A pipeline fault simulation assembly and simulation system for a robot inspection

Abstract

The utility model discloses a kind of pipeline fault simulation components and simulation systems for robot inspection, it is related to simulation system technical field, wherein, pipeline fault simulation components for robot inspection, including: simulation pipeline component, for fluid medium to flow in its inside;At least one execution component, distributedly installed in the simulation pipeline component, for changing the state of fluid in the simulation pipeline component;At least one detection component, distributedly installed in the simulation pipeline component, for obtaining the state parameter of fluid in the simulation pipeline component corresponding position;The detection component includes near field communication module and / or visualization module, for near field to obtain the detection result of the detection component corresponding position;The present pipeline fault simulation components and simulation systems for robot inspection can simulate corresponding fault working condition, and show detection result through detection component, to obtain detection data for line inspection robot, and carry out data calibration.

Description

Technical Field

[0001] This utility model relates to the field of simulation system technology, and more specifically, to a pipeline fault simulation component for robot inspection. Furthermore, this utility model also relates to a simulation system including the aforementioned pipeline fault simulation component for robot inspection. Background Technology

[0002] In industrial pipeline systems, the stable transport of fluid media such as liquids or gases is fundamental to ensuring safe equipment operation and process continuity. However, during actual operation, pipeline systems may experience problems such as sensor failure, partial blockage, leakage, and sudden changes in high temperature or pressure due to complex operating environments, diverse transported media, and equipment aging. These failures may not only reduce system operating efficiency but also potentially lead to safety accidents.

[0003] Therefore, pipeline inspection robots have emerged in the prior art for pipeline inspection to obtain data from detection components at different locations on the pipeline. However, in the prior art, existing pipelines cannot simulate various fault conditions to provide simulated pipelines for training or data calibration of pipeline inspection robots. This results in the calibration data of pipeline inspection robots relying solely on the designer's experience and failing to be combined with actual working conditions, leading to poor effectiveness of the inspection results of pipeline inspection robots.

[0004] In summary, how to solve the problem that existing pipelines cannot simulate various fault conditions, resulting in the data calibration of pipeline inspection robots relying solely on human experience and thus leading to poor effectiveness of inspection results, is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] In view of this, the purpose of this utility model is to provide a pipeline fault simulation component for robot inspection. By setting an execution component inside the simulated pipeline component, the corresponding fault conditions are simulated inside the simulated pipeline component through the action of the execution component, and the detection results are displayed through the detection component so that the pipeline inspection robot can obtain detection data and perform data calibration.

[0006] Another objective of this invention is to provide a simulation system that includes the above-mentioned pipeline fault simulation component for robot inspection, which has the same technical features and can solve the same technical problems.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] A pipeline fault simulation component for robotic inspection includes:

[0009] Simulated piping assembly for supplying fluid media with their internal flow;

[0010] At least one execution component, installed in the simulated pipeline assembly, is used to change the state of the fluid within the simulated pipeline assembly;

[0011] At least one detection component is installed in the simulated pipe assembly to obtain the state parameters of the fluid within the simulated pipe assembly at a corresponding location.

[0012] The detection component includes a near-field communication module and / or a visualization module, used to acquire the detection results of the detection component at the corresponding location in the near field.

[0013] Preferably, the detection component further includes a remote communication module for remotely acquiring the detection results of the detection component.

[0014] Preferably, the actuation component includes at least one of a heating component, a valve component, and a drive component;

[0015] The heating component is used to heat the fluid inside the simulated pipe assembly at the corresponding location;

[0016] The valve assembly is used to change the flow rate inside the simulated pipeline assembly at the corresponding location;

[0017] The drive component is used to change the flow rate of the fluid within the simulated pipe assembly at the corresponding location.

[0018] Preferably, the detection component includes at least one of a flow detection component, a temperature detection component, and a pressure detection component;

[0019] The flow detection component is used to detect the flow rate of the fluid within the simulated pipe assembly at the corresponding location;

[0020] The temperature detection component is used to detect the temperature of the fluid inside the simulated pipe assembly at the corresponding location;

[0021] The pressure detection component is used to detect the pressure of the fluid inside the simulated pipeline assembly at the corresponding location.

