continuously and directionally flowing water to clean the outer surface of the light-transmitting baffle 8, it keeps the optical window uncontaminated, fundamentally ensuring the long-lasting clarity and reliability of the imaging optical path; simultaneously, by flushing the inner wall of the pipe, it reduces the adhesion of contaminants and exposes the original structure of the pipe's inner wall. It effectively overcomes the interference of water turbidity and dirt adhesion on optical detection, and significantly improves the image clarity, continuity of detection operation and reliability of evaluation results for pipeline inner wall defect detection under harsh working conditions.

[0042] In this embodiment, preferably, multiple nozzles 6 are provided, and the multiple nozzles 6 are distributed circumferentially around the light-transmitting sleeve 5 at intervals. The equidistant circumferential arrangement of the multiple nozzles 6 constitutes a radial media distribution system. This ensures consistent spray coverage in every direction from the central axis, effectively avoiding differences in the treatment effect on the target work surface caused by spray blind spots or uneven intensity. The synchronous activation and operation of all nozzles 6 in the circumferential direction allows the media to act simultaneously on the all-around area around the sleeve, forming a continuous and uniform annular action zone. Ultimately, this achieves full coverage of the treatment range and a high degree of homogenization of the treatment effect, significantly improving the integrity, consistency, and overall efficiency of the operation.

[0043] In this embodiment, preferably, multiple nozzles 6 are sequentially and spaced apart along the outer edge of the light-transmitting baffle 8, so that the water streams sprayed by the multiple nozzles 6 in concert form a spiral water curtain on the outer wall of the light-transmitting baffle 8. The spray axes of all nozzles 6 are oriented and precisely pointed to the central area of ​​the outer wall of the baffle. This allows each stream of water to impact the wall at a specific angle, and then spread naturally along the surface and be guided to flow. When all nozzles 6 work together, these guided water streams connect and merge on the entire outer wall of the baffle, eventually converging to form a continuous, spiraling downward water curtain. This spiral water curtain achieves persistent, uniform adhesion and dynamic renewal of the liquid medium on a vertical curved surface, thereby significantly enhancing its coverage continuity and cleaning efficiency on the wall.

[0044] In this embodiment, preferably, among the plurality of nozzles 6, two nozzles 6 located on opposite sides of the light-transmitting baffle 8 are arranged opposite each other, with the two opposite nozzles 6 facing opposite directions to collaboratively spray opposing water streams. These nozzles 6 are configured in pairs, with the two nozzles 6 in each pair positioned on opposite sides of the baffle diameter or center-symmetrically, and their spray directions precisely aligned and opposite to each other. This arrangement allows all nozzles 6 to work together to form multiple sets of spatially symmetrical opposing water streams. Multiple opposing water streams collide simultaneously in multiple preset focal areas around the baffle, their momentum impacting each other and transforming into high-turbulence mixing and energy dissipation. This multi-focal opposing flow field design aims to construct a uniformly distributed and consistent intensity reinforcement zone within the space surrounding the baffle, thereby achieving an overall improvement in media mixing efficiency and surface impact coverage uniformity, significantly optimizing the spatial integrity and synergy of the spraying process.

[0045] In this embodiment, preferably, the mobile platform 1 supports the camera 3 via a first swing arm 9. The mobile platform 1 is equipped with a first swing drive mechanism 10, which drives the first swing arm 9. The mobile platform 1 serves as the system's support and motion base, with the first swing arm 9 directly supporting and fixing the camera 3. To achieve adjustable camera angle, the mobile platform 1 also integrates the first swing drive mechanism 10. This drive mechanism can be a worm gear reducer motor, a micro servo electric cylinder, or a compact rotary cylinder, and is directly mechanically connected to the drive end of the first swing arm 9, thus forming a complete power transmission chain. When the first swing drive mechanism 10 is activated, its rotational or linear driving action is directly and precisely transmitted to the first swing arm 9 through this connection, driving the first swing arm 9 and the camera 3 at its end to perform controllable reciprocating swings around a preset axis. This achieves compact integration of the drive unit, transmission mechanism, and execution components, ensuring the stability, rapid response, and positioning accuracy of the camera 3's attitude adjustment.

