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CN-115855972-B - Pipeline robot with wall climbing restoration function

CN115855972BCN 115855972 BCN115855972 BCN 115855972BCN-115855972-B

Abstract

The invention relates to a pipeline robot for accurately positioning and repairing pipeline defects, which consists of a detection and image processing mechanism and a traveling and repairing mechanism, wherein a laser ring is generated through a laser generator, a camera is used for recording laser ring images and transmitting the laser ring images to an image processor, the image processor is used for analyzing and determining the shape and the size of the defects of the inner wall of a pipeline, a Hall element is used for recording the mileage position of the defects of the inner wall of the pipeline, a wall climbing and bypassing function is realized based on a magnetic attraction wheel, the defects are repaired by using filling and repairing materials, and a pipe diameter adaptation component is innovatively designed to adapt to different pipe diameter working conditions. The invention solves the problems that the existing detection technology cannot accurately position the defect position, has high labor cost, cannot synchronously realize the repair of the pipeline defect, and the like.

Inventors

  • CAO YUGUANG
  • ZHEN YING
  • HE YAYA
  • SUN XIAOYU

Assignees

  • 中国石油大学(华东)

Dates

Publication Date
20260512
Application Date
20221108

Claims (13)

  1. 1. A pipeline robot for accurately positioning and repairing pipeline defects mainly comprises a detection and image processing mechanism and a traveling and repairing mechanism, wherein the detection and image processing mechanism consists of a baffle plate, an image processor, an image acquisition assembly, a sealing top plate and a gas collecting valve, the image acquisition assembly consists of a first camera and a laser generator, the laser generator emits laser to form a laser ring on the inner wall of a pipeline to be detected, the first camera shoots and records the shape of the laser ring, a shape image of the laser ring is transmitted to the image processor, the image processor analyzes and determines the shape and the size of the defects of the inner wall of the pipeline according to the annular curvature of the laser ring, the traveling and repairing mechanism consists of a traveling wheel, a Hall element, a load bearing box, a driving shaft, a steering assembly and a pipe diameter adaptation assembly, the traveling wheel consists of an anti-pulley and a magnetic suction wheel, the anti-pulley is adopted in the axial detection process of the pipeline to be detected, the Hall element is used for metering and recording the mileage position of the inner wall defects of the pipeline to be detected, the driving shaft is used for driving the anti-pulley and the magnetic suction wheel, the steering assembly is used for controlling the traveling direction of the pipeline robot, the pipe diameter adaptation assembly is formed by a supporting seat, the Hall element, the load bearing box is used for sealing top plates and the gas collecting valve is required to be cleaned, the sealing top plates are respectively, the two sides of the sealing top plates are required to be cleaned, and the gas collecting valve plates are required to be cleaned, and the sealing top plate and the two sides are required to be cleaned, and the sealing top plate is respectively cleaned when the two sides are required to be cleaned, when the defect on the inner wall of the pipeline is required to be filled and repaired, the air collecting valve on one side of the filling and repairing material air bag is started.
  2. 2. The pipeline robot for accurately positioning and repairing the pipeline defect according to claim 1, wherein the image acquisition assembly is arranged on the front side of the image processor and consists of a first camera and a laser generator, the laser generator is positioned in the middle of the front end of the image acquisition assembly, and the first camera is uniformly distributed outside the laser generator along the circumferential direction.
  3. 3. The pipeline robot for accurately positioning and repairing the pipeline defect according to claim 2, wherein the image processor is in a cuboid shape, the front groove is used for installing an image acquisition assembly, the image processor is used for processing image information of the inner wall of the pipeline, acquired by the image acquisition assembly, in real time and used for determining the shape and the size of the defect of the inner wall of the pipeline, and the side face of the image processor is provided with a mounting groove used for mounting a supporting arm.
  4. 4. The pipeline robot for accurately positioning and repairing pipeline defects according to claim 3, wherein the two support arms are V-shaped and distributed on two sides of the image processor, one ends of the support arms are connected to the mounting groove on the outer side of the image processor through connecting columns, the other ends of the support arms are connected to the inner side of a baffle plate through connecting columns, tail parts of the support arms are hinged to a first hydraulic cylinder through pins, tail parts of the first hydraulic cylinder are fixed on the inner side of the baffle plate, and the height adjustment of the image processor and the image acquisition assembly can be achieved through the fact that the opening degree of the support arms is adjusted through the first hydraulic cylinder.
  5. 5. The pipeline robot for accurately positioning and repairing pipeline defects according to claim 4, wherein the baffle plate is a rectangular structure formed by connecting plate-shaped structures end to end and fixedly arranged on the sealing top plate for protecting the image processor and the image acquisition assembly in an un-lifted state.
