Pressure pipeline inspection system

Abstract

The utility model discloses a pressure pipeline inspection system which comprises an inspection trolley, a crawling robot, an unmanned aerial vehicle and a remote computer. The inspection trolley comprises a camera shooting unit and a processor, the camera shooting unit is electrically connected with the processor, and the camera shooting unit comprises a first visible light camera, a first infrared camera and a depth camera; the first visible light camera, the first infrared camera and the depth camera are respectively used for carrying out visible light data acquisition, infrared temperature data acquisition and pipeline space size data acquisition on the pressure pipeline; the crawling robot is in wireless communication connection with the inspection trolley, the crawling robot is provided with an electromagnetic ultrasonic thickness gauge, and the electromagnetic ultrasonic thickness gauge is used for measuring the wall thickness of the pressure pipeline; the unmanned aerial vehicle is in wireless communication connection with the inspection trolley, and the unmanned aerial vehicle is provided with a grabbing hand; the remote computer is in communication connection with the inspection trolley. The inspection trolley can be remotely controlled to carry out unmanned inspection, the inspection efficiency is improved, and the safety of inspection personnel is protected.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline inspection, in particular to a pressure pipeline inspection system. Background Art

[0002] Pressure pipelines are important equipment in industrial production and are often used to transport high-temperature, high-pressure, toxic, harmful, or flammable and explosive media. Regular inspections of the operating conditions of pressure pipelines are an important measure to ensure the safe operation of equipment. Currently, inspection personnel conduct on-site inspections, including pipeline temperature detection, pipeline wall thickness corrosion detection, pipeline appearance inspection, etc., and record them with pen and paper. Problems with manual on-site inspections include: First, industrial pipelines are generally long, and manual inspections are labor-intensive; second, some pressure pipelines are located in the overhead floor, which is at a high position, making it inconvenient for inspection personnel to approach the pipeline body, making it difficult to measure the wall thickness and conduct macroscopic inspections, resulting in incomplete inspection content; third, inspection data is not easy to collect and archive on-site; fourth, there are certain safety hazards in on-site operations. If emergencies such as equipment failure occur, casualties may easily occur. Utility Model Content

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a pressure pipeline inspection system that can remotely control an inspection vehicle to perform unmanned inspections, thereby protecting the safety of inspection personnel and improving inspection efficiency.

[0004] The present invention provides a pressure pipeline inspection system, comprising a patrol car, a crawling robot, an unmanned aerial vehicle (UAV) and a remote computer. The patrol car comprises a camera unit and a processor, wherein the camera unit is electrically connected to the processor, and the camera unit comprises a first visible light camera, a first infrared camera and a depth camera, wherein the first visible light camera, the first infrared camera and the depth camera are respectively used to collect visible light data, infrared temperature data and pipeline space dimension data of the pressure pipeline; the crawling robot is wirelessly connected to the patrol car, and the crawling robot is provided with an electromagnetic ultrasonic thickness gauge, which is used to measure the wall thickness of the pressure pipeline; the unmanned aerial vehicle (UAV) is wirelessly connected to the patrol car, and the UAV is provided with a gripper, which is used to grab the crawling robot and place the crawling robot on the pressure pipeline; the remote computer is communicatively connected to the patrol car, and the remote computer is used to remotely control the patrol car.

[0005] According to some embodiments of the present invention, a two-dimensional pan-tilt platform is provided on the inspection vehicle, and the camera unit is installed on the two-dimensional pan-tilt platform. The two-dimensional pan-tilt platform includes a first driving member and a second driving member; the first driving member drives the camera unit to rotate horizontally, and the second driving member drives the camera unit to rotate vertically.

[0006] According to some embodiments of the present invention, the inspection vehicle includes a gas detection unit, the gas detection unit includes a plurality of gas concentration detection sensors, and the plurality of gas concentration detection sensors include a CO sensor, a SO2 sensor and an H2S sensor.

[0007] According to some embodiments of the present invention, the inspection vehicle further includes an audible and visual alarm unit, which is electrically connected to the processor and includes a buzzer and an indicator light.

[0008] According to some embodiments of the present invention, the inspection vehicle is provided with a charging interface and a power interface, and the power interface is used to charge the crawling robot and the drone.

[0009] According to some embodiments of the present invention, the inspection vehicle is an automatic walking vehicle.

