Pipeline internal mapping robot and pipeline mapping system

Abstract

This utility model discloses a pipeline internal mapping robot and pipeline mapping system, including a robot body, a mapping module, a forward walking support module, a rear walking support module, a diameter adjustment module, a steering module, a sonar detection module, and a self-cleaning module. The mapping module is located in the middle of the robot body; the forward walking support module and the rear walking support module are respectively located at the front and rear of the robot body; the diameter adjustment module is used to adjust the radial dimensions of the forward walking support module and the rear walking support module; two steering modules are respectively located between the robot body and the forward walking support module, and between the robot body and the rear walking support module; the sonar detection module is located at the lower part of the mapping module; and the self-cleaning module is located outside the mapping module. It can adapt to different pipe diameters, has good throughput, and achieves high-precision, complete, and continuous three-dimensional mapping and reconstruction of the pipeline interior, improving the quality and efficiency of pipeline internal mapping.

Description

Technical Field

[0001] This utility model relates to the field of pipeline robot technology, and in particular to a pipeline internal mapping robot and a pipeline mapping system. Background Technology

[0002] Pipelines may suffer damage such as cracks, deformation, or corrosion, requiring regular internal inspections. Existing pipeline internal inspection and mapping robots use cameras, structured light, or ring lasers to acquire images and contour information of the pipeline's inner wall, and then achieve 3D reconstruction through point cloud stitching. While these methods currently achieve good results in dry and clean environments, the following problems exist in actual pipeline operating conditions:

[0003] 1. Water or silt accumulation at the bottom of the pipe leads to incomplete 3D reconstruction.

[0004] When there is water accumulation, silt, sediment, or turbid liquid at the bottom of the pipe, optical mapping is prone to producing gaps in the bottom area, resulting in incomplete bottom contours in the 3D reconstruction.

[0005] 2. The optical window is easily contaminated.

[0006] In actual testing, the glass cover or optical window outside the pipeline mapping and acquisition module is prone to contaminants such as silt, water stains, oil stains or biofilms, which affect the quality of laser projection and image acquisition, causing point cloud data distortion or interruption.

[0007] 3. Insufficient pipe diameter adaptability

[0008] Existing robots are mainly suitable for single-diameter pipes. When encountering pipes with varying diameters, local contraction sections, or irregular interfaces, they are prone to problems such as insufficient support, slippage, or inability to pass.

[0009] 4. Poor maneuverability of bends

[0010] Existing robots have high overall rigidity, making it difficult to adapt to changes in posture when passing through curved or turning pipe sections, which affects walking stability and detection continuity. Utility Model Content

[0011] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a pipeline internal mapping robot and pipeline mapping system, which can adapt to different pipe diameters, has good throughput, keeps the mapping window clean in complex water and silt environments, and can perform blind spot detection at the bottom of the pipe, thereby improving the quality and efficiency of pipeline internal mapping.

[0012] On the one hand, this utility model provides a pipeline internal mapping robot, including a robot body, a mapping module, a forward walking support module, a backward walking support module, a diameter adjustment module, a steering module, a sonar detection module and a self-cleaning module;

[0013] The mapping module is located in the middle of the robot body. The mapping module includes a laser emitter, a prism assembly, and a camera. The laser emitted by the laser emitter is refracted or expanded by the prism assembly to form a ring light, which is then projected onto the inner wall of the pipe. The camera is used to acquire the ring light image on the inner wall of the pipe to obtain the cross-sectional contour information of the pipe.

[0014] The forward walking support module and the rear walking support module are respectively located at the front and rear of the robot body;

[0015] The variable diameter adjustment module is used to adjust the radial dimensions of the front walking support module and the rear walking support module;

[0016] The two steering modules are respectively disposed between the robot body and the forward walking support module, and between the robot body and the rear walking support module, for relative angular deflection between the robot body and the forward walking support module or the rear walking support module;

[0017] The sonar detection module is located at the bottom of the mapping module and is used to perform acoustic wave detection on the bottom area of ​​the pipe to supplement the blind zone data of optical mapping in the bottom area of ​​the pipe.

[0018] The self-cleaning module is located outside the mapping module and is used to clean the outer surface of the optical window of the mapping module.

[0019] According to some embodiments of the present invention, the mapping module further includes an optical lens assembly and a glass cover. The laser emitter, the prism assembly, the optical lens assembly, and the camera are coaxially disposed inside the robot body. The camera acquires a ring light image through the glass cover via the optical lens assembly.

[0020] According to some embodiments of the present invention, both the forward walking support module and the rear walking support module include a support arm, a walking wheel, a buffer elastic element and a wheel drive unit. Multiple support arms are distributed along the circumference of the robot. The walking wheel is installed on the outer end of the support arm, and the buffer elastic element is connected between the support arm and the robot body.