[0022] Preferably, the flow detection component includes a flow transmitter and a flow meter, and the flow transmitter and the flow meter are installed at the same installation point of the temperature detection component.

[0023] Preferably, the temperature detection component includes a temperature transmitter and a temperature meter, and the temperature transmitter and the temperature meter are installed at the same installation point of the temperature detection component.

[0024] Preferably, the pressure detection component includes a pressure transmitter and a pressure gauge, and the pressure transmitter and the pressure gauge are installed at the same installation point of the pressure detection component.

[0025] Preferably, the simulated piping assembly includes a main pipe and at least one branch pipe;

[0026] The main pipeline is connected to the branch pipeline for fluid flow;

[0027] The execution component and / or the detection component are both installed in the main pipeline and the branch pipeline.

[0028] A simulation system includes a pipeline inspection robot and a pipeline fault simulation component for robot inspection as described in any one of the above.

[0029] The line-following robot includes a near-field communication device and / or a visual recognition device for acquiring the detection results of the detection components in the near field.

[0030] The pipeline fault simulation component for robot inspection provided by this utility model has at least the following advantages compared with the prior art:

[0031] By setting at least one execution component within the simulated pipeline assembly, the fluid state within the simulated pipeline assembly can be changed through the actions of the execution component to simulate different fault conditions. These conditions can be detected by the corresponding detection component, and the data can be acquired by the line inspection robot through a near-field communication module or a visualization module, thereby helping the line inspection robot to perform data calibration or training.

[0032] The simulation system provided by this utility model includes the above-mentioned pipeline fault simulation component for robot inspection and has the same beneficial effects. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the structure of an exemplary pipeline fault simulation component for robot inspection according to some embodiments of this application;

[0035] Figure 2 This is a schematic diagram of an exemplary flow meter according to some embodiments of this application;

[0036] Figure 3 This is a schematic diagram of an exemplary temperature transmitter according to some embodiments of this application;

[0037] Figure 4This is a schematic diagram of an exemplary pressure transmitter according to some embodiments of this application;

[0038] Figure 5 This is a first perspective view of an exemplary pipeline fault simulation component for robot inspection according to some embodiments of this application;

[0039] Figure 6 This is a second perspective view of an exemplary pipeline fault simulation component for robot inspection according to some embodiments of this application;

[0040] Figure 7 This is a third perspective view of an exemplary pipeline fault simulation component for robot inspection according to some embodiments of this application;

[0041] Figure 8 This is a schematic diagram of an exemplary temperature gauge according to some embodiments of this application;

[0042] Figure 9 This is a schematic diagram of an exemplary pressure gauge according to some embodiments of this application.

[0043] In the picture:

[0044] 10. Main pipeline; 11. Heating assembly; 12. Valve assembly; 13. Branch pipeline; 20. Drive assembly; 30. Flow meter; 31. Temperature transmitter; 32. Pressure transmitter; 33. Temperature meter; 34. Pressure meter. Detailed Implementation

[0045] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0046] The core of this utility model is to provide a pipeline fault simulation component for robot inspection. By setting an execution component inside the simulated pipeline component, the corresponding fault conditions are simulated within the simulated pipeline component through the action of the execution component, and the detection results are displayed through the detection component so that the pipeline inspection robot can obtain detection data and perform data calibration.

[0047] Another core aspect of this invention is to provide a simulation system that includes the aforementioned pipeline fault simulation component for robot inspection, possessing the same technical features and capable of solving the same technical problems.

[0048] Please refer to Figure 1 A pipeline fault simulation component for robotic inspection, comprising:

[0049] Simulated piping assembly for supplying fluid media with their internal flow;

[0050] At least one execution component, installed on the simulated pipeline assembly, is used to change the state of the fluid within the simulated pipeline assembly;

[0051] At least one detection component is installed on the simulated pipe assembly to obtain the state parameters of the fluid within the simulated pipe assembly at the corresponding location;

[0052] The detection component includes a near-field communication module and / or a visualization module, used to acquire the detection results of the detection component at the corresponding location in the near field.