  6. 6. The pipeline robot for accurately positioning and repairing the pipeline defects is characterized in that the whole bearing box is a rectangular hollow box body which is divided into a plurality of cabins through a partition plate, a second hydraulic cylinder is arranged on the side wall of the partition plate and used for adjusting a pipe diameter adaptation component so as to adapt to different pipe diameter working conditions, one end of the second hydraulic cylinder is fixed on the side wall of the partition plate, the other end of the second hydraulic cylinder is fixedly connected to the back side of a hinged support of the pipe diameter adaptation component, the bottom of the bearing box is a bearing bottom plate which is partially hollowed, the hollowed part in the middle of the bearing bottom plate is a spray sliding block hole, a sliding groove is formed in the bearing bottom plate, the sliding groove is a rectangular groove pit, the size of the sliding groove is the same as that of a sliding plate convex body at the bottom of a front driving box and a rear driving box, a front wheel shaft hole, a steering shaft hole and a rear wheel shaft hole are respectively used for driving a shaft of a front travelling wheel, a steering shaft B and a driving shaft of a rear travelling wheel, a Hall element is arranged in the middle of the bearing box, and the Hall element is converted by recording the number of times of magnetic probe excitation.
  7. 7. A pipeline robot for accurately positioning and repairing pipeline defects is characterized in that a cleaning solution air bag and a filling and repairing material air bag are separated through a bracket, two ends of the bracket are fixedly connected to a bearing box partition plate, openings are formed in the left side and the right side below the bracket and are used for communicating the cleaning solution air bag and the filling and repairing material air bag with a spray agent sliding block, the cleaning solution air bag and the filling and repairing material air bag are equally divided into a gas collecting cabin and a solution cabin, the gas collecting cabin is separated from the solution cabin through a flexible diaphragm, the upper side of the gas collecting cabin is communicated with a gas collecting valve, the lower side of the solution cabin is communicated with the spray agent sliding block, the spray agent sliding block is located below the bracket and is movably connected with a sliding rod, the spray agent sliding block can freely slide on the sliding rod, a control center is arranged in the spray agent sliding block and is used for controlling the sliding range of the spray agent sliding block on the sliding rod so as to complete filling and repairing work of defect areas of the inner wall of the pipeline, the spray agent sliding block is divided into a left cabin and a right cabin and a left cabin, the cleaning solution air bag and a filling and repairing material air bag are respectively communicated with the left side and the right side below the spray agent sliding block, the cleaning solution spraying gun and the filling and the repairing material sliding block are respectively arranged, the left side and the left side of the spray agent sliding block and the spray agent sliding block is respectively, and the second camera is used for monitoring and repairing the condition of the inner wall of the pipeline defects.
  8. 8. The pipeline robot for accurately positioning and repairing the pipeline defect according to claim 6, wherein the pipe diameter adaptation component consists of hinge supports, connecting rods and pins, the pipe diameter adaptation component is diamond-shaped as a whole, the back sides of the four hinge supports are respectively and fixedly connected to the second hydraulic cylinder, the inner wall of the bearing box, the front driving box or the outer wall of the rear driving box, and the pipe diameter adaptation component is used for adjusting the distance between the front driving boxes or the rear driving boxes at two sides, namely indirectly adjusting the distance between travelling wheels at two sides so as to adapt to different pipe diameter working conditions.
  9. 9. The pipeline robot for accurately positioning and repairing the pipeline defect according to claim 8, wherein the front driving box and the rear driving box are rectangular hollow boxes, sliding plate protruding bodies are arranged on the lower sides of the rectangular hollow boxes, the sliding plate protruding bodies are the same in size as the sliding grooves, free sliding of the front driving box and the rear driving box in the sliding grooves can be achieved, bearing sleeves are arranged on one sides of the inner walls of the front driving box and the rear driving box and are used for being movably connected with a driving shaft, driving bevel gears are arranged on one sides of the inner walls of the front driving box and the rear driving box and are connected to driving bevel gears and used for driving the driving shaft to rotate so as to drive traveling wheels to rotate, front wheel shaft holes and steering shaft holes are formed on one side of the front driving box, rear wheel shaft holes are formed on one side of the rear driving box, steering assemblies are arranged in the front driving box, steering shafts A of the steering assemblies are fixed on the inner walls of the front driving box, driving gear motors of the steering assemblies are fixed on the bottom plates of the front driving boxes, and steering shafts B of the steering assemblies penetrate through the steering shaft holes and are connected to steering trays.