[0021] According to some embodiments of the present invention, the wheel drive unit includes a drive motor, a transmission shaft, a helical gear pair, and a wheel axle. The output end of the drive motor is connected to the transmission shaft. After the transmission shaft changes its transmission direction through the helical gear pair, it drives the wheel axle to rotate, thereby driving the walking wheel to rotate.

[0022] According to some embodiments of this utility model, the variable diameter adjustment module includes a stepper motor, a lead screw, a lead screw nut slider, and a transmission link. The stepper motor drives the lead screw to rotate. The first end of the transmission link is hinged to the lead screw nut slider, and the second end of the transmission link is hinged to the root of the support arm. The lead screw nut slider is threadedly engaged with the lead screw and moves axially. The axial movement of the lead screw nut slider drives multiple support arms to open or close synchronously through the transmission link, so as to adjust the radial position of the walking wheel relative to the central axis of the robot body.

[0023] According to some embodiments of the present invention, the steering module includes a universal joint fork, a connecting body, and a connecting shaft. The universal joint fork is connected to the connecting body through the connecting shaft, and the universal joint fork is connected to the robot body and the forward walking support module or the rear walking support module respectively.

[0024] According to some embodiments of the present invention, the sonar detection module includes a sonar sensor, a sonar mounting base, and a waterproof cover. The sonar mounting base is disposed at the lower part of the robot body, the sonar sensor is disposed at the bottom of the sonar mounting base, and the waterproof cover is fitted over the sonar sensor.

[0025] According to some embodiments of the present invention, the self-cleaning module includes a driving member, a telescopic link, and an annular cleaning assembly. The annular cleaning assembly is arranged around the optical window and has a cleaning actuator on its inner side for contacting the outer surface of the optical window. The driving member drives the annular cleaning assembly to move between the storage position and the cleaning position through the telescopic link.

[0026] According to some embodiments of the present invention, the pipeline internal mapping robot further includes an auxiliary acquisition module, which includes an auxiliary camera and an accelerometer. The auxiliary camera is used to acquire images of the pipeline internal environment, and the accelerometer is used to acquire acceleration data during the robot's movement.

[0027] On the other hand, this utility model embodiment provides a pipeline mapping system, which includes the above-mentioned pipeline internal mapping robot.

[0028] The embodiments of this utility model have at least the following beneficial effects:

[0029] This utility model provides a pipeline internal mapping robot, comprising a robot body, a mapping module, a front walking support module, a rear walking support module, a diameter adjustment module, a steering module, a sonar detection module, and a self-cleaning module. By placing the mapping module in the middle of the robot body, and setting the front and rear walking support modules respectively and connecting them via the steering module, a three-segment centrally symmetrical configuration is formed. When traversing bends, the front and rear walking support modules can deflect independently, while the central mapping module maintains the pipe's center position, minimizing central axis offset and providing a stable environment for high-precision measurement. The mapping module uses a laser emitter in conjunction with a prism assembly. The prism refracts or expands the laser to form a ring light projected onto the inner wall of the pipe. Compared to directly emitting a ring laser, this optical system is more compact, and the uniformity and power utilization of the ring light are superior. The sonar detection module is located below the mapping module. When there is water or silt at the bottom of the pipe causing optical blind spots, it can simultaneously acquire bottom contour information, achieving composite optical and sonar mapping and ensuring the integrity of the three-dimensional reconstruction. The self-cleaning module is positioned around the optical window. When contaminants adhere to it, it automatically cleans itself and retracts to its storage position, preventing obstruction of the mapping field of view and ensuring the continuity and reliability of data acquisition under harsh operating conditions. The various modules work together to adapt to different pipe diameters, possessing good throughput, enabling high-precision, complete, and continuous 3D mapping and reconstruction of the pipeline interior, thus improving the quality and efficiency of pipeline internal mapping.

[0030] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0031] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0032] Figure 1 This is a schematic diagram of the structure of the pipeline internal mapping robot according to an embodiment of the present utility model;

[0033] Figure 2 This is a schematic diagram of the mapping module of the pipeline internal mapping robot according to an embodiment of the present utility model;

[0034] Figure 3 This is a structural schematic diagram of the forward walking support module and the diameter adjustment module of the pipe internal mapping robot according to an embodiment of the present utility model.

[0035] Figure 4 This is a schematic diagram of the wheel drive unit of the forward walking support module of the pipeline internal mapping robot according to an embodiment of the present invention.

