Inspection device for inspecting a pipe

Abstract

An inspection apparatus (100) for inspecting a pipe has an image capture device or camera (10) for capturing an image of the pipe, a motorized support (30) for supporting and moving the camera (10), a controller for controlling the motorized support (30) to move the camera (10), the camera (10) aiming at the pipe to capture the image while scanning along a path extending along the pipe. The image capture device is adapted to scan along the pipe and simultaneously capture a video image or a series of images of the pipe.

Description

Technical Field

[0001] The utility model relates to a device for pipeline inspection, and in particular to an inspection device for inspecting a pipeline for conveying fluid. Background Art

[0002] For safety reasons, pipes used to transport fluids (i.e., gas) in a building or apartment need to be inspected. The inspector visually inspects the pipes or gas risers to see if there is any damage, corrosion, or deterioration of the pipes. For the visual inspection, a mirror can be used to reflect the image of the pipe. The inspector inspects the pipe directly or through its image. However, there is a need to more efficiently inspect extended lengths of pipes, such as pipes spanning multiple floors, and / or to obtain images of the pipes for more accurate analysis. The inspector also wants to check the gas pipes or risers for gas leaks.

[0003] In view of the foregoing, there exists a need for improved more accurate visual inspection and / or gas leak detection. Utility Model Content

[0004] According to the utility model, an inspection device for inspecting a pipeline conveying a fluid is provided, which includes an image capture device for capturing an image of the pipeline; a motorized support for supporting and moving the image capture device; and a controller for controlling the motorized support to move the image capture device, the image capture device aiming at the pipeline to capture its image while scanning along a path along which the pipeline extends. The image capture device is suitable for scanning along the pipeline and simultaneously capturing a video image or a series of images of the pipeline.

[0005] Preferably, the motorised support comprises a motorised gimbal.

[0006] Preferably, the motorized support comprises a support member engaged with the image capture device and a base member connected to the support member, the support member being movable relative to the base member.

[0007] It is further preferred that the controller is configured to control the image capturing device to aim at the pipeline and scan along the pipeline from a first portion of the pipeline to a second portion of the pipeline.

[0008] More preferably, the controller is configured to control the image capture device to aim at the pipeline and scan downward along the pipeline from the first portion to the second portion, the first portion being the distal end of the pipeline and the second portion being the proximal end of the pipeline.

[0009] Preferably, the controller is configured to control the image capture device to scan along the pipeline at a desired scanning speed, which is a uniform or constant speed within a small variation range.

[0010] Further preferably, the desired scanning speed is 0.4 m / s±10%.

[0011] In a preferred embodiment, the controller is configured to achieve the desired scanning speed by determining an angular velocity at which the motorized support angularly moves the image capture device to scan along the pipe based on a distance (D) between the image capture device and the pipe, a position of the first portion of the pipe, and a position of the second portion of the pipe.

[0012] More preferably, the controller is configured to determine the angular velocity of movement of the motorized support so as to achieve the desired scanning speed at regular intervals, wherein each interval covers or scans one unit length (H) of the pipe from a current scanning position to a next scanning position of the pipe.

[0013] Further preferably, the regular interval time is every 0.01 seconds, and the corresponding unit length is 4 millimeters.

[0014] Further preferably, the tilt increment angle (θ2) of the image capture device from the tilt angle (θ1) corresponding to the current scanning position of the pipeline to the tilt angle (θ) corresponding to the next scanning position of the pipeline is related according to the following formula:

[0015] θ2 = θ - θ1 = tan -1 (H × 2 / D) - tan -1 (H / D).

[0016] In a preferred embodiment, the image capture device includes a motorized zoom lens, and the controller is configured to provide an auto-zoom function for automatically adjusting the focal length of the lens for the image capture device to capture an image of the pipeline while maintaining the captured image of the relevant portion of the pipeline at a relatively constant size.

[0017] More preferably, the relatively constant size is determined by a percentage relative to a frame area of ​​a captured complete picture.

[0018] Further preferably, the percentage is in the range of 10% to 15% of the area of ​​the frame.

[0019] It is further preferred that the image capture device comprises a remote control device, the remote control device is capable of electronically zooming the lens, and the controller is configured to cooperate with the remote control device to adjust the focus of the lens when the image capture device scans the pipeline.