[0046] In this embodiment, preferably, a pipeline inspection robot further includes a second swing arm 11. The mobile platform 1, the second swing arm 11, and the first swing arm 9 are hinged sequentially. The camera 3 is mounted on the first swing arm 9. The first swing drive mechanism 10 is mounted on the second swing arm 11. The second swing drive mechanism 12 is mounted on the mobile platform 1 and drives the first swing arm 9. The mobile platform 1, the second swing arm 11, and the first swing arm 9 are sequentially connected by hinge components to form a series multi-degree-of-freedom robotic arm structure. The camera 3 is fixedly mounted on the first swing arm 9 at the end of the robotic arm. The first swing drive mechanism 10, used to directly drive the end-effector posture, is mounted on the rod of the second swing arm 11, and its output end is connected to the first swing arm 9 through a transmission component to control the pitch or yaw motion of the camera 3 relative to the second swing arm 11. The second swing drive mechanism 12, which provides the basic swing, is mounted on the main body of the mobile platform 1. Its output end is also connected to the second swing arm 11 through a transmission mechanism, which can drive the first swing arm 9 together with the second swing arm 11 and the camera 3 to perform a large-range basic swing relative to the mobile platform 1. This dual-drive, dual-swing arm series layout realizes independent and composite control of the camera 3's posture in two motion dimensions, thereby significantly enhancing the robot's ability to flexibly adjust the detection perspective and adaptability in complex pipeline environments, while maintaining the compactness of the structure and the stability of the motion.

[0047] In this embodiment, preferably, the light-transmitting sleeve 5 is movably sleeved on the first pendulum rod 9. The auxiliary observation device further includes a moving drive mechanism 13, which is installed on the first pendulum rod 9 and located within the first receiving cavity 7. The driving end of the moving drive mechanism 13 is connected to the light-transmitting sleeve 5, so that the light-transmitting baffle 8 can move closer to or further away from the camera 3. The light-transmitting sleeve 5 is axially movable on the outside of the first pendulum rod 9, and the two can form a sliding pair through a linear bearing, a precision slide rail, or a low-friction bushing. The light-transmitting sleeve 5 has a built-in moving drive mechanism 13, which can be an electric push rod, a miniature ball screw, or a linear motor. This mechanism is fixedly installed in the first receiving cavity 7 inside the first swing rod 9. Its drive end is rigidly connected to the inner wall of the light-transmitting sleeve 5. When the moving drive mechanism 13 is working, its output linear thrust or pull force is directly transmitted to the light-transmitting sleeve 5 through the connecting part, thereby driving the light-transmitting sleeve 5 and the light-transmitting baffle 8 at its end to make precise and stable linear movements along the axis of the first swing rod 9. This achieves displacement adjustment of the light-transmitting baffle 8 towards or away from the camera 3. This structure actively changes the physical distance between the light-transmitting baffle 8 and the optical lens of the camera 3, enabling the system to dynamically adjust the optimal observation window and working distance according to the distance of different observation targets or the changes in the spatial constraints of the pipeline environment. This effectively optimizes the field of view clarity, improves imaging quality, and enhances the overall detection adaptability.

[0048] In this embodiment, preferably, the first swing arm 9 is provided with a fluid channel 14. One end of the fluid channel 14 is connected to the clean water pipe 4, and the other end is connected to the first receiving cavity 7. The fluid channel 14 is used to inject or discharge clean water into the first receiving cavity 7. One end of the fluid channel 14 is sealed and connected to the clean water pipe 4, while the other end is connected to the inside of the first receiving cavity 7. This fluid channel 14 constitutes a controlled fluid passage. Through external control, clean water is injected into the first receiving cavity 7 as a pressure balancing medium or discharged from the cavity through the original path to achieve internal and external pressure balance. Based on the principle of fluid statics, the system actively adjusts the volume of clean water in the cavity to accurately match changes in external environmental pressure, thereby maintaining the stability of the cavity structure. At the same time, since the injected medium is optically transparent clean water, it will not obstruct the observation field of the camera 3 or cause optical distortion when performing the pressure regulation function. After completing the pressure balancing function, this part of the clean water can be completely recycled back to the original system through the same channel, realizing the recycling of the working medium and effectively avoiding resource waste. This design, which integrates pressure balancing and media recovery functions, ensures the safe and reliable operation of critical components under high pressure differential conditions while also taking into account the optical performance and environmental friendliness of the observation system.

[0049] In this embodiment, preferably, the nozzle 6 is connected to the clean water pipe 4 via a flexible pipe 15. The flexible pipe 15 can be a metal braided hose, a flexible corrugated pipe, or a conduit with multiple hinges, providing multiple degrees of freedom of bending deformation while withstanding a certain working pressure. This arrangement allows the flexible pipe 15 to undergo corresponding elastic bending or torsional deformation when the sleeve to which the nozzle 6 is attached moves axially, effectively absorbing and compensating for changes in pipe length and spatial position caused by sleeve displacement. This ensures the unobstructed and sealed water supply path throughout the entire movement, avoiding interference, wear, or leakage that may result from rigid connections. This structure, by providing a flexible fluid transport connection, ensures that the sleeve and nozzle 6 have the necessary degrees of freedom of movement when performing positioning or scanning actions, while maintaining the continuity and stability of the clean water supply, thus supporting the smooth and reliable operation of the spraying process at different working positions.