[0036] Figure label:

[0037] Robot body 100, mapping module 200, laser emitter 210, prism assembly 220, optical lens assembly 230, camera 240, glass cover 250, camera mounting base 260, laser mounting base 270;

[0038] The components include: a front walking support module 300, a support arm 310, a walking wheel 320, a buffer elastic element 330, a wheel drive unit 340, a drive motor 341, a transmission shaft 342, a helical gear pair 343 and a wheel axle 344, and a rear walking support module 400.

[0039] Variable diameter adjustment module 500, stepper motor 510, lead screw 520, lead screw nut slider 530, transmission connecting rod 540; steering module 600, universal joint fork 610, connecting body 620, connecting shaft 630;

[0040] Sonar detection module 700, sonar sensor 710, sonar mounting base 720, waterproof cover 730, self-cleaning module 800, drive component 810, telescopic link 820, and ring cleaning assembly 830.

[0041] Auxiliary acquisition module 900, auxiliary camera 910, accelerometer 920. Detailed Implementation

[0042] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0043] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0044] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first," "second," etc., are used in the description, they are only for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the sequential relationship of the indicated technical features.

[0045] In the description of this utility model, unless otherwise explicitly defined, the terms "setting", "installing", "connecting" and "connected" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in combination with the specific content of the technical solution.

[0046] Currently, pipe inner wall inspection technology based on structured light vision has made some progress. Existing technologies sometimes employ a ring laser projector or infrared laser emitter to directly emit a ring laser beam, projecting it onto the pipe inner wall, and then a camera captures the ring light image to obtain the pipe inner wall contour information. However, the ring laser projector is usually a separate laser optical element, and the generation of its ring light depends on a specific optical structure within the projector. There is significant room for improvement in areas such as miniaturized integration within the confined space of the pipe, optical power utilization, and the uniformity of the ring light.

[0047] Regarding the overall configuration of pipeline robots, existing technologies employ various methods. Some use a linear series layout of the probe, drive unit, central control room, driven unit, and positioning unit, with the ring laser probe positioned at the very front of the robot. Others use a structure where a glass tube mapping unit is placed between two independent walking units. Still others use a layout where the front and rear compartments are connected by flexible cables. In the linear series layout, the probe is at the very front, resulting in the largest deflection amplitude when passing through bends, affecting measurement accuracy. In the layout where the glass tube is held by two walking units, the glass tube directly bears the external force, and there is a lack of an independent load-bearing structure and a controllable steering module between the two walking units. In the flexible cable connection method, the flexible cable is mainly used for electrical connection and signal transmission, not for transmitting axial push and pull forces or achieving mechanical steering with controllable angle deflection.

[0048] In actual pipeline operations, the bottom of pipes often contains accumulated water, silt, sediment deposits, or turbid liquid surfaces. Existing optical mapping equipment is prone to measurement blind spots in such environments, resulting in incomplete 3D reconstructions of the bottom contour. Current technologies employ ultrasonic testing devices for pipe wall thickness measurement or leak detection, or use sonar for detecting defects in the inner wall of pipes, but none address a technical solution that integrates a sonar sensor below the optical mapping system to specifically fill in the blind spots in areas with accumulated water and silt at the bottom of the pipe.

[0049] Furthermore, during actual testing, contaminants such as silt, water stains, oil, and biofilm easily adhere to the glass cover or optical window of the mapping and acquisition equipment, affecting the quality of laser projection and image acquisition, and causing point cloud data distortion or interruption. Current technologies lack the capability for online active cleaning of these adhering contaminants during the testing process.

[0050] Regarding variable diameter modules, existing technologies include a solution that uses a manually adjustable nut in conjunction with a spring for self-adaptation, and an adaptive solution that uses pressure from the inner wall of the pipe to passively extend and retract the spring. Manual adjustment requires human intervention and is inconvenient to operate; the passive adaptive solution has limited control precision and support rigidity.

[0051] The technical solution of this utility model will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0052] Please see Figures 1 to 3 This embodiment discloses a pipeline internal mapping robot, including a robot body 100, a mapping module 200, a forward walking support module 300, a rear walking support module 400, a diameter adjustment module 500, a steering module 600, a sonar detection module 700, and a self-cleaning module 800. The mapping module 200 is located in the middle of the robot body 100 and includes a laser emitter 210, a prism assembly 220, and a camera 240. The laser emitted by the laser emitter 210 is refracted or expanded by the prism assembly 220 to form a ring light, which is then projected onto the inner wall of the pipeline. The camera 240 is used to acquire the ring light image on the inner wall of the pipeline to obtain the cross-sectional contour information of the pipeline. The forward walking support module 300 and the rear walking support module 400 are respectively located at the front and rear of the robot body 100. The diameter adjustment module 500 is used to adjust the diameter of the forward walking support module 300 and the rear walking support module 400. Radial dimension; two steering modules 600 are respectively disposed between the robot body 100 and the forward walking support module 300, and between the robot body 100 and the rear walking support module 400, for relative angular deflection between the robot body 100 and the forward walking support module 300 or the rear walking support module 400; a sonar detection module 700 is disposed at the lower part of the mapping module 200 for sound wave detection of the bottom area of ​​the pipe to supplement the blind zone data of optical mapping in the bottom area of ​​the pipe; a self-cleaning module 800 is disposed on the outside of the mapping module 200 for cleaning the outer surface of the optical window of the mapping module 200.

