阅读说明：本技术 一种管道检测机器人 (Pipeline inspection robot ) 是由 赵春田 李红梅 于 2020-05-09 设计创作，主要内容包括：本发明公开了一种管道检测机器人,其置于输送流体的管道内,包括移动载体和设置在移动载体上的电源模块、一级控制模块、定位模块和管道检测模块,电源模块、一级控制模块和定位模块均设置在移动载体上,电源模块、定位模块和管道检测模块分别与一级控制模块电连接,定位模块用以定位移动载体的地理空间位置；管道检测模块与移动载体连接,其用以检测管道沿线的状态或是否存在异常。其结构简单,且使用方便,只需将机器人启动后置于管道内,使得机器人在管道内随物料流动方向移动,并通过所携带的管道检测模块对当前位置点的管道状态进行检测,另外定位模块可以同时根据定位信息与管道检测模块所检测的结果结合共同提供管道沿线的状态分布信息。(The invention discloses a pipeline detection robot, which is arranged in a pipeline for conveying fluid and comprises a mobile carrier, and a power module, a primary control module, a positioning module and a pipeline detection module which are arranged on the mobile carrier, wherein the power module, the primary control module and the positioning module are all arranged on the mobile carrier, the power module, the positioning module and the pipeline detection module are respectively and electrically connected with the primary control module, and the positioning module is used for positioning the geographic spatial position of the mobile carrier; the pipeline detection module is connected with the movable carrier and used for detecting the state along the pipeline or whether the pipeline is abnormal or not. Its simple structure, and convenient to use only need place the pipeline in after starting the robot for the robot removes along with material flow direction in the pipeline, and detects the pipeline state of current position point through the pipeline detection module that carries, and orientation module can combine the state distribution information that provides the pipeline along the line jointly according to the result that orientation information and pipeline detection module detected simultaneously in addition.)

1. A pipeline detection robot is arranged in a pipeline for conveying fluid, and is characterized by comprising a mobile carrier (1), and a power module (2), a primary control module (3), a positioning module (4) and a pipeline detection module (5) which are arranged on the mobile carrier (1), wherein the power module (2), the primary control module (3) and the positioning module (4) are all arranged on the mobile carrier (1), the power module (2), the positioning module (4) and the pipeline detection module (5) are respectively and electrically connected with the primary control module (2), and the positioning module (4) is used for positioning the geospatial position of the mobile carrier (1); the pipeline detection module (5) is connected with the movable carrier (1) and is used for detecting the state of the pipeline along the pipeline or whether the pipeline is abnormal or not.

2. The pipeline inspection robot according to claim 1, characterized in that the mobile carrier (1) is a cup-type driving mechanism having a main body (11) with a hollow interior and a driving cup (12) fixedly mounted on the main body (11), the power module (2) and the primary control module (3) are disposed in the main body (11), and the positioning module (4) is disposed on the main body.

3. The pipeline inspection robot according to claim 2, wherein the positioning module (4) is a gyro locator installed in the main body (11) and/or a mileage wheel installed outside the main body (11) to be in rolling contact with the inner wall of the pipeline.

4. The pipeline inspection robot according to claim 1, characterized in that the power supply module (2) comprises a battery (21).

5. The pipeline inspection robot according to claim 3, characterized in that the power module (2) further comprises a power management unit (22), the power management unit (22) being electrically connected to the storage battery (21) and the primary control module (3), respectively, for monitoring the remaining capacity of the storage battery (21).

6. The pipeline inspection robot according to any one of claims 1 to 5, wherein the pipeline inspection module (5) is one or more of a pipeline defect detection unit (51), a pipeline suspension detection unit (52), a pipeline leakage detection unit (53) and a pipeline stress detection unit (54), the pipeline defect detection unit (51) is used for detecting whether mechanical defects exist on the surface of the pipeline, the pipeline suspension detection unit (52) is used for detecting whether the pipeline is suspended and the corresponding suspension span length exists, the pipeline leakage detection unit (53) is used for detecting whether the pipeline has leakage, and the pipeline stress detection unit (54) is used for detecting whether the stress distribution and the stress of the pipeline wall are abnormal.

