Pipeline crane carrying infrared imager

Abstract

The utility model relates to a pipeline travelling crane carrying an infrared imager, and belongs to the field of pipeline detection, the pipeline travelling crane comprises two frames, a detection mechanism is arranged between the opposite sides of the two frames, and travelling crane mechanisms are arranged on the lower surfaces of the two frames. According to the pipeline travelling crane carrying the infrared imager, the detection mechanism is arranged, temperature distribution on the surface of a pipeline can be rapidly captured through the infrared imager body, so that temperature difference changes are efficiently recognized, the changes are often indications of pipeline defects, an auxiliary sensing part such as ultrasonic waves can provide extra information about the internal state of the pipeline, and therefore the pipeline travelling crane carrying the infrared imager is more convenient to use. The application of an image processor and an intelligent algorithm improves the processing efficiency and accuracy of image data, facilitates the automatic recognition and classification of pipeline defects, integrates various sensor data, improves the accuracy and reliability of a detection result, and especially in a complex environment, the infrared imager body is annularly distributed, so that the detection accuracy and reliability are improved. And a dead-angle-free detection visual angle can be provided.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline detection, and specifically to a pipeline crane equipped with an infrared imager. Background Art

[0002] The pipeline inspection vehicle is a vehicle specially used for pipeline inspection. It integrates a variety of pipeline inspection equipment and tools. It can conduct a census of urban sewer pipes, complete acceptance of new pipelines, and be used in conjunction with pipeline trenchless repair projects.

[0003] For example, a crawler vehicle for pipeline inspection disclosed in Chinese patent announcement number (CN217081880U) relates to the field of pipeline inspection equipment, which includes a main body, on which at least two lighting components are arranged, and the lighting components are respectively arranged on both sides of the front end surface of the main body. The lighting components include lighting lamps, and the lighting lamps are arranged in the moving direction of the main body. This application has the effect of improving the problem that some areas in the pipeline have low brightness and are not convenient for camera observation.

[0004] However, the existing technology, such as the above-mentioned patent, still has the problem of poor pipeline detection effect. At present, pipeline detection mainly adopts the following technologies: visual inspection: relies on manual inspection, has low efficiency, and is easily affected by human factors; ultrasonic detection: although it can detect internal defects, its ability to detect surface defects is limited; X-ray detection: has certain requirements on pipeline wall thickness and there are radiation hazards; the existing technology is insufficient in detection speed, accuracy and safety, especially in detection efficiency and accuracy in complex environments. Utility Model Content

[0005] In view of the shortcomings of the prior art, the present application provides a pipeline vehicle equipped with an infrared imager, which has the advantages of good infrared imaging detection effect, and solves the problem of poor pipeline detection effect.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical solutions: a pipeline crane equipped with an infrared imager comprises two frames, a detection mechanism is provided between opposite sides of the two frames, and a crane mechanism is provided on the lower surfaces of the two frames;

[0007] The detection mechanism includes a fixed column, a sleeve, an infrared imager body and an auxiliary sensor. The fixed column is horizontally fixed between the opposite sides of two frames, the sleeve is fixed to the outer side of the fixed column, the infrared imager body is fixed to the outer side of the sleeve, and the auxiliary sensor is arranged on the left and right sides of the fixed column to enhance the pipeline detection effect.

[0008] By adopting this technical solution, a comprehensive inspection of the inside of the pipeline can be achieved. The coordinated use of the infrared imager body and the auxiliary sensor components enhances the inspection effect and can more accurately identify defects in the pipeline.

[0009] Furthermore, the auxiliary sensor comprises a plurality of ultrasonic generators and a plurality of ultrasonic receivers, wherein the plurality of ultrasonic generators are respectively fixed on the left and right sides of the fixing column, and the plurality of ultrasonic receivers are respectively fixed to the outer sides of the plurality of ultrasonic generators.

[0010] By adopting this technical solution, the ability to detect internal defects in pipelines is enhanced through the emission and reception of ultrasonic waves, especially in identifying internal cracks or other invisible defects.