[0010] According to some embodiments of the present invention, the inspection vehicle further includes a positioning unit, which is electrically connected to the processor and is used to obtain inspection position information of the pressure pipeline.

[0011] According to some embodiments of the present invention, the inspection vehicle further includes a data communication unit, which is electrically connected to the processor and includes a wired communication component and a wireless communication component.

[0012] According to some embodiments of the present invention, the drone is equipped with a second visible light camera and a second infrared camera, and the second visible light camera and the second infrared camera are used to collect visible light data and infrared temperature data of the pressure pipeline, respectively.

[0013] According to some embodiments of the present invention, the crawling robot is equipped with rollers and a motor, and the motor drives the rollers to roll along the pressure pipe.

[0014] The embodiments of the present invention have at least the following beneficial effects:

[0015] The pressure pipeline inspection system provided by the present invention includes an inspection cart, a crawling robot, an unmanned aerial vehicle and a remote computer. The inspection cart includes a camera unit and a processor. The camera unit includes a first visible light camera, a first infrared camera and a depth camera. The first visible light camera, the first infrared camera and the depth camera are respectively used to collect visible light data, infrared temperature data and pipeline space dimension data of the pressure pipeline; the crawling robot is wirelessly connected to the inspection cart, and the crawling robot is provided with an electromagnetic ultrasonic thickness gauge, and the electromagnetic ultrasonic thickness gauge is used to measure the wall thickness of the pressure pipeline; the unmanned aerial vehicle is wirelessly connected to the inspection cart, and the unmanned aerial vehicle is provided with a grabber; the remote computer is communicatively connected to the inspection cart. The inspection vehicle controls the first visible light camera, the first infrared camera and the depth camera on site of the pressure pipeline to take photos and record; the drone flies to the vicinity of the pressure pipeline to take close-up photos, and the image data is wirelessly transmitted back to the inspection vehicle; the drone carries the crawling robot to the pressure pipeline, and the crawling robot crawls on the pressure pipeline to measure the pipe wall thickness; the detection data is sent to the inspection vehicle; the inspection vehicle sends the detection data to a remote computer, and the remote computer monitors the site in real time and realizes remote backup of the data; the inspection vehicle can be remotely controlled to perform unmanned inspections, with a high degree of automation, safety and reliability, thereby improving inspection efficiency and protecting the safety of inspection personnel.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description and will become apparent from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0018] Figure 1 This is a schematic structural diagram of a pressure pipeline inspection system according to an embodiment of the present utility model;

[0019] Figure 2 This is a module diagram of an inspection vehicle of a pressure pipeline inspection system according to an embodiment of the present utility model;

[0020] Figure 3 This is a structural diagram of the camera unit and the two-dimensional pan-tilt head of the inspection vehicle of the pressure pipeline inspection system according to an embodiment of the utility model;

[0021] Figure 4 This is a schematic diagram of the inspection vehicle of the pressure pipeline inspection system according to an embodiment of the present utility model when in use;

[0022] Figure 5This is a schematic diagram of a pressure pipeline inspection system according to an embodiment of the present invention when a drone is in use;

[0023] Figure 6 This is a schematic diagram of the crawling robot of the pressure pipeline inspection system according to an embodiment of the present invention when in use.

[0024] Reference numerals:

[0025] Inspection vehicle 100, camera unit 110, first visible light camera 111, first infrared camera 112, depth camera 113, processor 120, two-dimensional pan-tilt head 130, first drive element 131, second drive element 132, gas detection unit 140, sound and light alarm unit 150, positioning unit 160, data communication unit 170;

[0026] Crawling robot 200 , electromagnetic ultrasonic thickness gauge 210 , drone 300 , gripper 310 , remote computer 400 , pressure pipe 500 . DETAILED DESCRIPTION

[0027] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0028] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0029] In the description of this utility model, "several" means one or more, "multiple" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, and "above," "below," and "within" are understood to include the number itself. The use of terms such as "first" and "second" is solely for the purpose of distinguishing technical features and is not to be construed as indicating or implying relative importance, or implicitly indicating the number or order of the technical features indicated.

[0030] In the description of the present invention, unless otherwise clearly defined, words such as “set,” “install,” “connect,” and “connected” should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above words in the present invention based on the specific content of the technical solution.

[0031] The technical solution of the present utility model is described in detail below through the accompanying drawings and specific embodiments.

