Water-filled pipe inspection robot

Abstract

The application belongs to the technical field of robots, and particularly relates to a water-filled pipeline detection robot. The robot comprises a body, a control device, a plurality of first underwater driving devices and a plurality of second underwater driving devices. The plurality of first underwater driving devices are electrically connected with the control device, and the first underwater driving devices are used for generating thrust parallel to the axis direction of the body. The plurality of second underwater driving devices are electrically connected with the control device, and the second underwater driving devices are used for generating thrust perpendicular to the axis direction of the body. Therefore, the robot can stably navigate and flexibly adjust the navigation posture under the condition of water filling in the pipeline, and realize detection operation without stopping water. Furthermore, the robot implements rough detection of the inner wall of the pipeline through the first and second detection parts, and implements fine ultrasonic detection of specific positions of the pipeline through the third detection part. The third detection part is driven by the stretching structure to stretch or contract along the radial direction, so that the fine detection can be performed on pipelines with various diameters, and the detection result is more accurate.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and in particular relates to a robot for inspecting water-filled pipelines. Background Technology

[0002] During long-term service, urban underground water supply pipelines are prone to structural defects such as blockages, leaks, rust, and cracks due to factors such as water corrosion, external pressure, and geological subsidence. If these defects are not detected and addressed in a timely manner, they will not only cause serious waste of water resources but may also lead to ground subsidence, environmental pollution, and even public safety accidents, posing a significant threat to the stable operation of urban infrastructure.

[0003] Traditional inspection methods primarily rely on manual entry into pipelines for visual inspection or detection using simple tools. Inspectors must work in confined, dark environments filled with harmful gases, facing extremely high safety risks. Furthermore, manual inspection is inefficient, unable to cover the entire pipeline length, and prone to overlooking minor defects. For deeply buried pipelines, large-scale excavation is often required to expose them. This process not only damages roads and green spaces, disrupts urban traffic and residents' lives, but also significantly extends the inspection cycle and drives up maintenance costs. To overcome these limitations, automated water-filled pipeline inspection robots have gradually become a research hotspot. These robots achieve remote inspection through mechanical structures and sensors, reducing reliance on manual labor.

[0004] However, existing water-filling pipeline inspection robots have significant shortcomings in practical applications: they must completely empty the water from the pipeline before inspection, a requirement particularly prominent in water supply pipeline inspections. This leads to water supply interruptions during inspections, causing difficulties for both residential and industrial water use. In densely populated urban areas, water supply interruptions severely impact people's livelihoods and socio-economic activities. Furthermore, the emptying process is time-consuming; for long-distance or complex pipeline systems, water supply interruptions may last for several days. Summary of the Invention

[0005] The purpose of this application is to provide a water-filled pipeline inspection robot, which aims to solve the problem that existing water-filled pipeline inspection robots must drain the water in the pipeline before inspection, resulting in water supply interruption during the inspection period and causing difficulties in residential and industrial water use.

[0006] To achieve the above objectives, the technical solution adopted in this application is: a water-filled pipe inspection robot, comprising a body, a control device, multiple first underwater drive devices, and multiple second underwater drive devices. The body has a receiving cavity, and the control device is installed in the receiving cavity. The multiple first underwater drive devices are circumferentially installed on the outer wall of the body around the axis of the body. The multiple first underwater drive devices are all electrically connected to the control device. The first underwater drive devices are used to generate thrust parallel to the axis of the body. The multiple second underwater drive devices are installed on the outer walls at both ends along the axis of the body. The multiple second underwater drive devices are all electrically connected to the control device. The second underwater drive devices are used to generate thrust perpendicular to the axis of the body.

[0007] Furthermore, the water-filled pipe inspection robot performs a coarse visual inspection of the pipe's inner wall using the first and second inspection units, and a fine ultrasonic inspection of specific locations on the pipe using the third inspection unit. During the fine inspection of the pipe using the third inspection unit, the extension structure drives the third inspection unit to extend or retract radially, thus adapting to pipes of various diameters for fine inspection and resulting in more accurate inspection results. A detailed explanation of the specific solution follows.

[0008] In some embodiments, the second underwater drive devices located at both ends of the fuselage are symmetrically arranged with respect to the mid-plane of the fuselage perpendicular to its axis.

[0009] In some embodiments, there are two first underwater drive devices and four second underwater drive devices. The two first underwater drive devices are symmetrically arranged with respect to the fuselage axis, and the four second underwater drive devices are symmetrically arranged with respect to the fuselage axis. Furthermore, along the fuselage axis direction, one first underwater drive device and two second underwater drive devices located on the same side of the fuselage axis are arranged in a straight line, and the first underwater drive device is located between the two second underwater drive devices.

[0010] In some embodiments, the water-filled pipe inspection robot also includes an inspection device mounted on the robot body and electrically connected to a control device. The inspection device is used to inspect the pipe.

[0011] In some embodiments, the detection device includes at least one first detection unit and a plurality of second detection units, with one end being the head end and the other end being the tail end along the fuselage axis. The first detection unit is installed at the head end, and the plurality of second detection units are circumferentially installed on the outer side wall of the fuselage around the fuselage axis. Both the first detection unit and the second detection units are electrically connected to the control device.

[0012] In some embodiments, the detection device further includes at least one third detection unit, which is electrically connected to the control device. Each third detection unit includes an extension structure and a detection component. The extension structure is connected to the fuselage, and the detection component is connected to the extension structure. The extension structure is used to drive the detection component away from or towards the fuselage in a direction perpendicular to the fuselage axis.