7. The pipeline inspection robot according to claim 6, wherein the pipeline defect detection unit (51) comprises a defect excitation assembly (511), a defect magnetic field detection probe (512), a first secondary controller (513) and a first data processing assembly (514), the defect excitation assembly (511) and the first data processing assembly are respectively electrically connected with the first secondary controller (513), the defect magnetic field detection probe (512) is electrically connected with the first data processing assembly (514), the first secondary controller (513) is electrically connected with the primary control module (3), the defect excitation assembly (511) is used for generating a specific magnetic field in a pipeline to magnetize the pipeline wall, the defect magnetic field detection probe (512) is used for detecting the magnetic field strength near the pipeline wall, the first data processing assembly (514) is used for analyzing the magnetic field strength detected by the defect magnetic field detection probe (512) to judge the magnetic field strength And judging whether the pipe wall of the current position point of the pipeline has mechanical defects or not and storing the analysis result.

8. The pipeline detection robot according to claim 6, wherein the pipeline suspension detection unit (52) comprises a vibration sensor (521), an excitation device (522), a second secondary controller (523) and a second data processing component (524), the excitation device (522) and the second data processing component (524) are respectively electrically connected with the second secondary controller (523), the vibration sensor (521) is electrically connected with the second data processing component (524), the second secondary controller (523) is electrically connected with the primary control module (3), and the excitation device (522) is used for contacting with the pipe wall of the pipeline and generating a vibration excitation signal; the vibration sensor (521) is used for contacting with the pipe wall of the pipeline and detecting a vibration response signal generated by the pipe wall of the pipeline; the second data processing component (524) is used for performing vibration data and vibration mode analysis on the vibration signal detected by the vibration sensor (521) to judge the suspension state and the corresponding suspension length of the current position point of the pipeline and store the analysis result.

9. The pipeline inspection robot according to claim 6, wherein the leakage detecting unit (53) comprises a sound wave sensor (531), a third secondary controller (532) and a third data processing component (533), the sound wave sensor (531) and the third secondary controller (532) are respectively electrically connected to the third data processing component (533), the third secondary controller (532) is electrically connected to the primary control module (3), the sound wave sensor (531) is configured to detect noise generated by leakage in a pipeline, and the third data processing component (533) is configured to analyze the noise and noise intensity detected by the sound wave sensor (531) to determine whether leakage occurs at a current position of the pipeline, and store the analysis result.

10. The pipe inspection robot according to claim 6, wherein the pipe stress detection unit (54) comprises a stress excitation assembly (541), a stress magnetic field detection probe (542), a fourth secondary controller (543) and a fourth data processing assembly (544), the stress excitation assembly (541) and the fourth data processing assembly are respectively electrically connected to the fourth secondary controller (543), the stress magnetic field detection probe (542) is electrically connected to the fourth data processing assembly (544), the fourth secondary controller (543) is electrically connected to the primary control module (3), the stress excitation assembly (541) is configured to generate a specific magnetic field in the pipe to magnetize the pipe wall, the stress magnetic field detection probe (542) is configured to detect a magnetic field strength including a force magnetic effect in the vicinity of the pipe wall, and the fourth data processing assembly (544) is configured to detect a magnetic field strength in the vicinity of the stress magnetic field detection probe (542) And analyzing the strength to judge the pipe wall stress of the current position point and storing the analysis result.

Technical Field

The invention relates to a robot, in particular to a pipeline detection robot.

Background

The submarine oil and gas pipeline is a life line for conveying oil and natural gas, and is always the best choice for oil and gas transportation due to the advantages of large pipeline transportation amount, stable and reliable operation, high conveying efficiency, relatively low cost, less influence of weather conditions and the like. However, with the increase of the operating life of the pipeline, the diversity and complexity of the operating conditions, the influence of the submarine geological environment, the submarine current scouring and the like, a series of problems of pipeline displacement deformation, corrosion leakage, suspension, free span formation and the like are inevitably generated; when the submarine pipeline is suspended, the pipeline vibration phenomenon can occur concomitantly, and the consequences of fatigue damage, accelerated corrosion, crack propagation, leakage, fracture and the like are caused. Regular or irregular status checks of the pipeline are therefore an important way to maintain the safe operation of the pipeline. Similarly, buried municipal mains water supply networks can also exhibit distortion and corrosive leakage. It is also often not easily discovered when a slight leak occurs. The erosion and corrosion effects caused by leakage can also cause the suspension of buried pipelines, so similar corrosion defects, abnormal stress, leakage and pipeline suspension can also occur to buried municipal pipelines. The pipeline robot detection technology is an important means for comprehensively detecting the seabed/onshore oil and gas pipelines and municipal pipelines and guaranteeing the integrity of the pipelines.