[0050] A pipeline inspection robot inspection method includes the following steps;

[0051] The mobile platform 1 moves to the location of the pipeline that needs to be inspected; the mobile platform 1 moves autonomously inside the pipeline, and its movement is based on the preset inspection path or the positioning command received in real time. It generates propulsion through the built-in drive mechanism, thereby gradually moving along the inner wall of the pipeline to the target location that needs to be inspected or identified by the system, thus establishing an accurate spatial reference for subsequent fixed-point observation and data acquisition.

[0052] The attitude and position of the camera 3 are adjusted so that it is aligned with the inner wall of the pipe to be observed. According to the detection requirements, the control system activates the first swing drive mechanism 10 and the second swing drive mechanism 12. The first swing drive mechanism 10 drives the first swing arm 9 to move, thereby adjusting the pitch or yaw angle of the camera 3 mounted at its end. The second swing drive mechanism 12 drives the second swing arm 11 to move, causing the first swing arm 9 and the camera 3, which are hinged to it, to swing as a whole. Through the combined movement of these two sets of drive mechanisms, the spatial orientation of the camera 3 can be precisely adjusted. Ultimately, the optical center axis of the camera 3 is precisely aligned with a specific area of ​​the inner wall of the pipe to be observed, and it maintains a suitable observation distance from the observation surface, thereby ensuring that the observed target is completely covered within the effective field of view of the camera 3 and a clear image is obtained.

[0053] The moving drive mechanism 13 pushes out the light-transmitting sleeve 5 and the light-transmitting baffle 8. The water pipe 4 injects water into the first receiving cavity 7 through the fluid channel 14 to achieve pressure balance inside and outside the first receiving cavity 7. The moving drive mechanism 13 is activated, pushing the light-transmitting sleeve 5 and the light-transmitting baffle 8 at its end axially, moving it to the designated working position in front of the camera 3. At the same time, the water pipe 4 injects clean water into the first receiving cavity 7 through the fluid channel 14 inside the first swing arm 9. By dynamically adjusting the volume of clean water in the cavity, the internal static pressure is matched with the external environmental water pressure, thereby achieving real-time pressure balance inside and outside the first receiving cavity 7, and the injected clean water medium will not interfere with the optical path.

[0054] The nozzle 6 sprays water onto the light-transmitting baffle 8, washing away attached debris. The water flow also washes away deposits on the inner wall of the pipe. The nozzle 6 is activated in a controlled manner, spraying water from the clean water pipe 4 at a specific angle and pressure onto the surface of the light-transmitting baffle 8. This water jet effectively peels off and removes debris and stains adhering to the observation surface of the light-transmitting baffle 8, restoring its optical transparency and ensuring a clear field of view for the camera 3. Simultaneously, after directly cleaning the baffle, the remaining kinetic energy and spillage of the sprayed water continue to act on the inner wall of the pipe in front, flushing away deposits on the wall. This process achieves a dual function of maintaining the light-transmitting baffle 8 itself and pre-cleaning the inner wall of the pipe, providing a clean observation window and a relatively clean inspection environment for subsequent visual inspection, thereby improving the overall reliability and accuracy of the inspection results.

[0055] The camera 3 captures clear images of the inner wall of the pipe; the camera 3 captures images continuously or in snapshot mode at a set focal length and resolution, and the acquired raw image data is then uploaded to the control system or external processing unit in real time through the built-in data transmission module.

[0056] The moving drive mechanism 13 retracts, bringing the light-transmitting baffle 8 and the light-transmitting sleeve 5 closer to the camera 3, while the clean water in the first receiving cavity 7 is recovered through the fluid channel 14. After completing the observation and cleaning operations, the moving drive mechanism 13 retracts, driving the light-transmitting sleeve 5 and its end light-transmitting baffle 8 to retract axially along the first swing arm 9, bringing them closer to and storing them near the camera 3, restoring the compact layout to its non-working state. Simultaneously, the system controls the clean water in the first receiving cavity 7 to flow back to the clean water pipe 4 through the same fluid channel 14, realizing the recovery of the working medium. This coordinated operation completes the retraction of the optical window and the depressurization of the pressure-bearing cavity, restoring the entire auxiliary observation device to its initial integrated state. This not only saves space to facilitate the movement of the equipment within the pipeline but also achieves the recycling of the pressure-balancing medium, preparing for the next detection operation.