[0053] like Figure 1 As shown, the simulated pipe assembly can be a straight pipe or a bend formed by connecting and combining multiple pipes, and its interior can accommodate various fluids such as liquids, powders, and gases for flow.

[0054] Furthermore, different execution and detection components are set at different locations in the simulated pipeline assembly. The execution components are used to change the fluid state within the simulated pipeline assembly, including at least one of the fluid velocity, temperature, and pressure. The detection components are used to acquire parameters of the fluid state within the simulated pipeline assembly, including at least one of the velocity, temperature, and pressure parameters. During the simulation, multiple execution components can be controlled independently to change a single parameter of the fluid at a local location to simulate a single fault condition. Alternatively, multiple execution components can be controlled in tandem to change multiple parameters of the fluid in multiple areas to simulate the condition when multiple faults occur concurrently. The detection components can acquire the parameters after the fluid state changes caused by the simulation and can transmit or display the acquired data to the near-field inspection robot through a near-field communication module or visualization module for data calibration or training by the inspection robot.

[0055] In some embodiments, the detection component further includes a remote communication module for remotely acquiring the detection results of the detection component.

[0056] The detection component integrates a remote communication module, enabling it to transmit the acquired fluid parameter data to the host computer in a timely manner. This data can then be compared with the near-field data obtained by the line-following robot, allowing for data calibration of the line-following robot or evaluation of its training results.

[0057] At the same time, the upper-level terminal obtains data from the detection component, enabling closed-loop control of the execution component to ensure the accuracy of the operating condition simulation.

[0058] In some embodiments, the execution component includes at least one of the heating component 11, the valve component 12, and the drive component 20;

[0059] Heating component 11 is used to heat the fluid inside the simulated pipe assembly at the corresponding location;

[0060] Valve assembly 12 is used to change the flow rate inside the pipeline assembly at the corresponding position;

[0061] The drive component 20 is used to change the flow rate of fluid within the simulated pipe assembly at the corresponding position.

[0062] like Figure 1 , Figure 5 , Figure 6 , Figure 7 As shown, the heating component 11 preferably uses a heat tracing cable, which is wrapped around the outside of the simulated pipe assembly to heat the fluid inside the installation location, simulating a fault condition of local temperature rise.

[0063] Valve assembly 12 is preferably a solenoid valve, which can be electrically controlled to change the flow rate of the internal fluid by changing the flow rate in the pipeline at the installation position, so as to simulate the fault conditions of partial blockage and increased flow resistance.

[0064] The drive component 20 is preferably a pressure pump, used to increase the pressure and flow rate of the fluid at the corresponding location to simulate a fault condition of increased local flow rate or pressure.

[0065] The fluid in this application can be either gas or liquid, and the specific settings shall be determined by the tester according to the actual simulation requirements.

[0066] The drive assembly 20 can be any type of drive structure, as long as it can drive the fluid medium required for simulation to flow in the pipeline. For example, if a gas, such as natural gas, compressed air, nitrogen, or simulated flue gas, is used as the fluid medium, the drive assembly 20 includes, but is not limited to, gas delivery devices such as fans, blowers, and air pumps. The drive assembly 20 is located at the input end of the main pipeline 10, with its inlet end connected to the gas source interface of the fluid supply pipeline and its exhaust end connected to the main pipeline 10, for delivering gas into the main pipeline 10 and driving the gas to flow along a preset pipeline path. If a liquid, such as gasoline, water, ethylene glycol solution, or other simulated working fluid, is used as the fluid medium, the drive assembly 20 includes, but is not limited to, liquid delivery devices such as impeller pumps, positive displacement pumps, and self-priming pumps. The drive assembly 20 is located at the input end of the main pipeline 10, with its liquid inlet connected to the liquid source interface of the fluid supply pipeline and its liquid outlet connected to the main pipeline 10, for delivering liquid into the main pipeline 10 and driving the liquid to flow along a preset pipeline path.