[0013] In some embodiments, in a third detection unit, the extension structure includes a driver, a lead screw, two moving blocks, two extension arms, and a mounting base; the driver is mounted on the machine body and located within the receiving cavity, and is electrically connected to a control device; the lead screw is rotatably mounted on the machine body, and the driver is drivenly connected to the lead screw; the two moving blocks are screwed to the lead screw at intervals; one end of one extension arm is rotatably connected to one of the moving blocks, and the other end is rotatably connected to the mounting base; one end of the other extension arm is rotatably connected to the other moving block, and the other end is rotatably connected to the mounting base; the detection assembly is mounted on the mounting base.

[0014] In some embodiments, the extension structure includes two drivers and two lead screws, with the two drivers driving the two lead screws in a one-to-one correspondence, and two moving blocks being screwed onto the two lead screws in a one-to-one correspondence; or, the lead screw is a single integral rod, including a first threaded rod segment and a second threaded rod segment, with the two moving blocks screwed onto the first threaded rod segment and the second threaded rod segment respectively, and the helical direction of the thread of the first threaded rod segment being opposite to the helical direction of the thread of the second threaded rod segment.

[0015] In some embodiments, the detection assembly includes a detection probe, at least one connecting post, and at least one elastic member. The connecting post passes through a mounting base, and a roller member is mounted on the end of the connecting post away from the mounting base. The elastic member is disposed between the mounting base and the roller member. The detection probe is connected to the connecting post and is electrically connected to a control device.

[0016] In some embodiments, the water-filled pipe inspection robot also includes a tow cable and a terminal device, one end of which is connected to the tail end and extends into the receiving cavity to be electrically connected to the control device, and the other end of which is electrically connected to the terminal device.

[0017] This application has at least the following beneficial effects: This water-filled pipeline inspection robot is designed for underwater operation, featuring a sealed housing cavity and two dedicated underwater propulsion devices. This design solves the technical challenge of conducting pipeline inspections while the robot is filled with water. This approach allows pipeline inspections to be performed without interrupting the water supply, minimizing the impact on residents' daily and industrial water use, and significantly improving inspection efficiency and shortening the inspection cycle.

[0018] Furthermore, the robot performs a coarse visual inspection of the pipe's inner wall using the first and second inspection units, and a fine ultrasonic inspection of specific locations on the pipe using the third inspection unit. During the fine inspection using the third inspection unit, the extension structure causes the third inspection unit to extend or retract radially, thus adapting to pipes of various diameters for fine inspection. This results in more accurate inspection results, facilitating precise construction and maintenance of the pipes by construction personnel. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the assembly structure of the water-filled pipeline inspection robot according to an embodiment of this application. Figure 1 ; Figure 2 This is a schematic diagram of the assembly structure of the water-filled pipeline inspection robot according to an embodiment of this application. Figure 2 ; Figure 3 This is a front view schematic diagram of a water-filled pipeline inspection robot according to an embodiment of this application; Figure 4 for Figure 3 A schematic diagram of the left side of the water-filled pipeline inspection robot is shown; Figure 5 for Figure 3 A cross-sectional schematic diagram of one embodiment in the AA direction; Figure 6 for Figure 5 Enlarged view of point B in the middle; Figure 7 for Figure 3 A cross-sectional schematic diagram of another embodiment in the AA direction; Figure 8 This is a schematic diagram of the assembly structure of the body of the water-filled pipeline inspection robot according to an embodiment of this application; Figure 9 This is an exploded view of the body of the water-filled pipe inspection robot according to an embodiment of this application; Figure 10 This is a schematic diagram of the assembly structure of one embodiment of the third inspection unit of the water-filled pipeline inspection robot according to an embodiment of this application.

[0021] The figures in the diagram are labeled as follows: 10. Fuselage; 11. Receiving cavity; 12. Head end; 13. Tail end; 101. Front cover; 102. Front shell; 103. Middle shell; 104. Rear shell; 105. Rear cover; 106. Mounting lug; 20. First underwater drive device; 30. Second underwater drive device; 40. Detection device; 41. First detection section; 42. Second detection section; 43. Third detection section; 431. Extension structure; 4311. Driver; 4312. Lead screw; 43121. First threaded rod segment; 43122. Second threaded rod segment; 4313. Moving block; 4314. Extension arm; 4315. Mounting base; 4316. Guide rod; 4317. Fixing block; 432. Detection assembly; 4321. Detection probe; 4322. Connecting column; 4323. Elastic element; 4324. Roller assembly; 50. Tow cable. Detailed Implementation

[0022] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0023] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0024] Furthermore, the terms "first," "second," etc., 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. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0026] Embodiments of this application provide a water-filled pipeline inspection robot, whose structural design and functional configuration are designed to perform underwater pipeline inspection operations. For example... Figures 1 to 4 As shown, the water-filled pipe inspection robot provided in the embodiments of this application includes a body 10, a control device, a plurality of first underwater drive devices 20, and a plurality of second underwater drive devices 30. The body 10 has a receiving cavity 11 for the installation and protection of internal components. The control device is installed in the receiving cavity 11. The plurality of first underwater drive devices 20 are circumferentially mounted on the outer wall of the body 10 around the axis of the body 10, and each of the plurality of first underwater drive devices 20 is electrically connected to the control device to receive control signals. The plurality of second underwater drive devices 30 are mounted on the outer wall at both ends along the axis of the body 10, and each of the plurality of second underwater drive devices 30 is electrically connected to the control device to receive control signals. The first underwater drive unit 20 is used to generate thrust parallel to the axis of the body 10. For example, one or two first underwater drive units 20 can be installed only at the tail (or middle) of the body 10. The first underwater drive units 20 provide power. By adjusting the magnitude or direction of the thrust of these first underwater drive units 20, the robot can navigate smoothly along the pipe and achieve basic movements such as forward, backward or turning. The second underwater drive unit 30 is used to generate thrust perpendicular to the axis of the body 10. The second underwater drive unit 30 provides power. By coordinating the control of these second underwater drive units 30, the robot can achieve complex posture adjustments and vertical movements such as rolling, surfacing, diving, raising its head or raising its tail.