[0053] It should be noted that the mapping module 200 is located in the middle of the robot body 100 and has a cylindrical structure. The forward walking support module 300 and the rear walking support module 400 are respectively located at the front and rear of the robot body 100, forming a three-segment centrally symmetrical configuration of forward walking, mid-mapping, and rear walking. The steering module 600 is located between the robot body 100 and the forward walking support module 300, and between the robot body 100 and the rear walking support module 400. The steering module 600 is a universal joint, including a universal joint fork 610, a connecting body 620, and a connecting shaft 630. The universal joint fork 610 is fixedly connected to the end of the robot body 100 and the corresponding end of the forward walking support module 300 or the rear walking support module 400, respectively. The connecting body 620 and the connecting shaft 630 are located between the two universal joint forks 610, allowing the front and rear parts to rotate around the connecting body 620. The steering module 600 allows the forward walking support module 300 and the rear walking support module 400 to deflect at an angle relative to the robot body 100 to adapt to the passage requirements of bends and complex pipelines, and can reliably transmit axial push and pull forces and driving torque to ensure walking drive efficiency in bends.

[0054] When navigating the bend, the forward-moving support module 300 enters the bend first and deflects at an angle relative to the robot body 100. Subsequently, the mapping module 200 in the middle of the robot body 100 smoothly passes through the bend, and the rear-moving support module 400 then deflects at an angle relative to the robot body 100 to complete the passage through the bend. Throughout the entire bend passage process, the mapping module 200, sonar detection module 700, and self-cleaning module 800, located in the middle, remain near the center of the pipe, minimizing central axis offset and providing a stable measurement environment for high-quality projection of the ring structured light, image acquisition, and sonar detection.

[0055] Please see Figure 2 The mapping module 200 also includes an optical lens assembly 230 and a glass cover 250. The laser emitter 210, prism assembly 220, optical lens assembly 230, and camera 240 are coaxially mounted inside the robot body 100. The camera 240 acquires annular light images through the glass cover 250 via the optical lens assembly 230, thereby obtaining the contour information of the pipe cross-section. The laser emitter 210 is mounted on a laser mounting base 270, and the camera 240 is mounted on a camera mounting base 260. The optical design of the laser emitter 210 in conjunction with the prism assembly 220 generates annular light. Compared to using a separate annular laser projector or an infrared laser emitter to directly emit annular laser light, the combination of the laser emitter 210 and the prism assembly 220 allows for more flexible optical path design and easier miniaturization within the confined space of the pipe. Simultaneously, through the optical parameter design of the prism assembly 220, optimized control of the annular light's angle and uniformity parameters can be achieved, resulting in higher quality annular light.

[0056] Please see Figure 3 Both the forward walking support module 300 and the rear walking support module 400 include support arms 310, walking wheels 320, buffer elastic elements 330, and wheel drive units 340. Multiple support arms 310 are distributed circumferentially around the robot. The walking wheels 320 are mounted on the outer ends of the support arms 310, and the buffer elastic elements 330 connect the support arms 310 to the robot body 100. The multiple support arms 310 are evenly distributed circumferentially; for example, three support arms are grouped together and evenly distributed at 120° intervals. Each support arm 310 has a walking wheel 320 mounted on its outer end, which is used to contact the inner wall of the pipe and roll along it. The buffer elastic elements 330 connect the support arms 310 to the robot body 100 and are used to absorb vibrations and impacts caused by unevenness of the inner wall of the pipe or obstacles during movement, improving the stability of the robot within the pipe and the smoothness of its movement.