[0067] The preset pipeline path is set by the testers based on the flow path and design style of the main pipeline 10.

[0068] The number of driver components 20 can be single or multiple, depending on the actual simulation requirements set by the tester. When using multiple components:

[0069] Multiple drive components 20 are connected in parallel to the input port of the same main pipe 10 or its branch pipe 13 to improve the overall flow supply capacity, achieve higher flow rates, or meet the simulation requirements of large flow media.

[0070] Multiple drive components 20 are arranged in series along the fluid path. For example, in long-distance pipelines or paths with elevation differences, drive components 20 are provided at the beginning and middle sections to maintain the continuous driving capability of the fluid medium in the long path. They can also simulate complex working conditions such as pump station pressurization or fluid re-acceleration, and are suitable for segmented drive scenarios in liquid fluid simulation.

[0071] By setting independent drive components 20 in the main pipeline 10 and one or more branch pipelines 13, independent control of the fluid medium in each pipeline segment can be achieved. This is suitable for simulation scenarios where different fluid types, different temperature controls, or different pressure conditions are required in the branch paths. For example, one path can simulate a high-pressure and high-temperature state, while another path can simulate a normal-temperature and normal-pressure state. Each drive component 20 can be connected to different fluid sources and set differentiated flow parameters, thereby realizing multi-region and multi-parameter composite simulation.

[0072] By configuring a primary drive component 20 for primary fluid propulsion, supplemented by one or more auxiliary drive components 20 for fine adjustment or fault-tolerant control; for example, in a blockage or leakage simulation scenario, the primary drive component 20 maintains the basic flow state, while the auxiliary drive components 20 quickly respond to pressure changes in the blockage section, adjust the local flow velocity, and form a dynamic disturbance process, thereby improving the system's response sensitivity and the realism of fault simulation.

[0073] In some embodiments, the detection component includes at least one of a flow detection component, a temperature detection component, and a pressure detection component;

[0074] The flow detection component is used to detect the flow rate of fluid within the simulated pipe assembly at the corresponding location;

[0075] The temperature detection component is used to detect the temperature of the fluid inside the simulated pipe assembly at the corresponding location;

[0076] The pressure detection component is used to detect the pressure of fluid within the simulated pipe assembly at the corresponding location.

[0077] like Figure 1 , Figure 5 , Figure 6 and Figure 7As shown, a detection component is set at the corresponding position of the execution component. The detection component detects the fault conditions simulated by the action of the execution component and feeds back the detection results to the line inspection robot.

[0078] In some embodiments, the flow detection component includes a flow transmitter and a flow meter 30, and the same temperature detection component installation point is simultaneously equipped with both the flow transmitter and the flow meter 30.

[0079] like Figure 2 As shown, the flow detection component includes a flow transmitter and a flow meter 30, both installed at the same location. The flow transmitter has transmission capability, meaning it can transmit the detection results to the host computer and the inspection robot via communication. The flow meter 30 has a visual dial, allowing inspection personnel and / or the inspection robot to intuitively obtain flow data through the visual dial.

[0080] In some embodiments, the temperature sensing component includes a temperature transmitter 31 and a temperature gauge 33, and both the temperature transmitter 31 and the temperature gauge 33 are installed at the same installation point of the temperature sensing component.

[0081] like Figure 3 and Figure 8 As shown, the temperature detection component includes a temperature transmitter 31 and a temperature gauge 33, both of which are installed at the same location. The temperature transmitter 31 has transmission capability, meaning it can transmit the detection results to the host computer and the inspection robot via communication. The temperature gauge 33 has a visual dial, allowing inspection personnel and / or the inspection robot to intuitively obtain flow data through the visual dial.

[0082] In some embodiments, the pressure sensing component includes a pressure transmitter 32 and a pressure gauge 34, and the same pressure sensing component mounting point has both the pressure transmitter 32 and the pressure gauge 34 installed.