[0057] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0058] 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 at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0059] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A pipeline inspection robot, characterized in that, include: A mobile platform (1) has a walking mechanism (2), and the mobile platform (1) is equipped with a camera (3) and a clean water pipe (4). The camera (3) is used to photograph the inner wall of the pipe. An auxiliary observation device is provided, comprising a light-transmitting sleeve (5) and a nozzle (6). The light-transmitting sleeve (5) is arranged around the camera (3). The light-transmitting baffle (8) of the light-transmitting sleeve (5) is located at one end of the light-transmitting sleeve (5) away from the camera (3) and is located on the shooting path of the camera (3). The light-transmitting sleeve (5) is sealed to the camera (3) to form a first receiving cavity (7) with the lens of the camera (3). The nozzle (6) is connected to the clean water pipe (4). The nozzle (6) is located on the side of the light-transmitting sleeve (5) away from the camera (3). The nozzle (6) faces the outer wall of the light-transmitting baffle (8) and is used to clean the outer wall of the light-transmitting baffle (8).

2. The pipeline inspection robot according to claim 1, characterized in that, The nozzle (6) is provided in multiple ways, and the multiple nozzles (6) are distributed circumferentially around the light-transmitting sleeve (5).

3. A pipeline inspection robot according to claim 2, characterized in that, Multiple nozzles (6) are distributed sequentially and at intervals along the outer edge of the light-transmitting baffle (8), and all multiple nozzles (6) face the middle of the outer wall of the light-transmitting baffle (8), so that the water flow sprayed by the multiple nozzles (6) together forms a spiral water curtain on the outer wall of the light-transmitting baffle (8).

4. A pipeline inspection robot according to claim 2, characterized in that, Among the multiple nozzles (6), two nozzles (6) located on opposite sides of the light-transmitting baffle (8) are arranged opposite each other, and the two nozzles (6) are arranged opposite each other to spray out opposing water streams in a coordinated manner.

5. A pipeline inspection robot according to claim 1, characterized in that, The mobile platform (1) supports the camera (3) via the first swing arm (9). The mobile platform (1) is equipped with a first swing drive mechanism (10), which drives the first swing arm (9).

6. A pipeline inspection robot according to claim 5, characterized in that, A pipeline inspection robot also includes a second swing arm (11), the mobile platform (1), the second swing arm (11) and the first swing arm (9) are hinged in sequence, the camera (3) is mounted on the first swing arm (9); the first swing drive mechanism (10) is mounted on the second swing arm (11); the second swing drive mechanism (12) is mounted on the mobile platform (1) and drives the first swing arm (9).

7. A pipeline inspection robot according to claim 6, characterized in that, The light-transmitting sleeve (5) is movably sleeved on the first pendulum rod (9). The auxiliary observation device also includes a moving drive mechanism (13). The moving drive mechanism (13) is installed on the first pendulum rod (9) and located in the first receiving cavity (7). The driving end of the moving drive mechanism (13) is connected to the light-transmitting sleeve (5) so that the light-transmitting baffle (8) can approach or move away from the camera (3).

8. A pipeline inspection robot according to claim 7, characterized in that, The first swing arm (9) is provided with a fluid channel (14), one end of which is connected to the clean water pipe (4) and the other end is connected to the first receiving cavity (7). The fluid channel (14) is used to inject or discharge clean water into the first receiving cavity (7).

9. A pipeline inspection robot according to claim 1, characterized in that, The nozzle (6) is connected to the clean water pipe (4) via a flexible pipe (15).

10. A method for detecting pipelines using a pipeline inspection robot, characterized in that, Including the pipeline inspection robot as described in claim 8, and including the following steps; The mobile platform (1) moves to the location of the pipeline that needs to be inspected; Adjust the posture and position of the camera (3) so that it is aligned with the inner wall of the pipe to be observed; The moving drive mechanism (13) pushes out the light-transmitting sleeve (5) and the light-transmitting baffle (8), and the clean water pipe (4) injects water into the first receiving cavity (7) through the fluid channel (14) to achieve pressure balance inside and outside the first receiving cavity (7); Water is sprayed onto the light-transmitting baffle (8) through the nozzle (6) to wash away the attached debris, and the water flow can also wash away the attached material on the inner wall of the pipe. The camera (3) captures clear images of the inner wall of the pipe; The moving drive mechanism (13) retracts, bringing the light-transmitting baffle (8) and the light-transmitting sleeve (5) closer to the camera (3), and the clean water in the first receiving cavity (7) is recovered through the fluid channel (14).

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