  10. 10. The pipeline robot for accurately positioning and repairing the pipeline defect according to claim 9, wherein one end of a driving shaft is connected to the anti-slip wheel and the magnetic attraction wheel, the other end of the driving shaft is movably connected with a bearing sleeve on the front driving box or the rear driving box, a driven bevel gear is arranged on the driving shaft and is matched with the driving bevel gear, the driving bevel gear is driven by a driving bevel gear motor to rotate, the traveling wheel is further driven by the driving bevel gear to rotate, limiting rings are arranged on the driving shaft and are clamped on two sides of a shell of the front driving box or the rear driving box, and when the pipe diameter adaptation assembly pushes the front driving box or the rear driving box to move, the driving shaft and the traveling wheel move along with the front driving box or the rear driving box due to the clamping effect of the limiting rings.
  11. 11. The pipeline robot for accurately positioning and repairing the pipeline defect, which is disclosed by claim 10, is characterized in that the outer side of the anti-skid wheel is a rubber tire, the inner side of the anti-skid wheel is a steel wheel hub, the outer diameter of the magnetic attraction wheel is the same as that of the anti-skid wheel, a cylindrical groove is formed in the circumferential direction of the magnetic attraction wheel and is used for placing an electromagnetic core, the electromagnetic core is not magnetic when the electromagnetic core is not electrified, magnetism is generated when the electromagnetic core is electrified and can be adsorbed on the inner wall of a pipeline to be detected, a wheel connecting rod is arranged on the outer sides of the front anti-skid wheel and the rear anti-skid wheel on the same side, the wheel connecting rod is fixedly arranged on the anti-skid wheel hub, a magnetic probe is arranged in the middle of the wheel connecting rod, and one electromagnetic excitation is recorded when the magnetic probe passes through a Hall element, namely the anti-skid wheel and the magnetic attraction wheel rotate one circle.
  12. 12. The pipeline robot for accurately positioning and repairing the pipeline defect according to claim 1, wherein the steering assembly comprises a steering shaft A, a driving gear motor, a driven rack, a driving gear, a steering tray and a steering shaft B, wherein the steering shaft A and the steering shaft B are cylindrical rods, the diameter of the steering shaft A is larger than that of the steering shaft B, one end of the steering shaft A is fixedly connected to the inner wall of a front driving box, the other end of the steering shaft A is fixedly connected with the steering shaft B, one end of the steering shaft B is fixedly connected with the steering shaft A, the other end of the steering shaft B penetrates through a steering shaft hole on the side face of a front driving box to be fixedly connected with the steering tray, the steering tray is fixed on the back side of a magnetic attraction wheel and used for forcing the steering wheel to steer, a front wheel shaft hole is formed in the steering tray, a driving shaft of the front travelling wheel penetrates through the front wheel shaft hole, a driven rack is arranged on the bottom side of the steering shaft A, the driving gear is arranged below the driven rack, and the driving gear is meshed with the driven rack, and the driving gear A and the steering shaft B are driven by the driving gear motor fixed on a bearing bottom plate to move, so that the travelling wheel is controlled.
  13. 13. A method for detecting and repairing a pipe defect by using the pipe robot for accurately positioning and repairing a pipe defect according to claim 1, comprising the steps of: (1) Placing the pipeline robot into a pipeline to be detected, adjusting the distance between the travelling wheels at two sides by the pipe diameter adaptation component to adapt to the pipe diameter, controlling the supporting arm to prop up the image acquisition component and the image processor by the first hydraulic cylinder, enabling the laser generator to be aligned with the axis of the pipeline to be detected, driving the travelling wheels by the driving shaft, starting the image acquisition component and the image processor to carry out pipeline detection, and starting the Hall element to record travelling mileage; (2) Determining the shape and the size of the defect on the inner wall of the pipeline based on the analysis result of the image processor, and determining the mileage position of the defect on the inner wall of the pipeline based on the mileage recording result of the Hall element; (3) After the defect of the inner wall of the pipeline is found, in order to avoid damaging the image acquisition assembly in the annular advancing process along the wall of the pipeline, the heights of the image acquisition assembly and the image processor are reduced to be below the height of the baffle plate, in addition, an electromagnetic core in the magnetic attraction wheel is electrified, the magnetic attraction wheel generates magnetism, the advancing wheel at the front part is controlled to be turned through the turning assembly, the pipeline to be detected advances in the annular direction, and a second camera is started until the pipeline advances to the vicinity of the defect of the inner wall of the pipeline; (4) The pipeline robot continuously moves along the annular direction of the pipeline to be detected, the cleaning solution spray gun is controlled to clean and remove rust on the defect surface of the inner wall of the pipeline through the control center in the spray slider, the cleaning quality is checked through the second camera, after the cleaning is qualified, the pipeline robot repeatedly moves forward and backward along the annular direction of the pipeline and starts the filling repair material spray gun to repeatedly spray and fill the defect area of the inner wall of the pipeline, the filling repair condition is checked through the second camera, after the filling repair is qualified, the steering assembly enables the pipeline robot to steer and axially move along the pipeline to be detected, at the moment, the electromagnetic core in the magnetic attraction wheel is powered off, and the image acquisition assembly and the image processor are lifted to detect and repair at the next stage.