(A) At present, no particularly effective method is available for detecting the suspension of the buried pipeline on land, and the pipeline can be generally found after an accident occurs. The suspended detection of submarine pipelines mainly comprises detection of suspended state (whether suspension occurs) and detection of suspended span length. However, due to the limitation of the sea and underwater environment conditions, the main method for monitoring and detecting the suspended submarine pipelines at home and abroad still uses an inspection mode, namely, the inspection is carried out along the pipelines by underwater manual work (shallow sea areas) or an underwater vehicle carrying a camera. Recently developed equipment carried by the underwater vehicle is also an underwater laser scanner; for turbid or deep water areas, equipment such as side-scan sonar and the like for coastal pipeline detection are also developed. Line inspection is the most basic, original and commonly used method for inspecting the state of the pipeline at present, but has the following defects:

1. the detection cost is high, the time and the labor are wasted, and the main reason is that a large amount of offshore ships and high-tech equipment are required to be used;

2. the traditional detection cannot be arranged in time according to needs, and factors to be considered include available periods of personnel, equipment and support ships, weather conditions, sea conditions, preparation work and plan of reptiles and the like, especially after a storm or typhoon, the detection before the reptation cannot be completed quickly, which affects the production;

3. the used instruments and equipment are more, so that the risk of personnel and equipment is increased, for example, the equipment is lost or the personnel is injured.

(B) Detecting defects of the pipeline wall: the single pipeline defect detection completed by using the magnetic flux leakage detection technology is also applied in the industry, the defect above a certain defect threshold value can be singly positioned, the approximate defect size can be estimated, the detection precision is not high, and the accurate three-dimensional shape of the defect cannot be detected.

(C) And (3) stress detection: the detection of stress is always a difficult problem, and the stress is not practically applied in the pipeline industry at present.

(D) And (3) leakage detection: the leakage monitoring technology of the currently developed pipeline comprises a real-time dynamic balance technology, an improved real-time dynamic balance technology, a real-time online flow simulation leakage monitoring technology, a real-time sound wave monitoring technology, a real-time pressure distribution leakage monitoring technology and the like. In addition to the reliability disadvantage of false alarm and missing report, the detection and accurate positioning of micro leakage in particular still far from meeting the requirements of practical application at present. One sonic wave ball detection technique also uses similar leakage noise detection, but only detects leakage singly, resulting in high detection cost and limited application.

Disclosure of Invention

In order to solve the above technical problems, it is an object of the present invention to provide a robot for detecting the state of a submarine pipeline and a buried pipeline in a manner of being placed in a pipeline and moving with fluid in the pipeline.

In order to achieve the purpose, the technical scheme of the invention is as follows: a pipeline detection robot is arranged in a pipeline for conveying fluid and comprises a mobile carrier, and a power module, a primary control module, a positioning module and a pipeline detection module which are arranged on the mobile carrier, wherein the power module, the primary control module and the positioning module are all arranged on the mobile carrier, the power module, the positioning module and the pipeline detection module are respectively and electrically connected with the primary control module, and the positioning module is used for positioning the geographic spatial position of the mobile carrier; the pipeline detection module is connected with the movable carrier and used for detecting whether the state along the pipeline is abnormal or not.

The beneficial effects of the above technical scheme are that: its simple structure, and convenient to use only need place the pipeline in after starting the robot for the robot removes along with material flow direction in the pipeline, and detects the pipeline state in succession through pipeline detection module in the pipeline, and orientation module can provide the locating information simultaneously in addition, and its result combination that detects with pipeline detection module reachs the state distribution information along the pipeline.

In the technical scheme, the movable carrier is a leather cup type driving mechanism, the movable carrier is provided with a main body with a hollow interior and a fixed sleeve arranged on the main body, the power supply module and the primary control module are arranged in the main body, and the positioning module is arranged on the main body.

The technical scheme has the beneficial effects that the leather cup type driving mechanism can automatically move from the pipeline inlet (realized by a specific emitter) to the pipeline outlet (realized by a specific receiver) in the pipeline by means of the energy of the fluid in the pipeline, so that the electric energy can be saved, and the load of the whole equipment can be reduced.