[0020] Preferably, the inspection apparatus further comprises a fluid detector for detecting any fluid leakage on the pipeline, the fluid detector being supported and moved by the motorized support together with the image capturing device.

[0021] It is further preferred that the fluid detector comprises a laser methane gun.

[0022] Advantageously, the motorized support comprises an input unit and a display unit to indicate at least an input value received by the input unit or a status of the motorized support and / or the image capturing device.

[0023] Other features and aspects of the invention will become apparent by consideration of the following detailed description, drawings, and claims.

[0024] Before explaining any independent construction of the utility model in detail, it should be understood that the application of the utility model is not limited to the details of the construction and arrangement of the components set forth in the following description or shown in the following drawings. The utility model can have other independent constructions and can be practiced or executed in various ways. In addition, it should be understood that the words and terms used herein are for descriptive purposes and should not be considered as limiting.

[0025] As used herein, the use of "including" and "comprising" and variations thereof is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. As used herein, the use of "consisting of" and variations thereof is meant to encompass only the items listed thereafter and equivalents thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] These and other features of the present invention will become more apparent from the following description, given by way of example only and with reference to the accompanying drawings, in which:

[0027] Figure 1 is a perspective view of an inspection device according to an embodiment of the utility model;

[0028] Figure 2 yes Figure 1 A perspective view of an inspection apparatus showing how an image capture device, a motorized support and its tripod are connected together;

[0029] Figure 3 yes Figure 2 A top perspective view of a motorized support;

[0030] Figure 4 yes Figure 2 A bottom perspective view of the motorized support;

[0031] Figure 5 yes Figure 4 A front view of a control box of a motorized support;

[0032] Figure 6 yes Figure 1 A front view of the inspection equipment;

[0033] Figure 7 yes Figure 6 A side view of the inspection device;

[0034] Figure 8 Yes Figure 6 A schematic diagram of an inspection device being placed in front of a pipeline to be inspected by the inspection device;

[0035] Fig. 9 is with Figure 8 corresponding schematic diagrams of similar inspection equipment and piping arrangements;

[0036] Fig.10 is a schematic diagram taken from one side, showing Figure 8 and Fig. 9 The setup of the inspection equipment and pipelines has certain parameters (i.e., distance, angle, and length) during the inspection operation;

[0037] Fig.11 (a) to (c) are three geometric line graphs, each showing Fig.10 The corresponding maximum distance, angle and length of the settings;

[0038] Fig.12 A sample capture image of a portion of the pipeline being inspected; and

[0039] Fig.13 is another schematic diagram taken from one side, showing the setup of the inspection equipment and piping, similar to Fig.10 .

[0040] Before explaining any embodiment of the utility model in detail, it should be understood that the application of the utility model is not limited to the details and arrangement of parts of the embodiments set forth in the following description or shown in the following drawings. The utility model can have other embodiments and can be practiced or executed in various ways. In addition, it should be understood that the words and terms used herein are for the purpose of description and should not be considered as limiting. DETAILED DESCRIPTION

[0041] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0042] Figure 1is a perspective view of an inspection device 100 according to one embodiment of the present invention. The inspection device 100 is configured to inspect pipes for conveying fluids to apartments in a building, such as vertical pipes for supplying gas (i.e., gaseous fuel) to various floors, commonly referred to as risers. The inspection device 100 includes an image capture device 10, a motorized support 30 for supporting the image capture device 10, a controller, such as a microprocessor-based control circuit (not shown) disposed inside the motorized support 30, and a tripod 50 for supporting the motorized support 30. The image capture device 10 is used to capture an image of the riser, which can be provided by a camera 10 that captures a series of images or, preferably, a video image as in the described embodiment. The motorized support 30 is arranged to support the camera 10 and is configured to move the camera 10 to capture said image of the object to be inspected (i.e., the riser).

[0043] The motorized support 30 may take the form of a motorized gimbal 30 including the controller for operating and controlling to move the camera 10 along a desired trajectory. In one embodiment, the controller controls the motorized gimbal 30 supporting the camera 10 to aim at the riser and capture images of the riser. In operation, the controller controls the motorized gimbal 30 to move the camera 10 to aim along the path along which the riser extends. Given that relevant types of risers, including the present riser, and in particular that their major portions generally extend vertically upright, the controller controls the motorized gimbal 30 to pivot vertically upward and / or downward so that the camera 10 supported thereon can vertically scan and capture video images of the riser between a first portion (e.g., its upper or distal end) and a second portion (e.g., its lower or proximal end) of the riser (from the first portion to the second portion), thereby generally covering the entire length of the riser or a major portion thereof or a specific portion where a leak is suspected.