[0057] Please see Figure 3 The wheel drive unit 340 includes a drive motor 341, a transmission shaft 342, a helical gear pair 343, and a wheel axle 344. The output end of the drive motor 341 is connected to the transmission shaft 342. The transmission shaft 342, after changing the transmission direction via the helical gear pair 343, drives the wheel axle 344 to rotate, thereby driving the walking wheel 320 to rotate. The transmission shaft 342 extends along the axial direction of the robot body 100 or in a direction parallel to the axial direction, transmitting power to the helical gear pair 343. The helical gear pair 343 is, for example, a bevel gear pair, with its input gear connected to the transmission shaft 342 and its output gear connected to the wheel axle 344, changing the transmission direction to the direction of the support arm 310 or an angle adapted to the direction of the support arm 310. The wheel axle 344 is connected to the walking wheel 320, driving the walking wheel 320 to rotate, thereby driving the entire robot to move forward or backward within the pipe. The drive motor 341 drives the wheel shaft 344 via the transmission shaft 342 and the helical gear pair 343. The drive motor 341 can be arranged along the axial direction of the robot body 100, which effectively utilizes the narrow axial space inside the pipe and makes the overall structure more compact.

[0058] Please see Figure 3The variable diameter adjustment module 500 includes a stepper motor 510, a lead screw 520, a lead screw nut slider 530, and a transmission link 540. The stepper motor 510 drives the lead screw 520 to rotate. The first end of the transmission link 540 is hinged to the lead screw nut slider 530, and the second end of the transmission link 540 is hinged to the root of the support arm 310. The lead screw nut slider 530 is threadedly engaged with the lead screw 520 and moves axially. The axial movement of the lead screw nut slider 530 drives multiple support arms 310 to open or retract synchronously through the transmission link 540, thereby adjusting the radial position of the walking wheel 320 relative to the central axis of the robot body 100. When the lead screw 520 rotates, the lead screw nut slider 530 moves along the axial direction of the lead screw 520. When the nut slider 530 moves axially, it drives the support arm 310 to rotate around its connection point with the robot body 100 or mounting plate via the transmission link 540. This allows multiple support arms 310 to open or retract synchronously, changing the radial position of the walking wheel 320 relative to the central axis of the robot body 100 to adapt to pipes with different inner diameters. The transmission link 540 is connected to the root of the support arm 310. Compared to connecting the strut to the middle of the support arm, this method has a shorter force transmission path, a larger lever arm, and can achieve greater support force under the same driving torque, resulting in higher support rigidity and synchronization accuracy. The stepper motor 510 can precisely control the axial displacement of the nut slider 530 by controlling the number of pulses, thereby achieving high-precision active adjustment of the radial position of the support arm 310. It also has a self-locking characteristic; after the stepper motor 510 stops rotating, the support arm 310 can stably remain in the set position and will not retract due to external forces.

[0059] Please see Figure 3 The steering module 600 includes a universal joint fork 610, a connecting body 620, and a connecting shaft 630. The universal joint fork 610 is connected to the connecting body 620 via the connecting shaft 630. The universal joint fork 610 is connected to the robot body 100 and either the forward walking support module 300 or the rear walking support module 400. The steering module 600 allows for forward and backward angular deflection while reliably transmitting drive torque and axial push-pull force.

[0060] Please see Figure 2The sonar detection module 700 includes a sonar sensor 710, a sonar mounting base 720, and a waterproof cover 730. The sonar mounting base 720 is located at the lower part of the robot body 100, the sonar sensor 710 is located at the bottom of the sonar mounting base 720, and the waterproof cover 730 is fitted over the sonar sensor 710 to protect it from water and mud. This reduces the accumulation and obstruction of mud, water, or debris in the sonar detection area during forward movement, ensuring normal transmission and reception of sound signals. The sonar detection module 700 is located between the forward walking support module 300 and the rear walking support module 400, and is positioned slightly lower than the mapping module 200 to form a high-low division of labor with the optical mapping area. The ring light of the mapping module 200 mainly covers the upper and middle areas of the pipe, while the sonar sensor 710 is specifically responsible for detecting the bottom area of ​​the pipe. When there is water accumulation, silt, or sediment deposits at the bottom of the pipe, the optical ring light cannot effectively penetrate or reflect, resulting in a lack of bottom contour information. The sonar sensor 710 obtains distance or contour data of the bottom of the pipe through sound wave detection to supplement the blind spots of optical mapping.