In the technical scheme, the positioning module is a gyro positioner arranged in the main body and/or a rolling mileage wheel arranged outside the main body and in contact with the inner wall of the pipeline.

The beneficial effects of the above technical scheme are that: the positioning device is a mechanical positioning device, so that the positioning device is not interfered by signals, and the positioning is reliable and accurate.

In the technical scheme, the power module comprises a storage battery.

The beneficial effects of the above technical scheme are that: so that the utility model can be used repeatedly, which is beneficial to reduce the cost.

In the above technical solution, the power module further includes a power management unit, the power management unit is electrically connected to the storage battery and the primary control module respectively, and is configured to monitor the remaining power of the storage battery.

The beneficial effects of the above technical scheme are that: the residual electric quantity information of the storage battery can be mastered in real time conveniently.

In the scheme, the pipeline detection module is one or more of a pipeline defect detection unit, a pipeline suspension detection unit, a pipeline leakage detection unit and a pipeline stress detection unit, the pipeline defect detection unit is used for detecting whether mechanical defects exist on the surface of the pipeline, the pipeline suspension detection unit is used for detecting whether the pipeline is suspended and the corresponding suspension length exists, the pipeline leakage detection unit is used for detecting whether the pipeline leaks, and the pipeline stress detection unit is used for detecting whether the stress distribution and the stress of the pipeline wall are abnormal.

The beneficial effects of the above technical scheme are that: therefore, the robot can synchronously detect any one or more indexes of whether the pipeline has mechanical defects, whether the stress distribution and the stress of the pipeline are abnormal, whether the pipeline is suspended and whether the pipeline leaks.

In the technical scheme, the pipeline defect detection unit comprises a defect excitation component, a defect magnetic field detection probe, a first secondary controller and a first data processing component, the defect excitation assembly and the first data processing assembly are respectively electrically connected with the first secondary controller, the defect magnetic field detection probe is electrically connected with the first data processing assembly, the first secondary controller is electrically connected with the first-level control module, the defect exciting assembly is used for generating a specific magnetic field in the pipeline to magnetize the pipeline wall, the first data processing assembly is used for analyzing the magnetic field intensity detected by the defect magnetic field detection probe so as to judge whether mechanical defects exist on the pipe wall of the current position point of the pipeline or not and storing the analysis result.

The beneficial effects of the above technical scheme lie in that, its simple structure, magnetize the pipeline through utilizing the defect excitation subassembly, again by the magnetic field distribution of defect magnetic field test probe on to the pipeline after the magnetization, if the magnetic field distribution on the pipeline is even then can deem that the pipeline has no mechanical damage, if the magnetic field distribution of a certain department on the pipeline is unusual then can deem that there is mechanical damage at pipeline here, rethread data analysis handles can reconstruct and appraise the three-dimensional scale or the geometry of defect, combine the location information of orientation module can go out pipeline along the position and the shape distribution of on-line mechanical damage or defect.

In the technical scheme, the pipeline suspension detection unit comprises a vibration sensor, a vibration excitation device, a second secondary controller and a second data processing component, wherein the vibration excitation device and the second data processing component are respectively and electrically connected with the second secondary controller; the vibration sensor is used for contacting with the pipe wall of the pipeline and detecting the vibration of the pipeline; the second data processing assembly is used for carrying out vibration data and modal analysis on the vibration signals detected by the vibration sensor so as to judge the suspension state of the current position point of the pipeline and store the analysis result.

The beneficial effects of the above technical scheme lie in that, its simple structure utilizes the excitation device excitation pipeline to produce the vibration, again by the vibration response of vibration sensor detection pipeline, then carry out analysis processes in order to judge whether pipeline current position department is unsettled state by the signal that second data processing subassembly detected the vibration sensor, and the location information of reunion orientation module reachs the unsettled position distribution of pipeline along the line simultaneously.

In the above technical solution, the leakage detection unit includes a sound wave sensor, a third secondary controller and a third data processing module, the sound wave sensor and the third secondary controller are respectively electrically connected to the third data processing module, the third secondary controller is electrically connected to the primary control module, the sound wave sensor is configured to detect a leakage noise in the pipeline, and the third data processing module is configured to analyze the noise and the noise intensity detected by the sound wave sensor to determine whether the current position of the pipeline is leaked, and store the analysis result.