[0044] The inspection apparatus 100 preferably also includes a fluid detector for detecting any fluid leaks on the riser. In this particular embodiment, the fluid detector is supported and moved by a motorized gimbal 30 along with the camera 10. In this particular embodiment, the fluid detector is a gas detector for detecting gas and includes a laser methane gun to detect any gas leaks from the riser.

[0045] Figure 2 FIG. 1 shows an inspection device 100 according to an embodiment of the present invention, and specifically shows how the camera 10, the motorized universal bracket 30 and the tripod 50 are connected together. Figure 2 As shown, the camera 10 is connected to the motorized gimbal 30 by a screw connection (e.g., using a standard tripod screw provided on the motorized gimbal 30). The motorized gimbal 30 is connected to the tripod 50 by, but not limited to, another screw connection (e.g., using a standard tripod screw on the tripod 50).

[0046] Figures 3 to 5 The basic features of the motorized gimbal 30 are shown. Figure 3 The motorized gimbal 30 may include a support member 32, which is in the form of, for example, a support bracket 32 ​​that engages with the camera 10. As described above, the camera 10 is connected to the support bracket 32 ​​of the motorized gimbal 30 by means of a screw connection. The support bracket 32 ​​is movably connected to a base member 34 of the motorized gimbal 30 relative to a horizontal axis A. The support bracket 32 ​​can rotate about the horizontal axis A so that the support bracket 32 ​​can move, in particular, pivotally support the camera 10 supported thereon to aim at an object (i.e., a riser) and change the direction of aiming upward and downward. This can allow the camera 10 to continuously capture images of the vertically extending riser. The motorized gimbal 30 includes a control box 36 that fixedly supports the base member 34. The following will refer to Figure 5 The control box 36 is described.

[0047] like Figure 4 As shown, the motorized gimbal 30 may include a connection portion 38 at its bottom that allows the motorized gimbal 30 to be connected to the tripod 50 via a screw connection. For example, the connection portion 38 of the motorized gimbal 30 may be screwed onto a tripod screw on the tripod 50, generally in the same manner as a camera is mounted on a tripod. In addition, the connection portion 38 allows the angular position or orientation of the motorized gimbal 30 to be adjusted clockwise or counterclockwise when connected to the tripod 50. This configuration allows the motorized gimbal 30 to be adjusted manually or automatically to point the camera 10 in different horizontal directions.

[0048] Figure 5One side of the control box 36 of the motorized gimbal 30 is shown, which is the rear side facing the inspector using the inspection device 100. The control box 36 may include one or more input units 44, 46, 48 and 49 and a display unit 42. In one example, the display unit 42 is, but is not limited to, an LCD display. The display unit 42 may indicate a menu for the inspector to select. The display unit 42 may indicate an input value received by any input unit 44, 46, 48 or 49. The display unit 42 may also indicate the status of the motorized gimbal 30 and / or the camera 10. In one example, one or more input units may include a set of buttons 44 to move the motorized gimbal 30 in the left, right, up and down directions. One or more input units may also include a joystick 46 for fine control of the motorized gimbal 30. One or more input units may also include a menu button 49 for selecting a menu displayed on the display unit 42, and a cancel button 48 for canceling any selection of the menu. The motorized gimbal 30 may also include an LCD backlight dimmer (not shown) to adjust the backlight intensity of the display unit 42. These input units are only examples, and those skilled in the art will appreciate that any other types of input units may be used with the present invention.

[0049] Figure 6 and Figure 7 A front view and a side view of the inspection device 100 are shown. Figure 1 and Figure 2 As explained, Figure 6 and Figure 7 An inspection apparatus 100 is shown, which includes a camera 10, a motorized gimbal 30 for supporting the camera 10, and a tripod 50 for supporting the motorized gimbal 30. Figure 6 and Figure 7 The inspection device 100 may further include a bracket 60 for a computer, a tablet computer, or a smart phone. The bracket 60 may be detachably connected to the tripod 50.