[0061] Please see Figure 2 The self-cleaning module 800 includes a drive unit 810, a telescopic link 820, and an annular cleaning assembly 830. The annular cleaning assembly 830 surrounds the optical window and has a cleaning actuator on its inner side for contacting the outer surface of the optical window. The drive unit 810 moves the annular cleaning assembly 830 between a storage position and a cleaning position via the telescopic link 820. Under normal mapping conditions, the annular cleaning assembly 830 is in the storage position, avoiding the outgoing light path of the annular light and the acquisition light path of the camera 240, and does not affect the optical mapping field of view. When the system detects a decrease in image clarity or dirt obstructing the outer surface of the glass cover 250, the drive unit 810 is activated, pushing the annular cleaning assembly 830 from the storage position to the cleaning position via the telescopic link 820, so that the cleaning actuator contacts the outer surface of the glass cover 250. The annular cleaning assembly 830 moves relative to the outer peripheral surface of the glass cover 250, thereby scraping or sweeping away silt, water stains, oil stains, or biofilms attached to the surface of the glass cover 250. After cleaning, the drive component 810 reverses its movement, retracting the annular cleaning component 830 to its storage position via the telescopic link 820 to avoid obstructing the optical mapping field of view. The self-cleaning module 800 can automatically clean the optical window online during pipeline inspection without manual intervention or downtime, ensuring that the optical inspection window remains clean even under harsh pipeline conditions such as sludge and oil, effectively guaranteeing the continuity and accuracy of the mapping data.

[0062] Please see Figure 1The pipeline internal mapping robot also includes an auxiliary acquisition module 900, which comprises an auxiliary camera 910 and an accelerometer 920. The auxiliary camera 910 is used to acquire images of the pipeline's internal environment; the accelerometer 920 is used to acquire acceleration data during the robot's movement. The auxiliary acquisition module 900 can be located at the front or rear end of the robot, or both ends, to assist in the acquisition and optimization of mapping data. The auxiliary camera 910 is used to acquire visible light images of the pipeline's internal environment to assist in defect identification and texture analysis, as well as to supplement blind spots that may exist in the ring light images. The accelerometer 920 is used to acquire acceleration data during the robot's movement. By processing the acceleration data, the robot's velocity changes and displacement information are obtained to confirm the robot's travel distance and attitude changes within the pipeline. During operation, the acceleration data acquired by the accelerometer 920 is used to correct the spatial alignment of the cross-sectional contour data obtained from continuous acquisition based on the ring light images, i.e., to perform travel compensation for point cloud stitching. The continuous acceleration data obtained by the accelerometer 920 can effectively correct mileage errors caused by factors such as wheel slippage, and improve the accuracy of point cloud stitching.

[0063] This embodiment also discloses a pipeline mapping system, including the aforementioned pipeline internal mapping robot.

[0064] When inspecting and mapping the pipeline, the pipeline internal mapping robot first drives the lead screw 520 to rotate via the stepper motor 510 in the diameter adjustment module 500. This causes the lead screw slider 530 to move the transmission connecting rod 540, thereby causing the support arms 310 of the front walking support module 300 and the rear walking support module 400 to open outward, allowing the walking wheels 320 to reliably contact the inner wall of the pipeline and achieve adaptation to different pipe diameters. Subsequently, the drive motor 341 in the wheel drive unit 340 drives the transmission shaft 342 and the helical gear pair 343 to work, driving the wheel axle 344 and the walking wheels 320 to rotate, thereby moving forward or backward along the pipeline axis.

[0065] During the journey, the laser emitter 210 in the mapping module 200 emits a laser beam, which, after passing through the prism assembly 220, forms a ring of light and is projected onto the inner wall of the pipe. The camera 240, through the optical lens assembly 230 and the glass cover 250, acquires the ring of light image, thereby obtaining the inner wall contour data of the corresponding pipe cross-section. As the journey continues, multiple cross-sectional contour images can be continuously acquired, forming point cloud data of the inner wall of the pipe.

[0066] If there is water accumulation, silt, sediment deposition, or liquid surface reflection at the bottom of the pipeline, causing outline gaps in the optical mapping at the bottom, the sonar detection module 700, located below the mapping module 200, simultaneously probes the low-lying area at the bottom of the pipeline to obtain bottom distance or outline information, thereby supplementing the blind spots in the optical mapping and improving the completeness of the 3D reconstruction of the pipeline bottom. The accelerometer 920 in the auxiliary acquisition module 900 collects acceleration data during the robot's movement to confirm stroke changes, assist in displacement estimation, and correct data stitching; the auxiliary camera 910 is used to acquire images of the pipeline's internal environment to supplement modeling and detection information.

[0067] During travel, if silt, water stains, oil, or biofilm adheres to the outer surface of the glass cover 250, affecting the operation of the laser emitter 210 and camera 240, the self-cleaning module 800 is activated. The drive unit 810 actuates the telescopic linkage 820, pushing the annular cleaning component 830 towards the surface of the glass cover 250. The cleaning actuator inside the annular cleaning component 830 contacts the outer surface of the glass cover 250 and undergoes relative movement, thereby removing the adhering contaminants. After cleaning, the annular cleaning component 830 retracts into its storage position to avoid affecting normal surveying. When entering bends or pipe sections where the direction changes, the universal joint fork 610, connector 620, and connecting shaft 630 in the steering module 600 can generate relative deflection in the front and rear sections, improving the ability to pass through bends and adapting to different postures.