[0011] Furthermore, an image processor is fixed on the outer side of the fixing column, and the image processor is electrically connected to the transmission module through a wire.

[0012] By adopting this technical solution, the efficiency of data processing and transmission is improved, ensuring that the detection data can be processed and analyzed quickly and accurately.

[0013] Furthermore, the number of the infrared imager bodies is not less than two, and the plurality of infrared imager bodies are distributed in a ring shape on the outside of the sleeve.

[0014] By adopting this technical solution, an all-round detection perspective is provided, the detection coverage is increased, and blind spots are reduced.

[0015] Furthermore, the driving mechanism includes two moving wheel groups, a drive, a cable bundling tube, a driving cable, a support frame and a driving camera. The two moving wheel groups are respectively fixed to the lower surfaces of the two frames, the drive is transmission-connected to the left moving wheel group, the cable bundling tube is fixed to the upper surface of the left frame, the driving cable is placed inside the cable bundling tube, the support frame is fixed to the outer side of the right frame, and the driving camera is fixed to the upper surface of the support frame.

[0016] By adopting this technical solution, flexible movement capability within the pipeline is provided, ensuring that the detection mechanism can move smoothly within the pipeline and perform detection.

[0017] Furthermore, a fill light is fixed on the outer side of the driving camera.

[0018] By adopting this technical solution, the imaging effect in the pipeline environment with insufficient light is improved, the image quality is enhanced, and it helps to identify defects more accurately.

[0019] Furthermore, the shape of the cable bundling tube is L-shaped, and the length of the cable bundling tube is greater than the length of the left side frame.

[0020] By adopting this technical solution, it is helpful to better manage the cables when the vehicle turns, avoiding cable damage or entanglement.

[0021] Furthermore, a controller is fixed on the outside of the driver.

[0022] By adopting this technical solution, the motion control of the pipeline crane is made more centralized and convenient, and the convenience of operation and the response speed of the crane mechanism are improved.

[0023] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0024] 1. The pipeline crane equipped with an infrared imager is equipped with a detection mechanism. The infrared imager body can quickly capture the temperature distribution on the pipeline surface, thereby efficiently identifying temperature difference changes. These changes are often indicative of pipeline defects. Auxiliary sensors such as ultrasound can provide additional information about the internal state of the pipeline, making defect detection more comprehensive. The application of image processors and intelligent algorithms improves the processing efficiency and accuracy of image data, helps to automatically identify and classify pipeline defects, integrates multiple sensor data, and improves the accuracy and reliability of detection results. Especially in complex environments, the infrared imager body is distributed in a ring shape, which can provide a detection viewing angle without blind spots.

[0025] 2. The pipeline crane equipped with an infrared imager is equipped with a crane mechanism. The configuration of the mobile wheel group and the drive enables the pipeline crane to move flexibly in the pipeline and adapt to pipelines of different diameters and shapes. The design of the cable bundle tube helps to manage the cables and prevent the cables from being damaged or entangled during the movement of the crane. The crane camera provides real-time video feedback, allowing the operator to monitor the movement and detection process of the crane, improving the safety and accuracy of the operation. The automated control of the crane mechanism improves the continuity and coverage of the detection process, while reducing manual intervention and improving detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the structure of this application;

[0027] Figure 2 This is a schematic diagram of the testing organization for this application;

[0028] Figure 3 This is a schematic diagram of the driving mechanism for this application;

[0029] Figure 4 This is a partial schematic diagram of the driving mechanism of this application.

[0030] In the figure: 1. frame; 2. detection mechanism; 21. fixing column; 22. sleeve; 23. infrared imager body; 24. auxiliary sensor; 241. ultrasonic generator; 242. ultrasonic receiver; 3. driving mechanism; 31. moving wheel set; 32. drive; 33. cable bundle tube; 34. driving cable; 35. support frame; 36. driving camera. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0032] See also Figure 1 The pipeline crane equipped with an infrared imager in this embodiment includes two frames 1, a detection mechanism 2 is provided between opposite sides of the two frames 1, and a crane mechanism 3 is provided on the lower surfaces of the two frames 1.