[0032] Please refer to Figures 1 to 3 This embodiment discloses a pressure pipeline inspection system, including an inspection vehicle 100, a crawling robot 200, a drone 300, and a remote computer 400. The inspection vehicle 100 includes a camera unit 110 and a processor 120. The camera unit 110 is electrically connected to the processor 120. The camera unit 110 includes a first visible light camera 111, a first infrared camera 112, and a depth camera 113. The first visible light camera 111, the first infrared camera 112, and the depth camera 113 are used to collect visible light data, infrared temperature data, and pipeline space size data of the pressure pipeline 500, respectively. The crawling robot 200 communicates wirelessly with the inspection vehicle 100. The crawling robot 200 is connected to the inspection vehicle 100 for wireless communication, and the crawling robot 200 is provided with an electromagnetic ultrasonic thickness gauge, which is used to measure the wall thickness of the pressure pipe 500; the drone 300 is connected to the inspection vehicle 100 for wireless communication, and the drone 300 is provided with a grabber 310, which is used to grab the crawling robot 200 and place the crawling robot 200 on the pressure pipe 500; the remote computer 400 is connected to the inspection vehicle 100 for wireless communication, and the remote computer 400 is used to remotely control the inspection vehicle 100. The inspection vehicle 100 controls the first visible light camera 111, the first infrared camera 112 and the depth camera 113 on site at the pressure pipeline to take photos and record; the drone 300 flies to the vicinity of the pressure pipeline 500 to take close-up photos, and the image data is wirelessly transmitted back to the inspection vehicle 100; the drone 300 carries the crawling robot 200 and transports it to the pressure pipeline 500, and the crawling robot 200 crawls on the pressure pipeline 500 to measure the pipeline wall thickness and other corrosion conditions; the detection data is sent to the inspection vehicle 100; the inspection vehicle 100 sends the detection data to the remote computer 400, and the remote computer 400 monitors the site in real time and realizes remote backup of data; the inspection vehicle can be remotely controlled to perform unmanned inspections, with a high degree of automation, safety and reliability, improving inspection efficiency and protecting the safety of inspection personnel.

[0033] Please refer to Figure 3The inspection vehicle 100 is provided with a two-dimensional pan-tilt platform 130, and the camera unit 110 is mounted on the two-dimensional pan-tilt platform 130. The two-dimensional pan-tilt platform 130 includes a first driving member 131 and a second driving member 132; the first driving member 131 drives the camera unit 110 to rotate horizontally, and the second driving member 132 drives the camera unit 110 to rotate vertically. Exemplarily, the first driving member 131 and the second driving member 132 are both servo motors or stepping motors. By rotating the two-dimensional pan-tilt platform 130, the shooting angles of the first visible light camera 111, the first infrared camera 112, and the depth camera 113 are adjusted, including the shooting pitch angle and the horizontal rotation angle, and then photos are taken and recorded, thereby obtaining pipeline spatial dimension data such as the geometric dimensions of macro defects on the pipeline surface and the distance between the inspected pipeline part and the inspection vehicle 100.

[0034] Please refer to Figure 2 Inspection vehicle 100 includes a gas detection unit 140, which includes multiple gas concentration detection sensors, including a CO sensor, a SO2 sensor, and an H2S sensor. Gas detection unit 140 is installed on inspection vehicle 100. Through these multiple gas concentration detection sensors, the gas detection unit 140 monitors the concentration of toxic and harmful gases in the pipeline during the inspection process, providing data for alarms.

[0035] Please refer to Figure 2 Inspection vehicle 100 also includes an audible and visual alarm unit 150, which is electrically connected to processor 120 and includes a buzzer and an indicator light. When abnormal temperature or toxic or hazardous gas leakage occurs in pressure pipeline 500, an audible and visual alarm is activated at the pipeline site, alerting workers to evacuate quickly.

[0036] Please refer to Figure 4 The inspection cart 100 is equipped with a large-capacity battery, a charging port, and a power port. The power port is used to charge the crawler robot 200 and the drone 300. The drone 300 and the crawler robot 200 are docked on the inspection cart 100 when not in use. When the drone 300 and the crawler robot 200 are low on power, they can be automatically charged on the inspection cart 100 to ensure endurance.

[0037] Please refer to Figure 4 The inspection vehicle 100 is an automatic walking vehicle. The inspection vehicle 100 can realize the inspection of the pressure pipeline 500 by automatically walking, which can efficiently complete the inspection task, improve the intelligent level of the inspection work, and enhance the efficiency and safety of the inspection.