[0068] The present invention has the following beneficial effects:

[0069] 1. Compact mapping and acquisition structure with high-quality ring light generation: The laser emitter 210 is used in conjunction with the prism assembly 220. The laser beam is converted into ring light through the refraction or expansion effect of the prism. Compared with the use of a separate ring laser projector or infrared laser emitter to directly emit ring laser, the combination of laser emitter 210 and prism assembly 220 makes the optical path design more flexible and easier to achieve miniaturized integration in the narrow space of the pipe. The uniformity of the ring light and the utilization rate of optical power are better.

[0070] 2. High-Complete 3D Pipeline Reconstruction Through Combined Optical and Sonar Mapping: The mapping module 200 acquires the upper and middle contour information of the pipeline's inner wall, while the sonar detection module 700, located below the mapping module 200, performs acoustic detection on the bottom area of ​​the pipe. When water accumulation, silt, or sediment deposits at the bottom of the pipe prevent the optical method from effectively acquiring the bottom contour, the sonar detection module 700 can supplement the pipe bottom distance or contour data. The fusion of optical and sonar data forms complete pipeline cross-sectional contour information, thereby achieving a more complete 3D pipeline reconstruction.

[0071] 3. The self-cleaning component keeps the window clean, ensuring good mapping continuity: A self-cleaning module 800 is installed. When a decrease in image clarity or obstruction of the window surface is detected, the annular cleaning component 830 is pushed to the outer surface of the optical window via the telescopic link 820 for cleaning. After cleaning, the annular cleaning component 830 retracts into its storage position to avoid obstructing the optical mapping field of view. The self-cleaning module 800 can automatically remove adhering contaminants such as silt, water stains, and oil stains online, ensuring the continuous cleanliness of the optical inspection window and the continuous stability of mapping data under harsh pipeline conditions.

[0072] 4. A rational overall structure improves the accuracy of pipe bend measurements: The mapping module 200 is positioned in the middle of the robot body 100, with walking support modules positioned at the front and rear, connected by a steering module 600, forming a three-segment, centrally located symmetrical configuration. When traversing a bend, the front walking support module 300 and the rear walking support module 400 are angularly deflected relative to the robot body 100 via the steering module 600, while the mapping module 200 in the middle remains centered on the pipe, minimizing the offset of the central axis. This ensures the uniformity of the ring light projection, the stability of camera acquisition, and the accuracy of sonar detection.

[0073] 5. Strong steering controllability and efficient propulsion transmission: The universal joint is used as the steering module 600. Compared with the flexible cable connection method, the universal joint is a rigid mechanical articulation structure. It can not only allow the front and rear to deflect at an angle to adapt to the bend, but also reliably transmit axial push and pull forces and driving torque, ensuring the driving efficiency and structural reliability in the bend.

[0074] 6. High-precision diameter adjustment and good support rigidity: A stepper motor 510 drives the lead screw 520 to rotate, and the lead screw nut slider 530 moves axially, driving the support arm 310 to open or close synchronously via the transmission link 540 for active diameter adjustment. The transmission link 540 is connected to the root of the support arm 310, resulting in a short force transmission path, high support rigidity and synchronization precision. It can actively and accurately adjust the radial position of the support arm 310 according to different pipe diameters, and has self-locking capability, ensuring stable and reliable support.

[0075] 7. Structured collaboration of multiple sensors for high modeling accuracy: Acceleration data is collected by accelerometer 920 to correct the spatial alignment of cross-sectional contour data obtained based on ring light images. At the same time, auxiliary camera 910 supplements the internal environment image of the pipe, sonar detection module 700 supplements the blind zone data at the bottom of the pipe, and self-cleaning components ensure the continuity and reliability of optical data. This forms a structured multi-source data fusion system of "ring structured light mapping + sonar bottom blind spot filling + acceleration data compensation + auxiliary camera image supplementation + self-cleaning window maintenance", which improves the point cloud stitching accuracy and the completeness and accuracy of 3D modeling.