Description

Pipeline robot with wall climbing restoration function Technical Field The invention belongs to the technical field of pipeline detection, and particularly relates to a pipeline robot with a wall climbing repairing function, which is used for detecting, positioning and repairing defects of the inner wall of a pipeline. Background Along with the rapid increase of the construction mileage of the oil and gas conveying pipeline in China, corrosion pits inevitably appear on the inner wall of the long oil and gas conveying pipeline, and the continuous deepening of the corrosion pits inevitably reduces the service life of the pipeline, so that the detection in the pipeline and the repair of the defects on the inner wall become important steps in the maintenance of the pipeline. At present, magnetic flux leakage or ultrasonic detection or an image acquisition device such as a CCTV camera is generally adopted to acquire an image, and the defect condition of the inner wall of a pipeline is analyzed through signal or graphic processing, however, the shape and the position of the defect are difficult to accurately position by a magnetic flux leakage or ultrasonic detection technology, and the technical requirements of an image processing technology on personnel are high, so that the method is inconvenient for practical application and popularization. In addition, the above detection technique can only realize detection and cannot accurately repair the corrosion pit after positioning the corrosion pit. Therefore, the development and design of the pipeline robot can simultaneously realize detection and repair in the pipeline, and the detection is accurate and efficient and the operation is simple. Disclosure of Invention In order to overcome the defects of the prior art, the invention provides a pipeline robot with a wall climbing repairing function, which consists of a detection and image processing mechanism and a traveling and repairing mechanism, wherein a laser ring is generated through a laser generator, a camera records a laser ring image and transmits the laser ring image to an image processor, the image processor analyzes and determines the shape and the size of the defects of the inner wall of the pipeline, a Hall element records the mileage position of the defects of the inner wall of the pipeline, a wall climbing bypassing function is realized based on a magnetic attraction wheel, the defects are repaired by using filling repairing materials, and a pipe diameter adaptation component is innovatively designed to adapt to different pipe diameter working conditions. The invention solves the problems that the existing detection technology cannot accurately position the defect position, has high labor cost, cannot synchronously realize the repair of the pipeline defect, and the like. In order to achieve the above purpose, the technical scheme adopted by the patent is as follows: The pipeline robot for accurately positioning and repairing pipeline defects mainly comprises a detection and image processing mechanism and a traveling and repairing mechanism, wherein the detection and image processing mechanism consists of a baffle plate, an image processor, an image acquisition assembly, a sealing top plate and a gas collecting valve, the image acquisition assembly consists of a first camera and a laser generator, the laser generator emits laser to form a laser ring on the inner wall of a pipeline to be detected, the first camera shoots and records the shape of the laser ring, a shape image of the laser ring is transmitted to the image processor, the image processor analyzes and determines the shape and the size of the defect on the inner wall of the pipeline according to the circumferential curvature of the laser ring, the traveling and repairing mechanism consists of a traveling wheel, a Hall element, a bearing box, a driving shaft, a steering assembly and a pipe diameter adaptation assembly, wherein the traveling wheel consists of an anti-pulley and a magnetic attraction wheel, the anti-pulley is adopted in the axial detection process of the pipeline to be detected, the Hall element is used for metering and recording the mileage position of the defect on the inner wall of the pipeline to be detected, the driving shaft is used for driving the anti-pulley and the magnetic attraction wheel, the steering assembly is used for controlling the traveling direction of the pipeline robot, and the pipe diameter adaptation assembly consists of a support, a connecting rod and a pin and two sides of different working conditions are adapted to the distance between the traveling wheels. In the above technical scheme, preferably, the image acquisition assembly is mounted on the front side of the image processor, and is composed of a first camera and a laser generator, the laser generator is located in the middle of the front end of the image acquisition assembly, and the first camera is uniformly distributed along the circumferential