[0083] like Figure 4 and Figure 9 As shown, the pressure detection component includes a pressure transmitter 32 and a pressure gauge 34, both of which are installed at the same location. The pressure transmitter 32 has a transmission capability, meaning it can transmit the detection results to the host computer and the inspection robot via communication. The pressure gauge 34 has a visual dial, allowing inspection personnel and / or the inspection robot to intuitively obtain flow data through the visual dial.

[0084] In some embodiments, the simulated piping assembly includes a main pipe 10 and at least one branch pipe 13;

[0085] The main pipe 10 is connected to the branch pipe 13 for the flow of fluid;

[0086] Both the main pipe 10 and the branch pipe 13 are equipped with actuators and / or detection components.

[0087] like Figure 1 As shown, pipe 10 is a single pipe, such as a stainless steel pipe, which is processed by hot melting or mold forming. It has the advantages of continuous structure and good sealing, and is suitable for conventional pipe or standard pipe verification scenarios.

[0088] like Figures 5-7 As shown, the main pipeline 10 is assembled from multiple pipelines, including but not limited to straight pipe sections, bends, tees, and expansion sections. Its connection methods include flange connection, threaded connection or clamp connection. Testers can freely adjust the flow direction of the fluid medium, pipe diameter changes or structural forms according to the actual flow path design, such as horizontal-vertical-inclined bends, to simulate more complex engineering pipeline forms.

[0089] One or more valve assemblies 12 are installed in series or in parallel along different sections of the main pipeline 10. The installation method is threaded connection, plug-in type or flange type, which facilitates quick replacement and adjustment. In actual implementation, the valve assembly 12 is controlled to close to block part or all of the fluid passage, simulating blockage scenarios in actual engineering such as foreign object blockage and rust blockage. By adjusting the opening angle of the valve assembly 12 to a small gap, such as less than 5% of the valve diameter, some fluid medium is guided to escape through the leakage port of the valve assembly 12, simulating a leakage event.

[0090] One end of the branch pipe 13 is connected to the main pipe 10 mentioned above, and the other end is connected to the target pipe, such as a liquid storage tank, a gas storage tank, or a target device, such as a heat exchanger or a simulated load box. Alternatively, it can be vented directly or returned to the simulated main pipe 10 to form a closed loop structure. The specific settings are determined by the test personnel according to actual needs.

[0091] The dimensions of the branch pipe 13 can be formed by a single pipe in one piece, or it can be composed of multiple straight pipes and / or bends. The dimensions of the branch pipe 13, such as inner diameter, wall thickness, length, pipe material, and connection method, can be customized by the test personnel according to the fluid medium and cost.

[0092] Branch pipe 13 is assembled from multiple pipes, including but not limited to straight pipe sections, bends, tees, and expansion sections. Its connection to the main pipe 10 includes flange connection, threaded connection, or clamp connection. Testers can freely adjust the flow direction of the fluid medium, pipe diameter changes, or structural forms according to the actual flow path design, such as horizontal-vertical-inclined bends, to expand the simulation of more complex engineering pipeline forms.

[0093] Branch pipe 13 is also equipped with one or more execution components and detection components for changing and detecting the state of the fluid within branch pipe 13.

[0094] If a complex simulated pipeline is constructed by multiple branch pipelines 13 in collaboration with the main pipeline 10, the tester can set some branches to be closed and some to be flow-dominated to evaluate the impact of flow and / or temperature imbalance on the simulated main pipeline. The tester can also set branch partial blockage or leakage conditions and simulate the disturbance to the main fluid path and terminal response under different fault conditions by manipulating the valve assembly 12 and heating assembly 11 of the branch. The tester can also set the branch pipelines 13 to connect to different terminal devices, such as heat exchangers and simulated load boxes, to simulate multi-device fluid supply scenarios in engineering applications.