[0050] Disclosed is a method of using the above reference Figures 1 to 7The inspection device 100 described herein is used to inspect a pipeline for conveying a fluid (e.g., a gas). Providing the inspection device 100 as described above may be considered as part of the method. An inspector may place the inspection device 100 in front of the pipeline to be inspected, which is typically on one side of a building structure and extends in a vertical direction along the side. In preparation for use, the inspector places the tripod 50 at the desired position on the ground in front of the riser, mounts the motorized gimbal 30 on the tripod 50, and mounts the camera 10 and the fluid detector on the motorized gimbal 30. The inspector then measures the (horizontal) distance between the motorized gimbal 30 and the riser to be inspected by using, for example, a laser distance sensor. The distance between the motorized gimbal 30 and the riser is preferably in the range of 10m to 120m, depending on the height to which the riser extends.

[0051] The motorized gimbal 30 should be level with respect to the horizon. Figure 8 , if the motorized gimbal 30 is tilted laterally relative to the horizontal direction X, the upward / downward pivoting movement of the camera 10 on the support bracket 32 ​​of the motorized gimbal 30 will not cause the camera 10 to scan in a direction consistent with or following the vertically extending riser (in the vertical direction Y) when aiming at the riser. For example, even if the motorized gimbal 30 is tilted to the right and downward by a very small angle of only 0.33° as shown in the figure, aiming at a riser at a height of 70m from the ground will be offset by 0.4m to one side, causing the camera 10 to miss the riser. Therefore, the inspector should ensure that the motorized gimbal 30 is horizontal relative to the horizon (for example by using a bubble level / spirit level) so that it can be achieved that the camera 10 aims at or tracks the riser along the path where the riser extends (see Fig. 9 ). In a more advanced design, the leveling process can be performed under automatic control of the controller of the motorized universal bracket 30.

[0052] Next, it is necessary to identify the path (or length) that the riser extends by using the inspection device 100. To this end, refer to Fig.10 , the inspector controls the motorized gimbal 30 to identify a first portion of the riser, which is preferably the proximal or lower portion of the riser, such as "point 1" as shown in the figure, and a second portion of the riser, which is preferably the distal or upper portion of the riser, such as "point 2" as shown in the figure. Each of "point 1" and "point 2" is associated with a tilt angle of the camera 10 supported on the motorized gimbal 30 relative to the ground or horizon.

[0053] When the inspector controls the motorized gimbal 30 to point the camera 10 at the desired lower "point 1", the display unit 42 will display the angle value of the camera 10 relative to the horizon. If "point 1" is conveniently selected to be at the same (horizontal) height as the camera 10, the angle can be zero, as is the case in the described embodiment. The inspector can then press "OK" to enter the angle as the tilt to record the position of "point 1". Subsequently and similarly, the inspector controls the motorized gimbal 30 to pivot and point the camera 10 to the desired upper "point 2", and then presses "OK" to enter the corresponding angle displayed on the display unit 42 as the tilt to record the position of "point 2". The path of the riser extension is then regarded as a straight line extending upward or downward through "point 1" and "point 2". Since the camera 10 was last aimed at "point 2", for convenience, the path of the subsequent pivoting movement of the camera 10 and image capture is taken as a path extending downward, that is, from "point 2" to "point 1".

[0054] After identifying the path, the controller determines or calculates the trajectory and angular motion speed of the support bracket 32 ​​of the motorized gimbal 30 and the camera 10 supported thereon. The calculation is based on the distance between the camera 10 or the motorized gimbal 30 and the standpipe and the inclination or position of "point 1" and "point 2". As can be seen from the above description, the inclination of "point 1" and "point 2" is based on the angle at which the support bracket 32 ​​of the motorized gimbal 30 was tilted relative to the horizon when the camera 10 was previously aimed at "point 1" and "point 2" respectively.

[0055] Next, the inspector operates the controller to operate the motorized gimbal 30, pivoting the camera 10 along a downward path from "point 2" to "point 1" based on the determined trajectory and angular movement speed of the support bracket 32 ​​of the motorized gimbal 30 while aiming at the riser. At the same time, the inspector operates the camera 10 to capture images, particularly video images, of the riser while aiming at the riser and being moved to track the riser along the determined path or trajectory. Preferably, as described but not required, the camera 10 operates to capture video images of the riser starting from "point 2" where the camera 10 was last aimed at, and completes capturing video images at "point 1".