The beneficial effects of the above technical scheme are that: its simple structure because the pipeline can produce the noise that has certain characteristic when leaking, and detect the various noises of current position by the sound wave sensor to carry out analysis processes in order to judge whether there is the leakage point in pipeline current position by third data processing subassembly to noise and noise intensity, and the positional distribution of the last leakage point of pipeline line is reachd to the locating information of rejoining orientation module simultaneously.

In the technical scheme, the pipeline stress detection unit comprises a stress excitation component, a stress magnetic field detection probe, a fourth secondary controller and a fourth data processing component, the stress excitation assembly and the fourth data processing assembly are respectively and electrically connected with the fourth secondary controller, the stress magnetic field detection probe is electrically connected with the fourth data processing component, the fourth secondary controller is electrically connected with the primary control module, the stress exciting assembly is used for generating a specific magnetic field in the pipeline to magnetize the pipeline wall, the stress magnetic field detection probe is used for detecting the magnetic field intensity influenced by the stress magnetic effect near the pipeline wall, and the fourth data processing assembly is used for analyzing the magnetic field intensity detected by the stress magnetic field detection probe so as to judge the pipe wall stress of the current position point of the pipeline and store the analysis result.

The technical scheme has the beneficial effects that the structure is simple, the principle of the device is similar to that of a pipeline defect detection unit, the pipeline is magnetized by the stress excitation assembly, then the magnetic field intensity near the pipeline wall influenced by the force magnetic effect after magnetization is detected by the stress magnetic field detection probe, and whether the stress distribution and the stress of the pipeline wall are normal or not is obtained by analyzing the detection data according to the magnetic field intensity, and meanwhile, the position distribution of the pipeline stress along the pipeline is obtained by combining the positioning information of the positioning module.

Drawings

FIG. 1 is a schematic structural diagram of a pipeline inspection robot according to embodiment 1 of the present invention;

fig. 2 is an electrical connection diagram of modules in embodiment 1 of the present invention;

FIG. 3 is a block diagram of a pipeline defect detecting unit according to embodiment 1 of the present invention;

fig. 4 is a module connection diagram of the pipeline suspension detection unit in embodiment 1 of the present invention;

fig. 5 is a block diagram of a pipe leakage detecting unit according to embodiment 1 of the present invention;

fig. 6 is a module connection diagram of the pipeline stress detection unit according to embodiment 1 of the present invention;

fig. 7 is a module connection diagram of the pipeline inspection robot according to embodiment 2 of the present invention.

In the figure: 1 mobile carrier, 11 main body, 12 driving leather cups, 13 mobile joints, 131 universal joints, 132 auxiliary main bodies, 133 supporting leather cups, 2 power supply modules, 21 storage batteries, 22 power supply management units, 3 primary control modules, 4 positioning modules, 5 pipeline detection modules, 51 pipeline defect detection units, 511 defect excitation assemblies, 512 defect magnetic field detection probes, 513 first secondary controllers, 514 first data processing assemblies, 5141 first data memories, 5142 first magnetic field data analysis units, 5143 first signal detection and processing units, 52 pipeline suspension detection units, 521 vibration sensors, 522 excitation devices, 523 second secondary controllers, 524 second data processing assemblies, 5241 second data memories, 5242 vibration data and mode analysis units, 5243 second signal detection and processing units, 53 pipeline leakage detection units, 531 sound sensors, 532 third secondary controllers, a power supply module, a power supply management unit, a 3 primary control module, a 4 positioning module, a 5 pipeline detection module, 51 pipeline defect detection units, 511 defect excitation devices, 512 second secondary controllers, 524 second data processing modules, 5241 second, 533 a third data processing component, 5331 a third data memory, 5332 an audio data analysis unit, 5333 a third signal detection and processing unit, 54 a pipe stress detection unit, 541 a stress excitation component, 542 a stress magnetic field detection probe, 543 a fourth secondary controller, 544 a fourth data processing component, 5441 a fourth data memory, 5442 a second magnetic field data analysis unit, 5443 a fourth signal detection and processing unit.

Detailed Description

The principles and features of this invention are described below in conjunction with the drawings and the embodiments, which are set forth to illustrate, but are not to be construed to limit the scope of the invention.