[0095] Therefore, the fault simulation process of the pipeline fault simulation component for robot inspection in this application can also be exemplified as follows:

[0096] The testers selected a single-piece molding or multiple pipes to assemble the main pipe 10. Then, the testers continued to select a single-piece molding or multiple pipes to assemble the branch pipe 13. The testers then connected the branch pipe 13 to the main pipe 10. Then, according to the simulation requirements, the testers installed the heating component 11 and the valve component 12, as well as the flow detection component, temperature detection component and pressure detection component on the main pipe 10 and the branch pipe 13 in sequence.

[0097] When it is necessary to simulate pipeline thermal interference faults, the drive component 20 is activated to introduce fluid medium into the main pipeline 10 and branch pipeline 13 in real time, and the heating component 11 on the main pipeline 10 and / or branch pipeline 13 is activated. The heating component 11 heats the area to the target temperature according to the set heating rate. Then, the temperature transmitter 31 on the main pipeline 10 and / or branch pipeline 13 records the temperature change of the area in real time, so that test personnel or automated robots can observe the readings of the temperature detection component, realizing temperature abnormality fault scenarios such as local overheating of the fluid medium in the main pipeline 10 and / or branch pipeline 13 and false alarms due to drift detection of the temperature detection component.

[0098] When simulating localized blockage in a pipeline, the drive assembly 20 is activated to introduce fluid medium into the main pipeline 10 and branch pipeline 13 in real time. The opening of the valve assembly 12 in the main pipeline 10 and / or branch pipeline 13 is then manually or electrically adjusted by the test personnel, gradually decreasing from a fully unobstructed state to a fully closed state to simulate different degrees of blockage. Simultaneously, the flow detection and pressure detection components before and after the blockage section work synchronously to detect the decrease in flow and increase in local pressure difference caused by the blockage, thus realizing the localized blockage process of the fluid medium in the main pipeline 10 and / or branch pipeline 13. If multiple valve assemblies 12 are provided, the opening and closing processes of valve assemblies 12 in different areas can be operated to simulate complex blockage scenarios such as foreign object drift blockage and intermittent flow resistance.

[0099] When simulating a partial pipeline leak, the drive assembly 20 is activated to introduce fluid medium into the main pipeline 10 and the branch pipeline 13 in real time. The opening of the valve assembly 12 of the branch pipeline 13 is then manually or electrically adjusted by the test personnel. The branch pipeline 13 forms a leak channel. After the valve assembly 12 is opened, some fluid medium is discharged through this leak channel, forming a stable or sudden leak. The flow detection assembly and pressure detection assembly work synchronously to monitor the changes in pressure and flow before and after the leak in real time, assisting in judging the degree of leak. If a visible fluid or color tracer is connected to the leak channel, it is also convenient to observe and locate the leak location. In this way, the fault scenario of a leak occurring when the pipeline is in a closed state is simulated.

[0100] By adopting the above technical solution, it can be used to simulate various local abnormal behaviors of different fluid media in different paths. When combined with the main pipeline 10, it can not only expand the simulated flow path, but also improve the diversity and complexity of pipeline fault simulation. This allows the pipeline fault simulation component for robot inspection to not only reflect common temperature anomalies, blockages and leaks in the main channel, but also meet the simulation requirements for multi-branch and multi-area linkage fault scenarios, thus more closely reflecting the structural characteristics and operating status of pipeline networks in actual engineering.

[0101] In addition to the pipeline fault simulation component for robot inspection disclosed in the above embodiments, the present invention also provides a simulation system including the above-mentioned pipeline fault simulation component for robot inspection. The simulation system includes a pipeline inspection robot and the pipeline fault simulation component for robot inspection of any one of the above embodiments.

[0102] The line-following robot includes near-field communication devices and / or visual recognition devices for acquiring the detection results of the detection components in the near field.

[0103] Specifically, during the simulation, testers can choose commercially available line-following robots with visual recognition and data reading capabilities to acquire and record data from the flow detection, temperature detection, and pressure detection components. The specific settings are determined by the testers based on the actual simulation requirements and costs.