[0027] In one preferred embodiment, both the first underwater drive unit 20 and the second underwater drive unit 30 are propeller propellers. Propeller propellers have high propulsion efficiency and response speed in underwater environments, and can provide stable and controllable thrust for the robot. For example, a small propeller driven by a DC brushless motor can be used. In another preferred embodiment, the first underwater drive unit 20 and the second underwater drive unit 30 can also be water jet propellers to adapt to different pipe environments and thrust requirements.

[0028] The casing 10 can be constructed as a single, sealed cylinder, formed by welding or integral molding, with its internal space serving as the receiving cavity 11. Alternatively, for ease of manufacturing, maintenance, or adjustment to different pipe sizes, the casing 10 can also be designed as a segmented structure. In this embodiment, as... Figure 8 and Figure 9 As shown, the body 10 is specifically constructed into five independent sections: a front cover 101, a front shell 102, a middle shell 103, a rear shell 104, and a rear cover 105. These sections are sequentially connected along the axis of the body 10, forming a receiving cavity 11. To ensure the connection strength and sealing between the sections, mounting lugs 106 with bolt holes are provided between the front cover 101 and the front shell 102, between the front shell 102 and the middle shell 103, between the middle shell 103 and the rear shell 104, and between the rear shell 104 and the rear cover 105. These five sections are securely connected together using bolt and nut couplings. This segmented design makes the assembly, disassembly, and maintenance of the internal components of the robot more convenient.

[0029] This water-filled pipeline inspection robot can freely move in three dimensions and adjust its posture in an underwater environment, performing comprehensive inspections of the pipeline interior without draining the water, demonstrating a significant technological contribution. Compared to existing technologies that require draining the water from the pipeline before inspection, this water-filled pipeline inspection robot adopts an underwater operation design, namely, a sealed housing 11 in the body 10 and a first underwater drive device 20 and a second underwater drive device 30 (both propeller propellers) specifically for underwater propulsion, solving the technical challenge of pipeline inspection while filled with water. This design allows pipeline inspection to be carried out without interrupting the water supply, thereby minimizing the impact on residents' production and domestic water use, and significantly improving inspection efficiency and shortening the inspection cycle.

[0030] In some embodiments of the water-filled pipe inspection robot provided in this application, the second underwater drive devices 30 located at both ends of the body 10 are symmetrically arranged with respect to the mid-plane perpendicular to the axis of the body 10. Figures 1 to 3As shown. The bifurcation plane of the fuselage 10, perpendicular to its axis, refers to the plane that precisely divides the fuselage 10 in two along its axis. This plane is perpendicular to the axis of the fuselage 10 and located at the geometric center of the fuselage 10. Along the axial direction of the fuselage 10, the second underwater drive units 30 located on both sides of the bifurcation plane are equidistant from the bifurcation plane and also exhibit a corresponding symmetrical relationship in the circumferential direction. This symmetrical layout aims to ensure that the thrust (i.e., vertical thrust) generated by the second underwater drive units 30, perpendicular to the axis of the fuselage 10, acts uniformly and balancedly on the fuselage 10, thereby achieving more stable and precise attitude adjustment. For example, the same number of second underwater drive units 30 can be installed at the front and rear ends of the fuselage 10, ensuring that their axial distances to the bifurcation plane are equal; or, through precise mechanical design and installation, the second underwater drive units 30 located at both ends of the fuselage 10 can be arranged in a mirror-symmetrical layout in both the axial and circumferential directions to optimize the overall torque balance.

[0031] In this embodiment, the second underwater drive units 30 located at both ends of the body 10 are symmetrically arranged with respect to the mid-plane perpendicular to the axis of the body 10, so that the thrust generated by these drive units can form a balanced couple or resultant force. When the control device issues a command requiring the robot to perform actions such as surfacing, diving, head-up, tail-up, or rolling, the vertical thrust generated by the second underwater drive units 30 can be precisely controlled to achieve balance due to the symmetrical layout. For example, if the robot needs to simply surface, the second underwater drive units 30 on both sides can simultaneously generate equal downward thrust, and due to their symmetry, no additional tilting torque will be generated; if the robot needs to head up, the second underwater drive unit 30 at the front can generate downward thrust, while the second underwater drive unit 30 at the rear can generate upward thrust, reduce downward thrust, or generate no thrust. In this case, the symmetrical layout ensures that the generated torque only acts in the head-up direction, without causing unnecessary tilting or yaw. This symmetrical configuration allows the robot to obtain a more stable and predictable response when adjusting its attitude, thereby significantly improving the robot's control accuracy and stability in complex pipe environments.

