CN-121977635-A - Four-foot robot-based autonomous line inspection detection method and device for buried pipeline

CN121977635ACN 121977635 ACN121977635 ACN 121977635ACN-121977635-A

Abstract

The invention provides an autonomous line inspection detection method and device for buried pipelines based on a quadruped robot, wherein the method comprises the steps that the quadruped robot obtains azimuth, burial depth and damage information of the buried pipelines by means of signals output by a Pulse Code Modulation (PCM) detection module; the method comprises the steps of driving a robot to accurately position a pipeline according to pipeline azimuth signals and pipeline trend data, determining depth position information by utilizing pipeline buried depth data, constructing a buried pipeline GIS map according to pipeline position data, driving the robot to position a damaged point of an anti-corrosion layer according to pipeline current data and probe detection signals, guiding the robot to move by utilizing the constructed buried pipeline GIS map, and conducting cathodic protection potential detection by utilizing CIPS. The invention solves the technical problem that the four-legged robot cannot independently carry out line inspection detection under the condition that the buried pipeline is not supported by GIS data, and realizes synchronous execution of the inspection task and the line inspection path by cooperatively linking the inspection function and the motion control, thereby remarkably improving the inspection efficiency and accuracy.

Inventors

ZHANG YUYUAN
ZHOU YUNYI
SHI KUN
CAI KANGJIAN
GUO XINRAN
JI ZHIAN
WANG XIAOLAN
LIU ZECHEN
HE YU

Assignees

中国特种设备检测研究院

Dates

Publication Date: 20260505
Application Date: 20251222

Claims (15)