[0056] In general, reference Fig.10, the inspection device 100 is operated to inspect the riser preferably from the upper part of the riser (e.g., "point 2") to the lower part of the riser (e.g., "point 1"), as shown in the figure (or vice versa). The distance between the camera 10 or the motorized gimbal 30 of the inspection device 100 and the riser is preferably in the range of 10m to 120m. The angle θ included between the virtual line L1 from the camera 10 (or the motorized gimbal 30) to the lower part (e.g., "point 1") and the virtual line L2 from the camera 10 (or the motorized gimbal 30) to the upper part (e.g., "point 2") is preferably in the range of 0° to 70° and is preferably less than 75°.

[0057] The inspector may preferably set a desired scanning speed of the camera 10 along the riser. The desired scanning speed is a scanning speed that provides a clear and stable video image of the riser, which depends on many factors, such as the resolution (number of pixels), shutter speed (Tv) and sensitivity (ISO) of the image sensor of the camera 10. In a preferred embodiment, the desired scanning speed is selected to be a relatively uniform or constant speed within a small variation range, which is preferably 0.4 m / s ± 10% (i.e., 0.36 m / s to 4.4 m / s), and more preferably 0.4 m / s, for best results.

[0058] As previously described, the controller of the inspection device 100 is preferably configured to determine the angular movement speed of the support bracket 32 ​​of the motorized gimbal 30 to achieve the scanning speed of the camera 10 along the riser based on the distance between the camera 10 and the riser (the distance between the camera 10 and "point 1" if "point 1" is located on the same horizontal plane as the camera 10) and the inclination / position of "point 1" and "point 2" on the riser. The movement speed of the camera 10 is the angular speed of the support bracket 32 ​​controlled by the controller of the inspection device 100 to achieve the desired scanning speed.

[0059] In a preferred embodiment, the controller is programmed to reach or adjust to a desired scanning speed of 0.4 m / s at regular intervals and preferably every 0.01 s, so that each interval covers or scans a unit length of the riser corresponding to a 4 mm scan position from the current scan position to the next scan position. Note that the or each scan position of the riser is conveniently identified by reference to the elevation or vertical height of the scan position from the camera 10 (i.e. the horizontal plane in which the camera 10 is located). Also, the elevation or vertical height of the scan position depends on the tilt angle of the camera 10, which is typically acquired from the horizontal or incrementally acquired from the current scan position for the next scan position.

[0060] The following will refer to Fig.10 To describe the calculation, for simplicity, Fig.10Another situation is shown, in which the camera 10 is controlled to pivot upward to scan along the riser from a lower (lowest) position "point 1" to an upper position "point 2". Fig.10 As shown, the incremental tilt angle θ2 of the camera 10 from the tilt angle θ1 of the camera 10 corresponding to the current scanning position of the riser to the tilt angle θ of the camera 10 corresponding to the next scanning position of the riser is determined every 0.01 seconds based on the distance between the camera 10 and the riser (denoted by "D") and the incremental unit height (i.e., length) of 4 mm of the riser (denoted by "H") between consecutive scanning positions. The incremental tilt angle θ2 is determined to control the angular movement speed of the camera 10 to cover the tilt angle θ2 in the next 0.01s time interval so as to achieve a desired scanning speed of 0.4m / s in the next time interval to reach the next scanning position of the tilt angle θ. These parameters are related according to the following preferred formula:

[0061] θ2 = θ - θ1 = tan -1 (H × 2 / D) - tan -1 (H / D)

[0062] Generally speaking, the angular motion trajectory of the camera 10 (ie, the support bracket 32 ​​of the motorized gimbal 30) used to scan the riser is based on the angular motion trajectory from the previous / current angle θ n-1 The next angle θ is calculated n The angle θ2 is determined based on the calculated angular velocity and trajectory (e.g., angle θ1 is calculated to determine angle θ2, as described in the previous paragraph). Support bracket 32 ​​is controlled to pivot camera 10 supported thereon based on the calculated angular velocity and trajectory to capture an image (i.e., a video image or a series of still images). In a preferred embodiment, camera 10 is operated to capture an image of the riser starting from the upper "point 1" and completing the image capture at the lower "point 2" while pivoting to scan the riser according to the determined trajectory and angular velocity.

