Underwater pipeline inspection robot

Abstract

The utility model relates to the technical field of pipeline inspection, and discloses an underwater pipeline inspection robot which comprises a shell, and a light source, a fish driving device and at least one propeller are arranged on the top face of the shell. The side face and the bottom face of the shell are each provided with a distance sensor used for detecting the distance between the shell and the submarine pipeline, a detector used for detecting leakage points of the submarine pipeline and a camera used for collecting images of the submarine pipeline. A power supply and a control assembly are arranged in the shell, the light source, the fish driving device, the propeller, the distance sensor, the detector and the camera are all electrically connected with the power supply, and the light source, the fish driving device, the propeller, the distance sensor, the detector and the camera are all in signal connection with the control assembly. The distance sensors are arranged on the side faces and the bottom face of the shell, the distance between the shell and the submarine pipeline can be detected and controlled in real time, and the situation that the shell collides with the submarine pipeline when being impacted by seawater or fishes is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline inspection, and more specifically to an underwater pipeline inspection robot. Background Art

[0002] Underwater robots are widely used in underwater monitoring, underwater sampling, underwater emergency rescue and other fields.

[0003] Existing underwater pipeline inspection robots can identify pipeline leaks through underwater image detection, significantly improving the efficiency and accuracy of identifying leak detection points in submarine pipelines. However, they cannot control the distance between the robot body and the submarine pipeline. When impacted by seawater or fish, they are prone to collision with the submarine pipeline, which can cause damage to the detector, image collector, and even the robot body.

[0004] In summary, how to avoid collision between underwater pipeline inspection robots and submarine pipelines is a problem that needs to be urgently solved by technical personnel in this field. Utility Model Content

[0005] In view of this, the purpose of the utility model is to provide an underwater pipeline inspection robot, in which distance sensors are provided on each side and bottom of the shell, which can detect and control the distance from the shell to the submarine pipeline in real time, so as to avoid collision with the submarine pipeline when impacted by seawater or fish.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] An underwater pipeline inspection robot comprises a shell, the top surface of which is provided with a light source, a fish repellent and at least one propeller, and the side and bottom surfaces of the shell are provided with a distance sensor for detecting the distance between the shell and a submarine pipeline, a detector for detecting a leak point of the submarine pipeline and a camera for collecting an image of the submarine pipeline;

[0008] A power supply and a control component are arranged in the shell; the light source, the fish repelling device, the propeller, the distance sensor, the detector and the camera are all electrically connected to the power supply; and the light source, the fish repelling device, the propeller, the distance sensor, the detector and the camera are all signal-connected to the control component.

[0009] Preferably, the detector and the camera are both arranged at the center of the side surface of the shell or the center of the bottom surface of the shell, and at least one distance sensor is arranged on both sides of the detector and the camera.

[0010] Preferably, the distance sensors are evenly distributed along the length direction of the side surface of the shell, and the distance sensors are evenly distributed along the length direction or the width direction of the bottom surface of the shell.

[0011] Preferably, the light source and the fish repellent are both arranged at the center of the top surface of the shell.

[0012] Preferably, a first protective plate is provided at each of the four corners of the side surface of the shell, the first protective plate is connected to the four corners of the shell through a connecting plate, and the first protective plate is higher than the distance sensor, the detector and the camera arranged on the same side;

[0013] A second protective plate is disposed on the bottom surface of the shell, and the second protective plate is higher than the distance sensor, the detector and the camera disposed on the same side.

[0014] Preferably, the connecting plate and the first protective plate are an integral structure.

[0015] Preferably, the first protection plate comprises an arc-shaped plate, and an opening of the arc-shaped plate is arranged toward a side surface of the shell.

[0016] The underwater pipeline inspection robot provided by the utility model has detectors and cameras on the side and bottom of the shell, so that the side and bottom of the shell can detect the leakage points of the submarine pipeline and collect images. When the submarine pipeline turns, there is no need to control the rotation of the shell, and the control is convenient.

[0017] At the same time, distance sensors are provided on each side and bottom of the shell. The distance sensors can detect the distance from the shell to the submarine pipeline in real time, thereby controlling the distance from the shell to the submarine pipeline and avoiding collision with the submarine pipeline when impacted by seawater or fish, which is beneficial to protecting the detectors and cameras outside the shell. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0019] Figure 1 This is a structural schematic diagram of a specific embodiment of the underwater pipeline inspection robot provided by the utility model;

[0020] Figure 2 It is a schematic diagram of the structure of the underwater pipeline inspection robot in another direction;

[0021] Figure 3 This is a working diagram of the underwater pipeline inspection robot.