[0038] Please refer to Figure 2The inspection vehicle 100 also includes a positioning unit 160, which is electrically connected to the processor 120 and is used to obtain inspection location information of the pressure pipeline 500. The inspection vehicle 100 is equipped with a satellite positioning system, which can transmit inspection data and its own location data to the remote computer 400 to locate the inspected position of the pressure pipeline 500. Relying on the satellite positioning system to locate the inspection position makes it easier to accurately locate the abnormal part of the pipeline when an abnormality occurs, ensuring that the inspection location can be digitally traced.

[0039] Please refer to Figure 2 Inspection vehicle 100 further includes a data communication unit 170, which is electrically connected to processor 120 and includes both wired and wireless communication components. Data communication unit 170 is used for wireless communication between inspection vehicle 100 and drone 300, crawler robot 200, and remote computer 400, enabling command and inspection data transmission.

[0040] Exemplarily, the inspection vehicle 100 is further provided with a display screen, buttons and indicator lights to facilitate parameter setting of the inspection vehicle 100 or reading of inspection data.

[0041] Please refer to Figure 1 The drone 300 is equipped with a second visible light camera and a second infrared camera, which are used to collect visible light data and infrared temperature data of the pressure pipeline 500 respectively.

[0042] Please refer to Figure 6 The crawling robot 200 is equipped with rollers and a motor, which drives the rollers to roll along the pressure pipe 500. Through the synergistic effect of the rollers and the motor, the crawling robot 200 uses the motor to precisely control the speed and direction of the rollers, driving the rollers to move along the pressure pipe 500. During this movement, the crawling robot 200 uses an electromagnetic ultrasonic thickness gauge 210 to measure the wall thickness of the pressure pipe 500 to assess the corrosion and thinning of the pipe wall and promptly identify potential safety hazards and defects in the pressure pipe 500. This allows for inspections of different parts of the pressure pipe 500, improving inspection efficiency and comprehensiveness.

[0043] During inspection, please refer to Figure 4 The inspection vehicle 100 moves to the pressure pipeline site, and the two-dimensional pan-tilt platform 130 rotates the shooting angles of the first visible light camera 111, the first infrared camera 112, and the depth camera 113 to collect visible light data, infrared temperature data, and pipeline space dimension data of the pressure pipeline 500, and makes a preliminary judgment on temperature anomalies and corrosion anomalies. If there may be anomalies, please refer to Figure 5, the drone 300 is controlled to fly to the vicinity of the pressure pipe 500 for close inspection, and the second visible light camera and the second infrared camera are used to collect visible light data and infrared temperature data of the pressure pipe 500 respectively. Figure 6 To further inspect the pressure pipeline 500, the inspection vehicle 100 controls the drone 300 to grab the crawler robot 200. The drone 300 carries the crawler robot 200 to the vicinity of the target pipeline for further inspection and places the crawler robot 200 on the surface of the pressure pipeline 500. The crawler robot 200 receives the inspection command from the inspection vehicle 100 and crawls along the wall of the pressure pipeline 500. Using an electromagnetic ultrasonic thickness gauge 210, the crawler robot 200 measures the pipe wall thickness to assess the extent of corrosion thinning. After inspection, the crawler robot 200 wirelessly transmits the data to the inspection vehicle 100. The inspection vehicle 100 is equipped with a satellite positioning system that transmits inspection data and its own position data to a remote computer 400. This allows the inspection location of the pressure pipeline 500 to be accurately located, facilitating accurate identification of any abnormalities. In addition, the inspection cart 100 is equipped with a gas detection unit 140, which monitors the concentration of toxic and harmful gases at the pipeline site during the inspection process through a variety of gas concentration detection sensors. When the concentration is found to rise sharply or the concentration of toxic and harmful gases exceeds the specified value, the inspection cart 100 will automatically sound an audible and visual alarm, and the drone 300 will fly to a high altitude to sound an audible and visual alarm, reminding on-site personnel to evacuate the pipeline site in time; the inspection cart 100 will send the alarm information to the remote computer 400, thereby notifying relevant personnel to take emergency measures.