[0063] Fig.11 Three examples are shown for different distances between the camera 10 and the riser (or the first portion if the first portion is in the same horizontal plane) and the corresponding angles between the virtual lines from the camera 10 to the upper and lower "end" positions. As mentioned above, the distance from the camera 10 to the riser is preferably in the range of 10m to 120m, and the angle between the two virtual lines is preferably within 75° (e.g., 45° to 75° as shown) in order to provide a good quality captured image of the riser.

[0064] exist Fig.11 In (a), when the camera 10 is at a minimum distance of 10 m from the riser to be inspected, the camera 10 can only scan the riser at a maximum angle of 75° to a height of 37 m. Fig.11In (b), when the camera 10 is further spaced apart from the riser by an intermediate distance of 32 m, the camera 10 can scan the riser at the same maximum angle of 75° to a higher point at an altitude of 120 m. Fig.11 (c), the camera 10 may be placed at a maximum distance of 120 m from the riser and scanned at an angle of only 45° to the same 120 m height.

[0065] In a preferred embodiment, the camera 10 comprises a zoom lens, in particular a motorized zoom lens, with which the controller is configured to provide an auto-zoom function, i.e. automatically adjust the focal length of the lens of the camera 10 to capture a (video) image of the riser. Adjustment of the focal length of the zoom lens is advantageous because it accommodates changes in the size of the image of the portion of the riser captured as the object distance changes as the camera 10 scans the riser along its length. More specifically, the image size will increase as the camera 10 scans down the riser, thus gradually approaching the portion of the riser being scanned, and may eventually become too large. Alternatively, when the camera 10 scans upwards, the image size may decrease, resulting in a loss of detail.

[0066] The purpose of the auto-zoom function is to maintain the captured image of the relevant portion of the standpipe at a relatively constant size, preferably as a percentage of the frame area relative to the full picture being captured. This percentage is preferably in the range of 10% to 15% of the frame area. FIG. 12 shows a sample capture image including an image of a small section of the standpipe including two branch pipes located on opposite sides of the standpipe which together comprise the pipe area of ​​interest (shown here as being surrounded by a cross-shaped thick line). The pipe area is maintained at approximately 10% to 15% of the frame area by adjusting the focal length of the lens of the camera 10 when (or when) the image or frame is captured.

[0067] The electric zoom lens allows the lens to be zoomed in and out, i.e. to increase or decrease its focal length, using electronic control signals to operate a built-in motor. The camera 10 is provided with a (handheld) remote control device, which is capable of initiating or commanding such control signals for zooming the lens. The electronic electric zoom feature of the lens is utilized by the remote control device, and the controller of the inspection apparatus 100 described is programmed to cooperate with the remote control device to adjust the focal length of the lens while the camera 10 is scanning the riser.

[0068] The value of the focal length depends on the portion of the standpipe being scanned at the relevant moment, in particular its distance from the camera 10, which in turn depends on the angular position (or tilt angle) of the camera 10 and the motorized support 30 according to the trajectory determined above. The portion of the standpipe being scanned can be represented by reference to the angular position of the camera 10 and the motorized support 30 at the relevant moment. The relationship between the focal length of the lens and the angular position of the motorized support 30 (i.e., the portion of the standpipe being scanned) is determined as part of the trajectory for use by the controller.

[0069] by Fig.13 Take the scenario as an example, Fig.10 The scene is similar to that of , but the camera 10 scans upward from a low point (starting point) to a high point (end point), wherein the low point is not at the same level as the camera 10, but higher. The specific values ​​of these and other related parameters are:

[0070]

[0071] The zoom level of the camera lens between its shortest focal length and its longest focal length can be divided into a range of 0 to 64 counts (called zoom counts). For the low point, the zoom count should be 55, corresponding to a focal length of approximately 2570 mm, to keep the size of the image of the captured riser portion within 10% to 15% of the entire frame area. For the high point, at which the captured riser portion is farthest from the camera 10, the zoom count automatically increases to 64, corresponding to a focal length of approximately 3000 mm, and at this point, the image of the captured riser portion occupies approximately 10% to 15% of the entire frame area.