[0022] Figure 1-Figure 3 middle:

[0023] 01 is a submarine pipeline, 1 is a shell, 2 is a lighting lamp, 3 is a thruster, 4 is a distance sensor, 5 is a camera, 6 is a detector, 7 is a connecting plate, 8 is a first protective plate, 9 is a second protective plate, and 10 is a fish repellent. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] The core of the utility model is to provide an underwater pipeline inspection robot. Distance sensors are provided on each side and bottom of the shell, which can detect and control the distance from the shell to the submarine pipeline in real time to avoid collision with the submarine pipeline when impacted by seawater or fish.

[0026] The underwater pipeline inspection robot provided by the utility model comprises a shell 1, the top surface of the shell 1 is provided with a light source, a fish repellent 10 and at least one propeller 3, the side and bottom surfaces of the shell 1 are provided with a distance sensor 4 for detecting the distance between the shell 1 and the submarine pipeline 01, a detector 6 for detecting the leakage of the submarine pipeline 01 and a camera 5 for collecting images of the submarine pipeline 01;

[0027] A power supply and a control component are provided in the housing 1, and the light source, the fish repellent 10, the propeller 3, the distance sensor 4, the detector 6 and the camera 5 are all electrically connected to the power supply, and the light source, the fish repellent 10, the propeller 3, the distance sensor 4, the detector 6 and the camera 5 are all signal-connected to the control component.

[0028] The shell 1 of the underwater pipeline inspection robot is a waterproof and sealed structure, in which a power supply and a control component are arranged, and a light source, a fish repellent 10, a thruster 3, a distance sensor 4, a camera 5 and a detector 6 are installed outside.

[0029] Please refer to Figure 1 The light source, the fish repellent 10 and the propeller 3 are arranged on the top surface of the shell 1. The light source is mostly set as an illumination lamp 2, and the propeller 3 is mostly set as a rotating impeller. The specific types and models of the light source, the fish repellent 10 and the propeller 3 are determined according to the actual production needs and will not be repeated here.

[0030] Considering that the illumination range of the light source is limited, in order to meet the shooting needs of the cameras 5 on the side and bottom surfaces, the light source is usually arranged at the center of the top surface of the shell 1; similarly, the effective range of the fish repellent 10 is limited. In order to cover the entire shell 1 within the effective range of the fish repellent 10, the fish repellent 10 is usually arranged at the center of the top surface of the shell 1.

[0031] The propeller 3 is used to drive the shell 1 to move underwater. In order to prevent the propeller 3 from affecting the normal operation of the distance sensor 4, the camera 5 and the detector 6, the propeller 3 is arranged on the top surface of the shell 1 instead of the side or bottom surface of the shell 1.

[0032] The movement of the shell 1 includes vertical lifting and horizontal movement. In order to achieve vertical lifting and horizontal movement, a propeller 3 including a vertical propeller and a horizontal propeller can be set. The axis of the vertical propeller is perpendicular to the top surface of the shell 1, and the axis of the horizontal propeller is parallel to the top surface of the shell 1; the axis of the propeller 3 can also be set to be inclined with respect to the top surface of the shell 1 so that the propeller 3 generates a thrust component in the vertical direction and a thrust component in the horizontal direction.

[0033] The camera 5 is used to collect images of the submarine pipeline 01. The specific type and model of the camera 5 are determined according to actual production needs. In order to reduce the risk of collision of the camera 5, the camera 5 is usually arranged in the center of the installation surface.

[0034] The detector 6 is used to detect leaks in the submarine pipeline 01. The detector 6 can be specifically configured as a magnetic probe and / or an ultrasonic probe. The specific type and model of the detector 6 is determined according to actual production needs. In order to reduce the risk of collision of the detector 6, the detector 6 is usually disposed in the center of the mounting surface (the side surface of the shell 1 or the bottom surface of the shell 1).

[0035] The distance sensor 4 is used to detect the distance d from the housing 1 to the submarine pipeline 01, thereby maintaining d min ≤d≤d max , where d min is the preset minimum distance, d max The maximum distance is preset to prevent the distance d from the shell 1 to the submarine pipeline 01 from being too small, which may cause the shell 1 to easily collide with the submarine pipeline 01 when impacted by seawater or fish, or the distance d from the shell 1 to the submarine pipeline 01 from being too large, which may affect the precision and accuracy of the camera 5 and the detector 6.

[0036] It should be noted that d min and d max Neither is a fixed value, d min Determined according to the sea conditions and fish density in the sea area where the submarine pipeline 01 is located, d max It is determined according to the specific models of the camera 5 and the detector 6.

[0037] For a certain underwater pipeline inspection robot, the preset maximum distance d max Usually fixed, so the maximum distance d is preset max It can be pre-entered into the storage module of the control component; and the preset minimum distance d min It is easily affected by the sea conditions and fish density in the operating area. It is usually determined based on the inspection area before each inspection and then entered into the storage module of the control component.