[0032] In some embodiments of this application, there are two first underwater drive devices 20 and four second underwater drive devices 30. The two first underwater drive devices 20 are symmetrically arranged with respect to the axis of the fuselage 10, and the four second underwater drive devices 30 are also symmetrically arranged with respect to the axis of the fuselage 10. Furthermore, along the axis of the fuselage 10, one first underwater drive device 20 and two second underwater drive devices 30 located on the same side of the axis are arranged in a straight line, with the first underwater drive device 20 located between the two second underwater drive devices 30. Figure 1 and Figure 2As shown, using a spatial rectangular coordinate system XYZ as the spatial reference: Two first underwater drive devices 20 simultaneously generate thrust along the negative X-axis, driving the robot forward along the positive X-axis; conversely, they drive the robot backward along the negative X-axis. If one first underwater drive device 20 generates thrust along the negative X-axis, and the other generates no thrust or only thrust along the positive X-axis, the robot can rotate around the positive Z-axis; conversely, it can rotate around the negative Z-axis. Four vertically mounted second underwater drive devices 30 simultaneously generate downward thrust along the positive Z-axis, driving the robot to float upward along the negative Z-axis; conversely, they drive the robot to submerge downward along the positive Z-axis. Two second underwater drive devices 30 near the front end cover 101 generate downward thrust along the positive Z-axis, while two second underwater drive devices 30 near the rear end cover 105 generate no thrust or only upward thrust along the negative Z-axis, driving the robot to tilt its head back; conversely, they drive the robot to tilt its head forward. Two second underwater drive units 30 located on one side of the axis of the body 10 generate a downward thrust along the positive direction of the Z-axis, while two second underwater drive units 30 located on the other side of the axis of the body 10 do not generate thrust or generate an upward thrust along the negative direction of the Z-axis, which can drive the robot to rotate around the positive direction of the X-axis, and vice versa.

[0033] This configuration provides the robot with sufficient thrust to achieve multi-degree-of-freedom motion control. The two first underwater drive units 20 are mainly responsible for horizontal propulsion and steering, while the four second underwater drive units 30 are mainly responsible for vertical attitude adjustment and lifting. This configuration ensures redundant or sufficient thrust output in different motion modes.

[0034] Through the aforementioned technical solutions, the water-filled pipeline inspection robot can achieve more precise and stable multi-degree-of-freedom motion control. The specific configuration and symmetrical arrangement of the drive units, combined with an optimized linear arrangement, allows the robot to effectively balance thrust, reducing unnecessary swaying and yaw. When facing local defects or welds on the inner wall of the pipeline, the robot can precisely adjust its pitch and roll posture, enabling the inspection device to observe from the optimal angle, thereby improving the accuracy and efficiency of the inspection. Through coordinated control of the thrust of each drive unit, the robot can flexibly perform various complex movements such as forward, backward, turning, surfacing, diving, pitching, tilting, and rolling, significantly improving the robot's adaptability and operability in complex pipeline environments, reducing the risk of collisions or missed inspections due to inaccurate motion control, and thus ensuring the smooth progress of inspection operations and the reliability of data.

[0035] In some embodiments of this application, such as Figures 1 to 7As shown, the water-filled pipeline inspection robot also includes an inspection device 40, which is mounted on the body 10. The inspection device 40 is electrically connected to the control device, which can be achieved through a wired connection, such as using a multi-core cable to connect the power line, signal line, and control line of the inspection device 40 to the corresponding interface of the control device. Alternatively, it can be achieved through a wireless communication module, such as using Wi-Fi, Bluetooth, or underwater acoustic communication technology to wirelessly transmit the data collected by the inspection device 40 to the control device and receive instructions from the control device. The inspection device 40 is used to inspect the pipeline. The inspection device 40 refers to a set of devices used to acquire information about the internal environment of the pipeline and identify pipeline defects or abnormal conditions. The core function of the inspection device 40 is to convert the physical or chemical information inside the pipeline into electrical signals or data that can be analyzed and processed. The detection device 40 can be an imaging system based on optical principles, such as one equipped with a high-resolution camera, a light source, and an image processing unit, for capturing visual images of the inner wall of the pipe; or, the detection device 40 can be a detection system based on acoustic principles, such as an ultrasonic probe or a sonar system, for detecting internal defects such as pipe wall thickness, corrosion, and cracks by emitting and receiving sound waves; or, the detection device 40 can be an eddy current detection system based on electromagnetic principles, for detecting defects on the surface of metal pipes by inducing current.

[0036] The inspection device 40 is used to inspect the pipeline, including but not limited to the integrity of the pipeline's inner wall, the presence of corrosion, cracks, foreign objects, deposits, and changes in the pipeline's geometry and dimensions. The inspection device 40 can be used to monitor images or video streams of the pipeline's inner wall in real time, allowing operators to remotely observe the pipeline's condition. It can also be used to scan the pipeline's inner wall to generate three-dimensional point cloud data or two-dimensional cross-sectional views to assess the pipeline's deformation or wear.

[0037] When the robot uses the first underwater drive unit 20 and the second underwater drive unit 30 to perform precise movements such as forward, backward, turning, surfacing, diving, or rolling within the pipeline, the detection device 40 can move accordingly to any position within the pipeline. The control unit is responsible not only for coordinating and controlling the operation of the first and second underwater drive units 20 and 30 to achieve precise positioning and attitude adjustment of the robot, but also for supplying power to the detection device 40, receiving the collected detection data, and sending control commands. When the detection device 40 detects a potential defect on the inner wall of the pipeline during its patrol, the control unit can immediately adjust the thrust of the drive units, causing the robot to decelerate, stop, or perform localized, precise movements, allowing the detection device 40 to conduct a more detailed inspection of that area. In this way, the detection device 40 and the robot's motion control system work closely together to achieve comprehensive, efficient, and accurate inspection of the pipeline's internal condition, enhancing the practical application value of the robot in pipeline maintenance and safety monitoring.