[0072] The appropriate zoom count, corresponding to the zoom level based on the focal length of the lens, for image capture at the two end positions (i.e., the low point and the high point) can be predetermined based on the geometry or basic parameters of the setup, which are the low point position, the high point position and the distance, respectively. The exact zoom count is preferably determined on site after the inspection device 100 has been set up in a stable position directly in front of the riser at the relevant location, and before the inspection device 100 is operated (and therefore predetermined). The high point zoom count can be determined first by aiming the camera 10 at the riser portion at the high point and then adjusting the lens until the appropriate zoom count is achieved when the image of the riser portion displayed on the screen occupies approximately 10% to 15% of the full image size or frame area (which may be the screen size). The camera 10 is then aimed at the riser portion at the low point and the low point zoom count is determined in substantially the same manner.

[0073] The zoom counts determined for the high and low points are then input into the controller using the input buttons 44 of the control box 36. In operation, the controller will set the zoom level of the camera lens to aim and capture images of the riser portion at the low and high points according to the respective zoom counts input. The controller can also determine the zoom level of the camera lens to capture consecutive intermediate portions of the riser between the high and low points. These intermediate portions are arranged along the riser, each representing a corresponding intermediate position on the riser for which the camera lens should adjust its zoom level so as to maintain the captured image of the riser portion at approximately 10% to 15% of the full image size. The diameter of the riser can vary (e.g., the riser can include a relatively thin portion toward its upper end), and this is another factor used to determine the appropriate zoom count.

[0074] In general, such zoom level depends on the object distance or direct distance (DD) of the relevant riser portion (whose image is to be captured or is being captured) from the camera 10, which in turn depends on the horizontal distance (D) of the camera 10 from the riser and the tilt angle (θ) of the camera lens, and the relationship is "DD = D / cos θ".

[0075] The spacing between adjacent intermediate positions on the upper portion of the riser is shorter (i.e., they are more closely spaced) than those adjacent intermediate positions on the lower portion of the riser (i.e., they are farther apart). As a general trend, the spacing between adjacent intermediate positions decreases when the intermediate positions are considered in an upward direction along the riser. This means that the intermediate positions are arranged closer or closer together when the intermediate positions are considered upward along the riser. This trend in the spacing between adjacent intermediate positions is to accommodate the rate of change of object distance, which increases as the camera lens is pivoted or scanned upward to aim the riser at a decreasing angle (or vice versa), so that as the camera lens is scanned upward, the zoom level of the camera lens should be adjusted more and more frequently to maintain the image of the portion of the riser captured at about 10% to 15% of the full image size. Conversely, as the camera lens is scanned downward, the zoom level of the camera lens should be adjusted less and less frequently.

[0076] Generally speaking, the spacing between adjacent intermediate positions also depends on the scanning speed of the camera, ie the speed at which the camera scans the riser, which is preferably maintained at 0.4 m / s, as described above.

[0077] It is envisaged that by using appropriate image processing software (e.g. involving AI), the captured image of the relevant area / portion of the riser can be recognized and identified from other features of the full picture (e.g. background). Such software can also determine the image size of the identified riser portion and keep it the same at a certain percentage of the full picture size (e.g. 10% to 15% as described) by controlling the zoom level of the camera lens. Automation of real-time control is also possible.

[0078] Furthermore, when the inspection device 100 includes a fluid or gas detector, for example, the gas detector is a laser methane gun for detecting any gas leaks on the riser. When the fluid detector is supported and moved by a motorized gimbal 30 in series with the camera 10, the movement of the fluid detector also follows the same determined trajectory and angular movement as the camera 10.

[0079] According to the utility model, the inspector can obtain a clearer and more stable (video) image of the riser to be inspected for damage (such as rust or corrosion). The inspector can also obtain information on whether a gas leak occurs on the riser. The inspector can analyze the corrosion or damage condition of the riser based on or by analyzing the captured riser image. Fig.12 Taking a captured image of a portion of a riser in a pipeline as an example, any rusted parts and / or corrosion on the riser can be visually identified from the captured image. Using advanced technology (including artificial intelligence), the captured image can be viewed using dedicated software that is able to automatically identify rusted parts and / or corrosion with different visual effects, such as by color or shading. A comprehensive inspection of the riser for corrosion and / or any gas leaks can be performed.