[0038] The distance sensor 4 can be set as an infrared distance sensor, an ultrasonic distance sensor, etc. The specific number, type and model of the distance sensor 4 are determined according to the needs in actual production and will not be repeated here.

[0039] In order to improve the interchangeability of parts, it is usually arranged that the models and types of the distance sensors 4 on the side surfaces and bottom of the shell 1 are the same, the models and types of the detectors 6 on the side surfaces and bottom of the shell 1 are the same, and the models and types of the cameras 5 on the side surfaces and bottom of the shell 1 are the same.

[0040] When working, first input the route map, starting point coordinates and end point coordinates of submarine pipeline 01;

[0041] Then, the thruster 3 is used to control the underwater pipeline inspection robot to move to the starting point coordinates;

[0042] Then the underwater pipeline inspection robot is controlled to move along the seabed pipeline 01, and the distance sensor 4 is used to detect the distance d from the shell 1 to the seabed pipeline 01, so that d min ≤d≤d max , where d min is the preset minimum distance, d max To preset the maximum distance, when the detector 6 detects a leak, the underwater pipeline inspection robot is controlled to circle the submarine pipeline 01 for a full camera and full inspection of the leak.

[0043] Preferably, in order to facilitate the positioning of the leak on the submarine pipeline 01, a positioning module can be provided in the control component. When the detector 6 detects the leak, the detector 6 transmits a pipeline leakage signal to the control component. The positioning module in the control component automatically locates the position of the underwater pipeline inspection robot and stores the corresponding leak location information.

[0044] Of course, a communication module may also be provided in the control component, and the above leakage point location information may also be transmitted to the host computer by the communication module so that the staff can obtain the pipeline leakage information in time.

[0045] In this embodiment, the side and bottom surfaces of the housing 1 are provided with detectors 6 and cameras 5, so the side and bottom surfaces of the housing 1 can detect the leakage points of the submarine pipeline 01 and collect images. When the submarine pipeline 01 turns, there is no need to control the rotation of the housing 1, and the control is convenient;

[0046] At the same time, distance sensors 4 are provided on each side surface and bottom surface of the shell 1. The distance sensor 4 can detect the distance from the shell 1 to the submarine pipeline 01 in real time, thereby controlling the distance from the shell 1 to the submarine pipeline 01, avoiding collision with the submarine pipeline 01 when impacted by seawater or fish, which is beneficial to protecting the detector 6 and camera 5 outside the shell 1.

[0047] Based on the above embodiments, the detector 6 and the camera 5 may be arranged at the center of the side surface of the shell 1 or the center of the bottom surface of the shell 1, and at least one distance sensor 4 is arranged on both sides of the detector 6 and the camera 5.

[0048] Please refer to Figure 1 On the side of the housing 1, the detector 6 and the camera 5 are arranged side by side in the vertical direction of the side 1, and the distance sensor 4 is arranged on the left and right sides of the detector 6 and the camera 5;

[0049] Please refer to Figure 2 On the bottom surface of the shell 1 , the detector 6 and the camera 5 are arranged side by side up and down along the width direction of the bottom surface 1 , and the distance sensor 4 is arranged on the left and right sides of the detector 6 and the camera 5 .

[0050] Of course, the detector 6 and the camera 5 can also be arranged side by side on the left and right.

[0051] In this embodiment, distance measuring sensors 4 are provided on the left and right sides of the detector 6 and the camera 5, which can reduce the detection distortion problem caused by the tilt of the inspection robot relative to the submarine pipeline 01, thereby making the distance from the shell 1 to the submarine pipeline 01 measured by the distance measuring sensor 4 relatively accurate.

[0052] In order to accurately detect the distance from the housing 1 to the submarine pipeline 01, more than one distance sensor 4 may be provided on the left and right sides of the detector 6 and the camera 5, so as to prevent the inspection robot from tilting relative to the submarine pipeline 01, resulting in relative distortion of the distance measured by a single distance sensor 4;

[0053] When the number of distance sensors 4 on one side is greater than one, the distance sensors 4 can be evenly distributed along the length direction of the side surface of the housing 1, and the distance sensors 4 can be evenly distributed along the length direction or width direction of the bottom surface of the housing 1.

[0054] On the basis of the above embodiment, a first protective plate 8 may be provided at each of the four corners of the side of the housing 1, the first protective plate 8 being connected to the four corners of the housing 1 through a connecting plate 7, and the first protective plate 8 being higher than the distance sensor 4, the detector 6 and the camera 5 provided on the same side;

[0055] A second protective plate 9 is disposed on the bottom surface of the housing 1 , and the second protective plate 9 is higher than the distance sensor 4 , the detector 6 and the camera 5 disposed on the same side.

[0056] The first protective plate 8 is arranged at the four corners of the side of the shell 1. Its specific shape is not limited and can be set to an arc plate, a rectangular plate, a corrugated plate, etc.; the material, shape, structure and size of the first protective plate 8 are determined according to the sizes of the distance sensor 4, the detector 6 and the camera 5 set on the same side in actual production.