[0038] In some embodiments of this application, such as Figures 1 to 7 As shown, the detection device 40 of the water-filled pipe inspection robot includes at least one first detection unit 41 and multiple second detection units 42. One end along the axis of the body 10 is designated as the head end 12, and the other as the tail end 13; that is, the front cover 101 serves as the head end 12, and the rear cover 105 serves as the tail end 13. The first detection unit 41 is mounted on the head end 12 (i.e., the first detection unit 41 is mounted on the front cover 101), and the multiple second detection units 42 are circumferentially mounted around the axis of the body 10 on the outer wall of the body 10 (i.e., the second detection units 42 are mounted on the outer wall of one of the front shell 102, the middle shell 103, and the rear shell 104). Both the first detection unit 41 and the second detection units 42 are electrically connected to a control device. The first detection unit 41 and the second detection unit 42 can both be vision inspection systems, i.e., both are cameras, which can be CCD cameras, CMOS cameras, infrared cameras, or high-resolution industrial cameras. The first detection unit 41 can also be a lidar, ultrasonic sensor, etc.; the second detection unit 42 can also be an optical camera, eddy current probe, magnetic particle probe, etc. The first detection unit 41 is used to detect obstacles ahead and inspect pipe valves, bends, etc., to prevent the robot from being damaged by collisions with obstacles, valves, and pipe walls at bends. It aims to provide forward warning and navigation information, enhance the robot's autonomous obstacle avoidance ability and operational safety. It can analyze the images captured by the camera through image recognition algorithms to identify obstacles, valves, and changes in pipe structure. The second detection unit 42 is used to inspect defects in the inner wall of the pipe and welds, i.e., to perform a preliminary and comprehensive scan of the inner wall of the pipe to discover potential problems. It can analyze the images of the inner wall of the pipe captured by the camera through image processing technology to identify defects such as cracks, corrosion, foreign objects, and weld quality.

[0039] Multiple second detection units 42 can specifically be three, four, five or more miniature cameras, evenly distributed around the outer side wall of the body 10. For example, taking four miniature cameras as an example, the four miniature cameras are respectively set at 90 degrees, 180 degrees, 270 degrees and 360 degrees. Each camera has an independent light source and is installed at a slight tilt so that its field of view can cover the blind area between adjacent cameras, thereby achieving seamless circumferential detection of the inner wall of the pipe and improving the reliability of the detection results.

[0040] In some embodiments of this application, such as Figures 1 to 7As shown, the water-filled pipe inspection robot also includes at least one third inspection unit 43, which is electrically connected to the control device. Each third inspection unit 43 includes an extension structure 431 and an inspection component 432. The extension structure 431 is connected to the body 10, and the inspection component 432 is connected to the extension structure 431. The extension structure 431 is used to move the inspection component 432 away from or towards the body 10 in a direction perpendicular to the axis of the body 10. When the third inspection unit 43 inspects the weld, the extension structure 431 moves the inspection component 432 away from the body 10 and closer to the weld surface. Then, the robot begins to rotate around the axis of the body 10, allowing the inspection component 432 to perform a comprehensive inspection of the weld, achieving detailed inspection of minute defects such as weld corrosion and cracks. When the detailed inspection of the weld is completed, the extension structure 431 moves the inspection component 432 back to its original position and close to the body 10 to retract. The third inspection unit 43 is a component specifically designed for detailed inspection of the inner wall of the pipe (especially the weld area). Its main function is to compensate for the limitations of conventional visual inspection in identifying minute defects, providing more in-depth and accurate inspection data. The number of third inspection units 43 can be single or multiple, configured according to inspection requirements and pipe size. The extension structure 431 is responsible for realizing the radial extension and retraction of the inspection component 432. The extension structure 431 can be implemented using various mechanical mechanisms. For example, it can be a gear and rack mechanism driven by a motor, where the rotation of the gear drives the linear reciprocating motion of the rack, thereby achieving the extension and retraction of the inspection component; alternatively, it can be a hydraulically or pneumatically driven telescopic rod mechanism, where fluid pressure controls the extension and retraction of the piston rod. The core function of the extension structure 431 is to adjust the distance between the inspection component 432 and the inner wall of the pipe, allowing the inspection component 432 to closely fit or approach the surface to be inspected. The detection component 432 can be various types of sensors. For example, it can be an eddy current probe for detecting defects such as cracks and corrosion on the surface of metal materials; it can be a magnetic particle flaw detector for displaying surface and near-surface defects through magnetic fields and magnetic particles; or it can be a laser profile scanner for acquiring three-dimensional geometric information of welds to analyze their shape, size, and potential deformation. The extension structure 431 moves the detection component 432 away from or towards the body 10 in a direction perpendicular to the axis of the body 10. This function ensures that the detection component 432 can flexibly adjust its radial position according to the inner diameter of the pipe and the detection requirements. Through this radial movement, the detection component 432 can extend from a retracted state to near or even in contact with the inner wall of the pipe. That is, the detection component 432 is precisely positioned in the detection area by the extension structure 431 to achieve the best detection effect and is safely retracted after the detection is completed, avoiding collisions with the pipe wall during robot movement.When the third inspection unit 43 inspects the weld, the extension structure 431 moves the inspection component 432 away from the body 10 and closer to the weld surface. Then the robot starts to rotate around the axis of the body 10, so that the inspection component 432 can perform a comprehensive inspection of the weld, realizing detailed inspection of minor defects such as weld corrosion and cracks, and achieving comprehensive inspection without blind spots. When the detailed inspection of the weld is completed, the extension structure 431 moves the inspection component 432 back to the body 10 to complete the retraction.