[0080] It should be understood that the above only shows and describes examples in which the present invention may be implemented, and modifications and / or changes may be made thereto without departing from the spirit of the present invention.

[0081] It should also be understood that, for the sake of clarity, certain features of the present invention described in the context of separate embodiments may also be provided in combination in a single embodiment. Conversely, for the sake of brevity, various features of the present invention described in the context of a single embodiment may also be provided individually or in any suitable sub-combination.

Claims

1. An inspection device for inspecting a pipeline, wherein the pipeline is used to transport a fluid, characterized in that: The inspection equipment comprises: an image capturing device for capturing an image of the pipeline; a motorized support for supporting and moving the image capture device; and a controller for controlling the motorized support to move the image capture device, the image capture device aiming at the pipe to capture an image thereof while scanning along a path along which the pipe extends; Wherein the image capture device is adapted to scan along the pipeline and simultaneously capture a video image or a series of images of the pipeline.

2. The inspection device according to claim 1, characterized in that The motorized support includes a motorized universal bracket.

3. The inspection device according to claim 1, characterized in that The motorized support includes a support member and a base member, the support member being engaged with the image capture device, the base member being connected to the support member, and the support member being movable relative to the base member.

4. The inspection device according to claim 1, characterized in that The controller is configured to control the image capture device to aim at the pipe and scan along the pipe from a first portion of the pipe to a second portion of the pipe.

5. The inspection device according to claim 4, characterized in that The controller is configured to control the image capture device to aim at the pipe and scan down along the pipe from the first portion to the second portion, the first portion being the distal end of the pipe and the second portion being the proximal end of the pipe.

6. The inspection device according to claim 4, characterized in that The controller is configured to control the image capture device to scan along the pipe at a desired scanning speed, which is a uniform or constant speed within a small variation range.

7. The inspection device according to claim 6, characterized in that The desired scanning speed is 0.4 m / s±10%.

8. The inspection device according to claim 6, characterized in that The controller is configured to achieve the desired scanning speed by determining an angular velocity at which the motorized support angularly moves the image capture device to scan along the pipe based on a distance (D) between the image capture device and the pipe, a position of the first portion of the pipe, and a position of the second portion of the pipe.

9. The inspection device according to claim 8, characterized in that The controller is configured to determine the angular velocity of movement of the motorized support so as to achieve the desired scanning velocity at regular intervals, wherein each interval covers or scans one unit length (H) of the pipe from a current scanning position to a next scanning position of the pipe.

10. The inspection device according to claim 9, characterized in that The regular interval time is every 0.01 seconds, and the corresponding unit length is 4 millimeters.

11. The inspection device according to claim 9, characterized in that The incremental tilt angle (θ2) of the image capture device from the tilt angle (θ1) corresponding to the current scanning position of the pipe to the tilt angle (θ) corresponding to the next scanning position of the pipe is related according to the following formula: θ2 = θ - θ1 = tan -1 (H × 2 / D) - tan -1 (H / D)。 12. The inspection device according to claim 1, characterized in that The image capture device includes a motorized zoom lens, and the controller is configured to provide an auto-zoom function for automatically adjusting the focal length of the lens for the image capture device to capture an image of the pipeline while maintaining the captured image of the relevant portion of the pipeline at a relatively constant size.

13. The inspection device according to claim 12, characterized in that The relatively constant size is determined by a percentage relative to the area of ​​the frame of the entire captured image.

14. The inspection device according to claim 13, characterized in that The percentage is in the range of 10% to 15% of the area of ​​the frame.

15. The inspection device according to claim 12, characterized in that The image capture device includes a remote control capable of electronically zooming the lens, and the controller is configured to cooperate with the remote control to adjust the focus of the lens when the image capture device scans the pipe.

16. The inspection device according to claim 1, characterized in that The inspection apparatus further comprises a fluid detector for detecting any fluid leakage on the pipeline, the fluid detector being supported and moved by the motorized support together with the image capture device.

17. The inspection device according to claim 16, characterized in that The fluid detector includes a laser methane gun.

18. The inspection device according to claim 1, characterized in that The motorized support comprises an input unit and a display unit to indicate at least an input value received by the input unit or a status of the motorized support and / or the image capturing device.

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