[0044] Inspection vehicle 100 controls the first visible light camera 111, first infrared camera 112, and depth camera 113 on the pressure pipeline site to take photos and record them for digital archiving. Drone 300 flies close to pressure pipeline 500 to take close-up photos, with the image data wirelessly transmitted back to inspection vehicle 100. Drone 300 carries crawler robot 200 and transports it to pressure pipeline 500. Crawler robot 200 crawls along the pressure pipeline 500, measuring corrosion conditions such as pipe wall thickness. This data is then transmitted to inspection vehicle 100. Inspection vehicle 100 transmits this data to remote computer 400, which monitors the site in real time and enables remote data backup. Inspection vehicle 100 is equipped with a gas detection unit 140. In the event of an emergency, such as a pipeline gas leak, inspection vehicle 100 and drone 300 automatically trigger audible and visual alarms, alerting on-site personnel to evacuate promptly and protect their safety. The system is capable of autonomous inspections and remotely controlled inspections, thereby improving the degree of intelligence and automation, realizing unmanned inspections, automated inspections, and online archiving of data, with high security and inspection efficiency.

[0045] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A pressure pipeline inspection system, characterized in that: include: An inspection vehicle (100), the inspection vehicle (100) comprising a camera unit (110) and a processor (120), the camera unit (110) being electrically connected to the processor (120), the camera unit (110) comprising a first visible light camera (111), a first infrared camera (112), and a depth camera (113), the first visible light camera (111), the first infrared camera (112), and the depth camera (113) being used to collect visible light data, infrared temperature data, and pipeline space dimension data of a pressure pipeline (500), respectively; A crawling robot (200), the crawling robot (200) being wirelessly connected to the inspection vehicle (100), the crawling robot (200) being provided with an electromagnetic ultrasonic thickness gauge (210), the electromagnetic ultrasonic thickness gauge (210) being used to measure the wall thickness of the pressure pipe (500); A drone (300), the drone (300) being wirelessly connected to the inspection vehicle (100), the drone (300) being provided with a gripper (310), the gripper (310) being used to grip the crawling robot (200) and place the crawling robot (200) on the pressure pipe (500); A remote computer (400) is communicatively connected to the inspection vehicle (100), and the remote computer (400) is used to remotely control the inspection vehicle (100).

2. The pressure pipeline inspection system according to claim 1, characterized in that: A two-dimensional pan-tilt platform (130) is provided on the inspection vehicle (100), and the camera unit (110) is mounted on the two-dimensional pan-tilt platform (130). The two-dimensional pan-tilt platform (130) includes a first driving member (131) and a second driving member (132); the first driving member (131) drives the camera unit (110) to rotate horizontally, and the second driving member (132) drives the camera unit (110) to rotate vertically.

3. The pressure pipeline inspection system according to claim 1, characterized in that: The inspection vehicle (100) comprises a gas detection unit (140), wherein the gas detection unit (140) comprises a plurality of gas concentration detection sensors, wherein the plurality of gas concentration detection sensors comprises a CO sensor, an SO2 sensor, and an H2S sensor.

4. The pressure pipeline inspection system according to claim 3, characterized in that: The inspection vehicle (100) further comprises an audible and visual alarm unit (150), the audible and visual alarm unit (150) being electrically connected to the processor (120), and the audible and visual alarm unit (150) comprising a buzzer and an indicator light.

5. The pressure pipeline inspection system according to claim 1, characterized in that: The inspection vehicle (100) is provided with a charging interface and a power interface, and the power interface is used to charge the crawling robot (200) and the drone (300).

6. The pressure pipeline inspection system according to claim 5, characterized in that: The inspection trolley (100) is an automatic walking trolley.

7. The pressure pipeline inspection system according to claim 1, characterized in that: The inspection vehicle (100) further comprises a positioning unit (160), wherein the positioning unit (160) is electrically connected to the processor (120), and the positioning unit (160) is used to obtain inspection position information of the pressure pipeline (500).

8. The pressure pipeline inspection system according to claim 1, characterized in that: The inspection vehicle (100) further includes a data communication unit (170), wherein the data communication unit (170) is electrically connected to the processor (120), and the data communication unit (170) includes a wired communication component and a wireless communication component.

9. The pressure pipeline inspection system according to claim 1, characterized in that: The drone (300) is equipped with a second visible light camera and a second infrared camera, wherein the second visible light camera and the second infrared camera are respectively used for collecting visible light data and infrared temperature data of the pressure pipeline (500).

10. The pressure pipeline inspection system according to claim 1, characterized in that: The crawling robot (200) is equipped with a roller and a motor, and the motor drives the roller to roll along the pressure pipe (500).

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