[0041] When high-precision inspection of the weld is required, the control device commands the extension structure 431 to activate, driving the detection component 432 to extend outward in a direction perpendicular to the axis of the robot body 10, gradually approaching the weld surface. This ensures that the detection component 432 maintains the optimal detection distance or direct contact with the weld, thereby improving the sensitivity and accuracy of the inspection. Once the detection component 432 is in position, the control device coordinates the robot's second underwater drive device 30 to drive the robot to rotate around its axis of body 10. During the robot's rotation, the detection component 432 can continuously scan the entire circumferential area of ​​the weld, ensuring that every part of the weld can be detected. This achieves comprehensive coverage inspection of the weld, enabling thorough, no-dead-angle, and high-precision inspection. This effectively detects hidden defects such as weld corrosion and micro-cracks, improving the accuracy and reliability of defect identification. After completing the detailed inspection, the extension structure 431 will move again to retract the inspection component 432 to a position close to the body 10, so as to protect the inspection component 432 from damage during the robot's movement and reduce the overall size of the robot, making it easier to pass through narrow pipes.

[0042] In some embodiments of this application, in a third detection unit 43, such as Figures 5 to 7 , Figure 10 As shown, the extension structure 431 includes a driver 4311, a lead screw 4312, two moving blocks 4313, two extension arms 4314, and a mounting base 4315. The driver 4311 is mounted on the machine body 10 and located within the receiving cavity 11. The driver 4311 is electrically connected to a control device, which can precisely control its start / stop, speed, and rotation direction, thereby achieving precise control of the extension structure 431. The lead screw 4312 is rotatably mounted on the machine body 10 to ensure smooth rotation under the drive of the driver 4311. The driver 4311 and the lead screw 4312 are driven together, for example, through a coupling, gear transmission, or belt transmission, to transmit the rotational power of the driver 4311 to the lead screw 4312. The two moving blocks 4313 are screwed to the lead screw 4312 at intervals. The extension structure 431 also includes a guide rod 4316, both ends of which are fixed to the machine body 10 by fixing blocks 4317. Figure 10As shown, both moving blocks 4313 are slidably mounted on the guide rod 4316. The guide rod 4316 provides linear motion guidance for the moving blocks 4313, ensuring that they do not deflect, sway, or rotate with the lead screw 4312 during movement. One end of one extension arm 4314 is rotatably connected to one of the moving blocks 4313, and the other end is rotatably connected to the mounting base 4315. One end of the other extension arm 4314 is rotatably connected to the other moving block 4313, and the other end is rotatably connected to the mounting base 4315. The detection assembly 432 is mounted on the mounting base 4315. The driver 4311 can be a motor, such as a stepper motor, servo motor, or DC motor. The driver 4311 is installed inside the housing 11 within the body 10, which helps protect it from external environmental factors (such as water and sediment) and maintains the robot's overall streamlined appearance.

[0043] The lead screw 4312 can use a trapezoidal thread or a ball thread to meet different accuracy and efficiency requirements. The moving block 4313 can be a nut block whose internal thread mates with the thread of the lead screw 4312. The extension arm 4314 swings as the moving block 4313 moves, thereby driving the mounting base 4315 to extend or retract.

[0044] In the water-filled pipe inspection robot provided in the embodiments of this application, the drive 4311 drives the lead screw 4312 to rotate. The rotational motion of the lead screw 4312 is converted into the linear motion of two moving blocks 4313 through threaded transmission. These two moving blocks 4313 move smoothly along the axis of the body 10 under the guidance of the guide rod 4316. Since the two extension arms 4314 are rotatably connected to the moving blocks 4313 and the mounting base 4315 respectively, the linear motion of the moving blocks 4313 will drive the mounting base 4315 and the inspection component 432 mounted on it to extend or retract in a direction perpendicular to the axis of the body 10 through the linkage of the extension arms 4314. When the drive 4311 rotates in the opposite direction, the lead screw 4312 drives the moving blocks 4313 to move in the opposite direction, thereby causing the inspection component 432 to retract. This extension structure 431, which combines screw drive with linkage mechanism, provides stable, precise and controllable extension motion, ensuring that the detection component 432 can be accurately positioned on the weld surface for detailed inspection and reliably retracted after inspection.

[0045] In some embodiments of this application, such as Figure 5 and Figure 10As shown, the extension structure 431 includes two drivers 4311 and two lead screws 4312. The drivers 4311 provide rotational power to the lead screws 4312 and can take various forms, such as miniature stepper motors, DC geared motors, or servo motors. The lead screws 4312 can be ball screws or trapezoidal screws. The moving block 4313 can be designed as an integrated nut-slider and cooperates with the guide rod 4316 to ensure smooth movement. The two drivers 4311 are connected to the two lead screws 4312 in a one-to-one driving configuration, meaning each driver 4311 independently drives one lead screw 4312, thereby achieving independent or synchronous control of the two moving blocks 4313.

[0046] like Figure 10 As shown, when the water-filled pipe inspection robot is equipped with multiple third inspection units 43, the multiple extension structures 431 share two actuators 4311 to provide power. Furthermore, the actuators 4311 and the corresponding multiple lead screws 4312 achieve synchronous power transmission through a gear transmission structure.