[0057] The first protective plate 8 is connected to the shell 1 through the connecting plate 7. The connecting plate 7 can be connected to the shell 1 and the first protective plate 8 by a detachable connection method such as bolt connection, pin connection, etc., or can be connected to the shell 1 and the first protective plate 8 by welding connection. The connecting plate 7 and the first protective plate 8 can also be set as an integral structure.

[0058] The second protection plate 9 is arranged on the bottom surface of the shell 1, and is usually arranged as a rectangular plate. The material, shape, structure and size of the second protection plate 9 are determined according to the sizes of the distance sensor 4, the detector 6 and the camera 5 arranged on the same side in actual production.

[0059] In this embodiment, the first protective plate 8 is higher than the distance sensor 4, the detector 6 and the camera 5 arranged on the same side. When the housing 1 accidentally collides with the submarine pipeline 01, the first protective plate 8 collides with the submarine pipeline 01 first, thereby preventing the electronic components such as the distance sensor 4, the detector 6 and the camera 5 from being directly damaged by the collision with the submarine pipeline 01.

[0060] The second protective plate 9 on the bottom surface is higher than the distance sensor 4, detector 6 and camera 5 arranged on the same side. When the bottom surface of the shell 1 accidentally collides with the submarine pipeline 01, the second protective plate 9 collides and contacts with the submarine pipeline 01 first, thereby preventing electronic components such as the distance sensor 4, detector 6 and camera 5 from directly colliding with the submarine pipeline 01 and being damaged.

[0061] Preferably, the first protective plate 8 may include an arc-shaped plate, and the bayonet of the arc-shaped plate is arranged toward the side of the shell 1 . The arc-shaped structure is beneficial to improving the impact resistance of the first protective plate 8 .

[0062] The radius and curvature of the curved plate are determined according to actual production needs and will not be described in detail here.

[0063] It should be noted that the first and second in the first protective plate 8 and the second protective plate 9 mentioned in the present application document are only used to distinguish the difference in position, and do not contain any limitation on the order.

[0064] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0065] The underwater pipeline inspection robot provided by the utility model is introduced in detail above. This article uses specific examples to illustrate the principle and implementation method of the utility model. The description of the above embodiment is only used to help understand the method and core idea of ​​the utility model. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the utility model, the utility model can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the utility model.

Claims

1. An underwater pipeline inspection robot, characterized in that: The invention comprises a shell (1), wherein the top surface of the shell (1) is provided with a light source, a fish repellent (10) and at least one propeller (3), and the side surface and the bottom surface of the shell (1) are provided with a distance sensor (4) for detecting the distance between the shell (1) and a submarine pipeline (01), a detector (6) for detecting the leakage point of the submarine pipeline (01) and a camera (5) for collecting images of the submarine pipeline (01); A power source and a control component are arranged in the housing (1); the light source, the fish repelling device (10), the propeller (3), the distance sensor (4), the detector (6) and the camera (5) are all electrically connected to the power source; and the light source, the fish repelling device (10), the propeller (3), the distance sensor (4), the detector (6) and the camera (5) are all signal-connected to the control component.

2. The underwater pipeline inspection robot according to claim 1, characterized in that: The detector (6) and the camera (5) are both arranged at the center of the side surface of the shell (1) or the center of the bottom surface of the shell (1), and at least one distance sensor (4) is arranged on both sides of the detector (6) and the camera (5).

3. The underwater pipeline inspection robot according to claim 2, characterized in that: The distance sensors (4) are evenly distributed along the length direction of the side surface of the shell (1), and the distance sensors (4) are evenly distributed along the length direction or width direction of the bottom surface of the shell (1).

4. The underwater pipeline inspection robot according to any one of claims 1 to 3, characterized in that: The light source and the fish repellent (10) are both arranged at the center of the top surface of the housing (1).

5. The underwater pipeline inspection robot according to any one of claims 1 to 3, characterized in that: A first protective plate (8) is provided at each of the four corners of the side surface of the shell (1); the first protective plate (8) is connected to the four corners of the shell (1) via a connecting plate (7); the first protective plate (8) is higher than the distance sensor (4), the detector (6) and the camera (5) arranged on the same side; The bottom surface of the housing (1) is provided with a second protective plate (9), and the second protective plate (9) is higher than the distance sensor (4), the detector (6) and the camera (5) arranged on the same side.

6. The underwater pipeline inspection robot according to claim 5, characterized in that: The connecting plate (7) and the first protective plate (8) are an integral structure.

7. The underwater pipeline inspection robot according to claim 5, characterized in that: The first protection plate (8) comprises an arc-shaped plate, the opening of which is arranged toward the side of the housing (1).

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