[0033] See also Figure 2 In order to perform infrared imaging detection on the pipeline, the detection mechanism 2 in this embodiment includes a fixed column 21, a sleeve 22, an infrared imager body 23 and an auxiliary sensor 24. The fixed column 21 is horizontally fixed between the opposite sides of the two frames 1, the sleeve 22 is fixed to the outer side of the fixed column 21, and the infrared imager body 23 is fixed to the outer side of the sleeve 22. The infrared imager body 23 starts to capture the infrared image of the pipeline surface and record the temperature distribution. The auxiliary sensor 24 is arranged on the left and right sides of the fixed column 21 to enhance the pipeline detection effect, ensure that the pipeline vehicle has entered the pipeline, and the detection mechanism 2 has been installed in place, and start the infrared imager body 23 and the auxiliary sensor 24.

[0034] The auxiliary sensor 24 includes a plurality of ultrasonic generators 241 and a plurality of ultrasonic receivers 242. The plurality of ultrasonic generators 241 are respectively fixed on the left and right sides of the fixed column 21, and the plurality of ultrasonic receivers 242 are respectively fixed to the outer sides of the plurality of ultrasonic generators 241. The ultrasonic generator 241 emits ultrasonic waves, and the ultrasonic receivers 242 receive reflected ultrasonic signals. The signals collected by the auxiliary sensor 24 and the infrared imager body 23 are processed by the image processor to analyze the reflection characteristics and propagation time of the ultrasonic waves.

[0035] In this embodiment, an image processor is fixed on the outside of the fixed column 21, and the image processor is electrically connected to the transmission module through a wire. The number of infrared imager bodies 23 is not less than two, and several infrared imager bodies 23 are distributed in a ring shape on the outside of the sleeve 22. The image processor analyzes the infrared image in combination with an intelligent algorithm to identify defective areas on the surface of the pipeline. The processed image and analysis results are sent to the control center or other equipment through the transmission module. The control center further evaluates and analyzes the transmitted data to determine the health status of the pipeline.

[0036] See also Figure 3 to Figure 4 In order to use the driving drive for pipeline detection, the driving mechanism 3 in this embodiment includes two moving wheel groups 31, a driver 32, a cable bundling tube 33, a driving cable 34, a support frame 35 and a driving camera 36. The two moving wheel groups 31 are respectively fixed to the lower surfaces of the two frames 1, the driver 32 is connected to the left moving wheel group 31 by transmission, the cable bundling tube 33 is fixed to the upper surface of the left frame 1, and the driving cable 34 is placed inside the cable bundling tube 33. During the movement of the driving, the cable bundling tube 33 manages the driving cable 34 to prevent the cable from being entangled or damaged. While the driving moves, the detection data of the detection mechanism 2 is collected synchronously. The support frame 35 is fixed to the outer side of the right frame 1, and the driving camera 36 is fixed to the upper surface of the support frame 35. The driving camera 36 provides real-time video feedback, and the operator can monitor the movement and detection process of the driving through the camera.

[0037] In this embodiment, a fill light is fixed on the outside of the driving camera 36. If necessary, turn on the fill light to provide better lighting conditions to ensure that the camera image is clear. The cable bundling tube 33 is L-shaped, and the length of the cable bundling tube 33 is greater than the length of the left frame 1. A controller is fixed on the outside of the driver 32 to control the pipeline driving vehicle to enter the pipeline, adjust the driving mechanism 3 to adapt to the size and shape of the pipeline, and use the controller to operate the driver 32 to drive the left moving wheel group 31 to move, thereby controlling the pipeline driving vehicle to move forward or backward in the pipeline.