[0047] In some embodiments of this application, such as Figure 7 As shown, the extension structure 431 can drive a lead screw 4312 via a driver 4311, thereby causing the two moving blocks 4313 to move. Specifically, the lead screw 4312 is a single rod, including a first threaded section 43121 and a second threaded section 43122. The first threaded section 43121 and the second threaded section 43122 are the threaded parts on the lead screw 4312, which are used to screw into the two moving blocks 4313 respectively. These two threaded sections can have the same pitch or can be designed with different pitches as needed. Furthermore, the helical direction of the first threaded rod segment 43121 is opposite to that of the second threaded rod segment 43122. Thus, when the driver 4311 drives the lead screw 4312 to rotate, due to the difference in thread direction, the moving block 4313 screwed on the first threaded rod segment 43121 and the moving block 4313 screwed on the second threaded rod segment 43122 will automatically move in opposite directions in a straight line. This achieves symmetrical extension or retraction of the detection component 432, ensuring the synchronization of the two moving blocks 4313 and improving the reliability and motion accuracy of the extension mechanism.

[0048] In some embodiments of this application, such as Figure 6As shown, the detection component 432 of the water-filled pipeline inspection robot includes a detection probe 4321, at least one connecting post 4322, and at least one elastic element 4323. The connecting post 4322 passes through the mounting base 4315. A roller component 4324 is installed at the end of the connecting post 4322 away from the mounting base 4315. The elastic element 4323 is located between the mounting base 4315 and the roller component 4324 so that the connecting post 4322 can slide relative to the mounting base 4315 along the axial direction of the connecting post 4322. When inspecting the weld, the roller of the roller component 4324 abuts against the pipe wall. The elastic element 4323 enables the roller to adapt to the unevenness of the pipe wall so that it always contacts the pipe wall. The detection probe 4321 is connected to the connecting post 4322 and is electrically connected to the control device through a cable. Specifically, the detection probe 4321 is an ultrasonic probe that detects internal defects in materials by emitting and receiving ultrasonic pulses. When ultrasonic waves encounter internal defects (such as cracks, inclusions, pores, etc.), they are reflected, refracted, or attenuated. By analyzing the characteristics of these echo signals, the location, size, and nature of the defects can be determined. Besides ultrasonic probes, the detection probe 4321 can also be an eddy current probe, detecting cracks and defects on the surface of metallic materials by inducing changes in current; or it can be a magnetic particle probe, displaying surface and near-surface defects through the distribution of magnetic fields and magnetic particles. The connecting post 4322 slides by engaging with a guide hole on the mounting base 4315, or it can use a guide rail structure with linear bearings to achieve sliding, allowing the detection probe 4321 to move within a certain range along its axial direction, achieving adaptive contact. This allows the detection probe 4321 to fine-tune according to the undulations of the pipe wall under the action of the elastic element 4323, thereby maintaining stable contact with the detection surface. The elastic element 4323 provides adjustable contact pressure between the detection probe 4321 and the pipe wall surface and absorbs unevenness of the pipe wall surface. The elastic element 4323 can be a helical compression spring, providing elastic force through its compression and rebound characteristics; or it can be an elastic material such as a rubber pad or bellows, utilizing its deformation capacity to adapt to surface changes. The main function of the roller component 4324 is to directly contact the pipe wall surface and reduce friction through rolling, facilitating smooth movement of the detection probe 4321 on the inner wall of the pipe. The roller component 4324 can be an assembly of one or more rollers, made of wear-resistant polyurethane, rubber, or engineering plastics to adapt to different pipe inner wall materials and roughness.

[0049] The extension structure 431 pushes the detection component 432 against the pipe wall, causing the roller component 4324 to contact the pipe wall. The elastic element 4323 allows the roller to adapt to unevenness in the pipe wall and maintain constant contact with it. When the roller component 4324 encounters a protrusion or depression in the pipe wall, the elastic element 4323 will compress or extend accordingly, allowing the roller component 4324 to closely follow the contour changes of the pipe wall. This ensures that the detection probe 4321 maintains a constant distance from the detection surface (pipe wall), thereby guaranteeing the accuracy and continuity of the detection data.

[0050] In some embodiments of this application, such as Figures 1 to 5 , Figure 7 As shown, the water-filled pipeline inspection robot also includes a tow cable 50 and a terminal device. One end of the tow cable 50 is connected to the tail end 13 and extends into the receiving cavity 11, where it is electrically connected to the control device. The other end of the tow cable 50 is electrically connected to the terminal device. The tow cable 50 is a composite of a cable and a tow rope. The control device and the terminal device are electrically connected via the cable, while the tow rope is responsible for dragging the robot body 10 and protecting the cable from being broken by the pull. The tow cable 50 is a flexible cable used to connect the water-filled pipeline inspection robot to external equipment (such as the terminal device). The main functions of the tow cable 50 are to provide the robot with a continuous energy supply, achieve stable data communication, and serve as the traction medium for robot recovery. The tow cable 50 can adopt various structural forms. For example, in addition to the composite cable and tow rope form, it can also be a composite optical cable integrating optical fibers, power lines, and signal lines, or a dedicated robot tow cable with a high-strength outer sheath to adapt to the complex environment inside the pipeline. The terminal unit is an external device used to interact with the water-filled pipeline inspection robot. It includes a power supply module, a data processing and storage module, a human-machine interface, and a cable deployment and retrieval mechanism. The terminal unit can be a dedicated control console integrating a display, control handle, and data interface, or a portable computer that communicates with the robot via specific software. The core function of the terminal unit is to receive inspection data transmitted by the robot, send control commands to the robot, and provide the robot with the necessary power for operation.