[0076] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. A pipeline interior mapping robot comprising a robot body (100), characterized in that, It also includes a mapping module (200), a forward walking support module (300), a rear walking support module (400), a diameter adjustment module (500), a steering module (600), a sonar detection module (700), and a self-cleaning module (800). The mapping module (200) is located in the middle of the robot body (100). The mapping module (200) includes a laser emitter (210), a prism assembly (220), and a camera (240). The laser emitted by the laser emitter (210) is refracted or expanded by the prism assembly (220) to form a ring light, which is then projected onto the inner wall of the pipe. The camera (240) is used to acquire the ring light image on the inner wall of the pipe to obtain the cross-sectional contour information of the pipe. The forward walking support module (300) and the rear walking support module (400) are respectively disposed at the front and rear of the robot body (100); The variable diameter adjustment module (500) is used to adjust the radial dimensions of the front walking support module (300) and the rear walking support module (400); The two steering modules (600) are respectively disposed between the robot body (100) and the forward walking support module (300), and between the robot body (100) and the rear walking support module (400), for relative angular deflection between the robot body (100) and the forward walking support module (300) or the rear walking support module (400); The sonar detection module (700) is located at the lower part of the mapping module (200) and is used to perform acoustic wave detection on the bottom area of ​​the pipe to supplement the blind zone data of optical mapping in the bottom area of ​​the pipe. The self-cleaning module (800) is disposed outside the mapping module (200) and is used to clean the outer surface of the optical window of the mapping module (200).

2. The pipeline internal mapping robot of claim 1, wherein, The mapping module (200) also includes an optical lens assembly (230) and a glass cover (250). The laser emitter (210), the prism assembly (220), the optical lens assembly (230) and the camera (240) are coaxially arranged inside the robot body (100). The camera (240) acquires a ring light image through the optical lens assembly (230) and the glass cover (250).

3. The pipeline interior mapping robot of claim 1, wherein, Both the forward walking support module (300) and the rear walking support module (400) include a support arm (310), a walking wheel (320), a buffer elastic element (330), and a wheel drive unit (340). Multiple support arms (310) are distributed around the robot. The walking wheel (320) is installed at the outer end of the support arm (310). The buffer elastic element (330) is connected between the support arm (310) and the robot body (100).

4. The pipeline internal mapping robot according to claim 3, characterized in that, The wheel drive unit (340) includes a drive motor (341), a transmission shaft (342), a helical gear pair (343), and a wheel axle (344). The output end of the drive motor (341) is connected to the transmission shaft (342). After the transmission shaft (342) changes the transmission direction through the helical gear pair (343), it drives the wheel axle (344) to rotate, thereby driving the walking wheel (320) to rotate.

5. The pipeline internal mapping robot according to claim 3, characterized in that, The variable diameter adjustment module (500) includes a stepper motor (510), a lead screw (520), a lead screw nut slider (530), and a transmission link (540). The stepper motor (510) drives the lead screw (520) to rotate. The first end of the transmission link (540) is hinged to the lead screw nut slider (530), and the second end of the transmission link (540) is hinged to the root of the support arm (310). The lead screw nut slider (530) is threadedly engaged with the lead screw (520) and moves axially. The axial movement of the lead screw nut slider (530) drives multiple support arms (310) to open or close synchronously through the transmission link (540) to adjust the radial position of the walking wheel (320) relative to the central axis of the robot body (100).

6. The pipeline internal mapping robot according to claim 1, characterized in that, The steering module (600) includes a universal joint fork (610), a connecting body (620), and a connecting shaft (630). The universal joint fork (610) is connected to the connecting body (620) through the connecting shaft (630). The universal joint fork (610) is connected to the robot body (100) and the forward walking support module (300) or the rear walking support module (400) respectively.

7. The pipeline internal mapping robot according to claim 6, characterized in that, The sonar detection module (700) includes a sonar sensor (710), a sonar mounting base (720), and a waterproof cover (730). The sonar mounting base (720) is located at the lower part of the robot body (100), the sonar sensor (710) is located at the bottom of the sonar mounting base (720), and the waterproof cover (730) is fitted over the sonar sensor (710).

8. The pipeline internal mapping robot according to claim 1, characterized in that, The self-cleaning module (800) includes a drive unit (810), a telescopic link (820), and an annular cleaning assembly (830). The annular cleaning assembly (830) is arranged around the optical window and has a cleaning actuator on its inner side for contacting the outer surface of the optical window. The drive unit (810) drives the annular cleaning assembly (830) to move between the storage position and the cleaning position through the telescopic link (820).

9. The pipeline internal mapping robot according to claim 1, characterized in that, The pipeline internal mapping robot also includes an auxiliary acquisition module (900), which includes an auxiliary camera (910) and an accelerometer (920). The auxiliary camera (910) is used to acquire images of the pipeline internal environment, and the accelerometer (920) is used to acquire acceleration data during the robot's movement.

10. A pipeline mapping system, characterized in that, The pipeline mapping system includes the pipeline interior mapping robot as described in any one of claims 1 to 9.

Images