[0038] The working principle of the above embodiment is:

[0039] (1) When using infrared imaging detection on pipelines, ensure that the pipeline vehicle has entered the pipeline and the detection mechanism 2 has been installed in place, start the infrared imager body 23 and the auxiliary sensor 24, including the ultrasonic generator 241 and the ultrasonic receiver 242, the infrared imager body 23 starts to capture the infrared image of the pipeline surface and record the temperature distribution, the ultrasonic generator 241 emits ultrasonic waves, the ultrasonic receiver 242 receives the reflected ultrasonic signal, the signals collected by the auxiliary sensor 24 and the infrared imager body 23 are processed by the image processor, and the reflection characteristics and propagation time of the ultrasonic waves are analyzed. The image processor analyzes the infrared image in combination with the intelligent algorithm and identifies the defective area on the pipeline surface. The processed image and analysis results are sent to the control center or other equipment through the transmission module, and the control center further evaluates and analyzes the transmitted data to determine the health status of the pipeline.

[0040] (2) When the crane is used for pipeline inspection, the pipeline crane is controlled to enter the pipeline, the crane mechanism 3 is adjusted to adapt to the size and shape of the pipeline, and the controller is used to operate the driver 32 to drive the left movable wheel group 31 to move, and the pipeline crane is controlled to move forward or backward in the pipeline. The crane camera 36 provides real-time video feedback. The operator can monitor the movement and inspection process of the crane through the camera. If necessary, turn on the fill light to provide better lighting conditions to ensure that the camera image is clear. During the movement of the crane, the cable bundling tube 33 manages the crane cable 34 to prevent the cable from being entangled or damaged. While the crane is moving, the inspection data of the inspection mechanism 2 is collected synchronously.

Claims

1. A pipeline crane equipped with an infrared imager, comprising two frames (1), characterized in that: A detection mechanism (2) is provided between opposite sides of the two vehicle frames (1), and a driving mechanism (3) is provided on the lower surfaces of the two vehicle frames (1); The detection mechanism (2) comprises a fixing column (21), a sleeve (22), an infrared imager body (23) and an auxiliary sensor (24); the fixing column (21) is horizontally fixed between two opposite sides of the two vehicle frames (1); the sleeve (22) is fixed to the outer side of the fixing column (21); the infrared imager body (23) is fixed to the outer side of the sleeve (22); and the auxiliary sensor (24) is arranged on the left and right sides of the fixing column (21) to enhance the pipeline detection effect.

2. The pipeline crane equipped with an infrared imager according to claim 1, characterized in that: The auxiliary sensor (24) comprises a plurality of ultrasonic generators (241) and a plurality of ultrasonic receivers (242); the plurality of ultrasonic generators (241) are respectively fixed to the left and right sides of the fixing column (21); and the plurality of ultrasonic receivers (242) are respectively fixed to the outer sides of the plurality of ultrasonic generators (241).

3. The pipeline crane equipped with an infrared imager according to claim 1, characterized in that: An image processor is fixed on the outer side of the fixing column (21), and the image processor is electrically connected to the transmission module via a wire.

4. The pipeline crane equipped with an infrared imager according to claim 1, characterized in that: The number of the infrared imager bodies (23) is no less than two, and the plurality of infrared imager bodies (23) are distributed in a ring shape on the outside of the sleeve (22).

5. The pipeline crane equipped with an infrared imager according to claim 1, characterized in that: The driving mechanism (3) comprises two moving wheel assemblies (31), a driver (32), a cable bundling tube (33), a driving cable (34), a support frame (35) and a driving camera (36); the two moving wheel assemblies (31) are respectively fixed to the lower surfaces of the two frames (1); the driver (32) is transmission-connected to the left moving wheel assembly (31); the cable bundling tube (33) is fixed to the upper surface of the left frame (1); the driving cable (34) is placed inside the cable bundling tube (33); the support frame (35) is fixed to the outer side of the right frame (1); and the driving camera (36) is fixed to the upper surface of the support frame (35).

6. The pipeline crane equipped with an infrared imager according to claim 5, characterized in that: A fill light is fixed on the outer side of the driving camera (36).

7. The pipeline crane equipped with an infrared imager according to claim 5, characterized in that: The shape of the cable bundling tube (33) is L-shaped, and the length of the cable bundling tube (33) is greater than the length of the left side vehicle frame (1).

8. The pipeline crane equipped with an infrared imager according to claim 5, characterized in that: A controller is fixed on the outside of the driver (32).

Images