[0051] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A water-filled pipeline inspection robot, characterized in that, include: The fuselage (10) has a receiving cavity (11); A control device is installed in the receiving cavity (11); Multiple first underwater drive devices (20) are circumferentially mounted on the outer side wall of the fuselage (10) around the axis of the fuselage (10). The multiple first underwater drive devices (20) are all electrically connected to the control device. The first underwater drive devices (20) are used to generate thrust parallel to the axis of the fuselage (10). Multiple second underwater drive devices (30) are installed on the outer side walls at both ends along the axial direction of the fuselage (10). The multiple second underwater drive devices (30) are electrically connected to the control device. The second underwater drive devices (30) are used to generate thrust perpendicular to the axial direction of the fuselage (10).

2. The water-filled pipeline inspection robot according to claim 1, characterized in that, The second underwater drive device (30) located at both ends of the fuselage (10) is symmetrically arranged with respect to the mid-plane of the fuselage (10) perpendicular to its axis.

3. The water-filled pipeline inspection robot according to claim 2, characterized in that, The number of first underwater drive devices (20) is two, and the number of second underwater drive devices (30) is four. The two first underwater drive devices (20) are symmetrically arranged with respect to the axis of the fuselage (10), and the four second underwater drive devices (30) are symmetrically arranged with respect to the axis of the fuselage (10). Furthermore, along the axis of the fuselage (10), one first underwater drive device (20) and two second underwater drive devices (30) located on the same side of the axis of the fuselage (10) are arranged in a straight line, and the first underwater drive device (20) is located between the two second underwater drive devices (30).

4. The water-filled pipeline inspection robot according to any one of claims 1-3, characterized in that, The water-filled pipeline inspection robot also includes an inspection device (40), which is installed on the body (10) and electrically connected to the control device. The inspection device (40) is used to inspect the pipeline.

5. The water-filled pipeline inspection robot according to claim 4, characterized in that, The detection device (40) includes at least one first detection part (41) and a plurality of second detection parts (42). One end of the two ends along the axis of the fuselage (10) is the head end (12) and the other end is the tail end (13). The first detection part (41) is installed on the head end (12). The plurality of second detection parts (42) are circumferentially installed on the outer side wall of the fuselage (10) around the axis of the fuselage (10). The first detection part (41) and the second detection parts (42) are both electrically connected to the control device.

6. The water-filled pipeline inspection robot according to claim 5, characterized in that, The detection device (40) further includes at least one third detection unit (43), which is electrically connected to the control device. Each third detection unit (43) includes an extension structure (431) and a detection component (432). The extension structure (431) is connected to the fuselage (10), and the detection component (432) is connected to the extension structure (431). The extension structure (431) is used to drive the detection component (432) away from or closer to the fuselage (10) in a direction perpendicular to the axis of the fuselage (10).

7. The water-filled pipeline inspection robot according to claim 6, characterized in that, In one of the third detection units (43), the extension structure (431) includes a driver (4311), a lead screw (4312), two moving blocks (4313), two extension arms (4314), and a mounting base (4315); the driver (4311) is mounted on the body (10) and located in the receiving cavity (11), and the driver (4311) is electrically connected to the control device; the lead screw (4312) is rotatably mounted on the body (10), and the driver (4311) and the lead screw (4312) are connected to each other. 4312) Drive connection; two moving blocks (4313) are screwed to the lead screw (4312) at intervals; one end of one of the extension arms (4314) is rotatably connected to one of the moving blocks (4313), and the other end is rotatably connected to the mounting base (4315); one end of the other extension arm (4314) is rotatably connected to the other moving block (4313), and the other end is rotatably connected to the mounting base (4315); the detection component (432) is mounted on the mounting base (4315).

8. The water-filled pipeline inspection robot according to claim 7, characterized in that, The extension structure (431) includes two drivers (4311) and two lead screws (4312), with the two drivers (4311) and the two lead screws (4312) driving each other in a one-to-one correspondence, and the two moving blocks (4313) being screwed to the two lead screws (4312) in a one-to-one correspondence. Alternatively, the lead screw (4312) is a single integral rod, comprising a first threaded rod segment (43121) and a second threaded rod segment (43122), with two moving blocks (4313) respectively screwed to the first threaded rod segment (43121) and the second threaded rod segment (43122), and the helical direction of the thread of the first threaded rod segment (43121) being opposite to the helical direction of the thread of the second threaded rod segment (43122).

9. The water-filled pipeline inspection robot according to claim 7, characterized in that, The detection component (432) includes a detection probe (4321), at least one connecting post (4322), and at least one elastic element (4323). The connecting post (4322) passes through the mounting base (4315). A roller component (4324) is installed at one end of the connecting post (4322) away from the mounting base (4315). The elastic element (4323) is located between the mounting base (4315) and the roller component (4324). The detection probe (4321) is connected to the connecting post (4322) and is electrically connected to the control device.

10. The water-filled pipeline inspection robot according to claim 5, characterized in that, The water-filled pipeline inspection robot also includes a tow cable (50) and a terminal device. One end of the tow cable (50) is connected to the tail end (13) and extends into the receiving cavity (11) and is electrically connected to the control device. The other end of the tow cable (50) is electrically connected to the terminal device.

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