[0104] In actual implementation, the existing inspection robots on the market with visual recognition and data reading capabilities are equipped with high-definition cameras, laser sensors, image recognition modules, and embedded processing chips. They can recognize the display screen or pointer readings of flow meter 30, temperature meter 33, and pressure meter 34 through image recognition algorithms, and can also realize digital signal acquisition through communication interfaces with sensors, such as RS485, Modbus, and Bluetooth.

[0105] After the simulation begins, the inspection robot can move autonomously along the preset track or by relying on lidar combined with navigation in the area of ​​the main pipeline 10 and the branch pipeline 13 to inspect the position of the detection components at each measuring point and periodically read the real-time data of each detection component.

[0106] For example, the inspection robot can refer to intelligent inspection robots such as ZNZK-RW100 and WHEELTEC ROS2.

[0107] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0108] The above provides a detailed description of the pipeline fault simulation component and simulation system for robot inspection provided by this utility model. Specific examples have been used to illustrate the principles and implementation methods of this utility model. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that those skilled in the art can make various improvements and modifications to this utility model without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this utility model.

Claims

1. A pipeline fault simulation component for robot inspection, characterized in that, include: Simulated piping assembly for supplying fluid media with their internal flow; At least one execution component, installed in the simulated pipeline assembly, is used to change the state of the fluid within the simulated pipeline assembly; At least one detection component is installed in the simulated pipe assembly to obtain the state parameters of the fluid within the simulated pipe assembly at a corresponding location. The detection component includes a near-field communication module and / or a visualization module, used to acquire the detection results of the detection component at the corresponding location in the near field.

2. The pipeline fault simulation component for robot inspection according to claim 1, characterized in that, The detection component also includes a remote communication module for remotely acquiring the detection results of the detection component.

3. The pipeline fault simulation component for robot inspection according to claim 1 or 2, characterized in that, The actuation component includes at least one of a heating component (11), a valve component (12), and a drive component (20); The heating component (11) is used to heat the fluid in the simulated pipe assembly at the corresponding location; The valve assembly (12) is used to change the flow rate inside the simulated pipe assembly at the corresponding position; The drive component (20) is used to change the flow rate of the fluid in the simulated pipe component at the corresponding position.

4. The pipeline fault simulation component for robot inspection according to claim 1 or 2, characterized in that, The detection component includes at least one of a flow detection component, a temperature detection component, and a pressure detection component; The flow detection component is used to detect the flow rate of the fluid within the simulated pipe assembly at the corresponding location; The temperature detection component is used to detect the temperature of the fluid inside the simulated pipe assembly at the corresponding location; The pressure detection component is used to detect the pressure of the fluid inside the simulated pipeline assembly at the corresponding location.

5. The pipeline fault simulation component for robot inspection according to claim 4, characterized in that, The flow detection component includes a flow transmitter and a flow meter (30), and the flow transmitter and the flow meter (30) are installed at the same installation point of the temperature detection component.

6. The pipeline fault simulation component for robot inspection according to claim 4, characterized in that, The temperature detection component includes a temperature transmitter (31) and a temperature meter (33), and the temperature transmitter (31) and the temperature meter (33) are installed at the same installation point of the temperature detection component.

7. The pipeline fault simulation component for robot inspection according to claim 4, characterized in that, The pressure detection assembly includes a pressure transmitter (32) and a pressure gauge (34), and the pressure transmitter (32) and the pressure gauge (34) are installed at the same installation point of the pressure detection assembly.

8. The pipeline fault simulation component for robot inspection according to claim 1 or 2, characterized in that, The simulated pipeline assembly includes a main pipeline (10) and at least one branch pipeline (13). The main pipe (10) is connected to the branch pipe (13) for the flow of fluid; The execution component and / or the detection component are both provided in the main pipe (10) and the branch pipe (13).

9. A simulation system, characterized in that, Includes a pipeline inspection robot and a pipeline fault simulation component for robot inspection as described in any one of claims 1-8; The line-following robot includes a near-field communication device and / or a visual recognition device for acquiring the detection results of the detection components in the near field.

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