1. The method for detecting the autonomous line inspection of the buried pipeline based on the quadruped robot is characterized by comprising the following steps of: Acquiring a pipeline azimuth signal, pipeline burial depth data, pipeline current data and an anticorrosive layer damage probe detection signal of a buried pipeline, which are acquired by a receiver coil detection module in the advancing process of the quadruped robot; Driving a quadruped robot positioning pipeline according to the pipeline azimuth signal, determining buried pipeline positioning data by combining pipeline buried depth data, and constructing a pipeline GIS map according to the buried pipeline positioning data; Positioning damage points of the anticorrosive layer according to the pipeline current data and the detection signal of the anticorrosive layer damage probe to generate an anticorrosive layer damage detection result; driving the quadruped robot to travel according to the pipeline GIS map, detecting the potential of the buried pipeline by CIPS in the traveling process, measuring the potential difference between the pipeline and soil by a reference electrode, and judging the cathodic protection condition of the pipeline; And generating a buried pipeline detection result according to the pipeline GIS map, the corrosion-resistant layer damage detection result and the pipeline cathodic protection condition.
2. The four-legged robot-based autonomous line inspection detection method for buried pipelines, according to claim 1, is characterized in that a receiver coil detection module and a probe detection module are integrated on the four-legged robot; the pipeline azimuth signal, the pipeline burial depth data, the pipeline current data and the anticorrosive coating damage probe detection signal of the buried pipeline, which are acquired by utilizing the receiver coil detection module in the advancing process of the four-legged robot, are acquired, and the method comprises the following steps: collecting pipeline azimuth signals, pipeline burial depth data and pipeline current data of the buried pipeline through the receiver coil detection module; And collecting detection signals of the damaged probes of the anticorrosive coating through the probe detection module.
3. The four-legged robot-based autonomous line inspection detection method for buried pipelines according to claim 2, wherein the receiver coil detection module comprises a signal receiving coil movable on a guide rail; according to the pipeline azimuth signal, driving a quadruped robot positioning pipeline, and determining buried pipeline positioning data by combining pipeline buried depth data, comprising: judging whether the pipeline azimuth signal is right below the four-foot robot or not, and whether the central line of the four-foot robot is parallel to the central line of the pipeline or not; if the two positions are the current positions of the four-legged robots and the corresponding pipeline buried depth data, buried pipeline positioning GIS data are generated, and the current positions of the four-legged robots are satellite positioning positions; And if at least one of the four-foot robots is not, correcting the detection position and the gesture of the four-foot robot according to the pipeline azimuth signal and the relative position of the signal receiving coil and the guide rail, and repeatedly executing the steps of judging whether the pipeline azimuth signal is right under the four-foot robot and whether the central line of the four-foot robot is parallel to the central line of the pipeline.
4. The four-legged robot-based buried pipeline autonomous line inspection method according to claim 3, wherein the pipeline orientation signal includes a pipeline direction signal and a pipeline position signal; the correcting the detection position and the gesture of the quadruped robot according to the pipeline azimuth signal and the relative position of the signal receiving coil and the guide rail comprises the following steps: judging whether the offset of the current position of the quadruped robot relative to the position right above the pipeline is larger than a preset first distance or not according to the pipeline position signal; if so, controlling the quadruped robot to move along the pipeline position signal according to a preset first distance, and repeatedly executing the step of judging whether the offset of the current position of the quadruped robot relative to the position right above the pipeline is larger than the preset first distance according to the pipeline position signal; If not, adjusting the gesture of the quadruped robot according to the pipeline direction signal so that the central line of the quadruped robot is parallel to the central line of the pipeline; And controlling the signal receiving coil to horizontally move on the guide rail along the pipeline position signal according to a preset second distance until the signal receiving coil is positioned at the limit position on the guide rail, and repeatedly executing the steps of judging whether the pipeline azimuth signal is right below the four-foot robot and whether the central line of the four-foot robot is parallel to the central line of the pipeline.
5. The autonomous line inspection method for buried pipelines based on the quadruped robot according to claim 1, wherein the constructing a pipeline GIS map according to the buried pipeline positioning data comprises: And constructing the pipeline GIS map according to the buried pipeline positioning data determined in the advancing process of the quadruped robot through a GIS technology.
6. The four-legged robot-based autonomous line inspection detection method for buried pipelines according to claim 1, wherein the anticorrosive-layer damage-probe detection signals comprise anticorrosive-layer damage result signals and 2-group probe measurement azimuth signals; The method for positioning the damage point of the anticorrosive layer according to the current data of the pipeline and the detection signal of the damage probe of the anticorrosive layer, generating the damage detection result of the anticorrosive layer, comprises the following steps: judging whether the corrosion-resistant layer is damaged or not according to the pipeline current data and the corrosion-resistant layer damage result signal; if so, positioning the damage point of the anticorrosive layer according to the current position of the quadruped robot and the corresponding 2 groups of probe measurement azimuth signals, and generating the position of the damage point of the anticorrosive layer; generating a detection result of the damage of the anticorrosive layer at the current position according to the position of the damage point of the anticorrosive layer; if the corrosion-resistant layer is not present, a detection result that the corrosion-resistant layer is not damaged at the current position is generated.
7. The autonomous line inspection method for buried pipelines based on a quadruped robot according to claim 6, wherein the judging whether the anticorrosive layer is damaged according to the pipeline current data and the anticorrosive layer damage result signal comprises the following steps: judging whether the signal difference value between the current pipeline current data and the previous pipeline current data is larger than a preset difference value threshold value or not, and judging whether the damage result signal of the anticorrosive layer is damaged or not; if at least one of the layers is yes, determining that the corrosion-resistant layer is damaged; if not, determining that the corrosion-resistant layer is not damaged.
8. The autonomous line inspection method for buried pipelines based on a quadruped robot according to claim 6, wherein the positioning of the damage points of the anticorrosive layer according to the current position of the quadruped robot and the corresponding 2 groups of probe measurement azimuth signals, and the generation of the positions of the damage points of the anticorrosive layer comprise the following steps: Determining 2 groups of probe measurement azimuth signals corresponding to the current position of the quadruped robot as reference azimuth signals; Controlling the quadruped robot to move along the direction indicated by the 2 groups of probe measurement azimuth signals according to a preset third distance; Judging whether 2 groups of probe measurement azimuth signals corresponding to the moved positions of the four-foot robot are opposite to the reference azimuth signals; if yes, determining the position of the four-foot robot after moving as the position of the damage point of the anticorrosive coating; And if not, repeating the step of controlling the four-legged robot to move along the direction indicated by the 2 groups of probe measurement azimuth signals according to the preset third distance.
9. The autonomous line inspection method for buried pipelines based on quadruped robots according to claim 1, wherein the driving the quadruped robots to travel according to the pipeline GIS map, and performing potential detection on the buried pipelines by CIPS during travel, measuring the potential difference between the pipelines and soil by a reference electrode, and judging the cathodic protection condition of the pipelines comprises: after the detection of the damage point of the anticorrosive coating is completed, taking the end point of the pipeline GIS map as the starting point of cathode protection potential detection of the quadruped robot, controlling the quadruped robot to perform potential detection on the buried pipeline by CIPS according to a preset distance interval in the running process, measuring the potential difference between the pipeline and soil through a reference electrode, and judging the cathode protection condition of the pipeline.
10. The quadruped robot-based autonomous line inspection method of a buried pipeline of claim 9, further comprising: And taking the starting point of the pipeline GIS map as the starting point of the four-foot robot for pipeline positioning detection, pipeline current detection, corrosion-resistant layer damage point detection and cathode protection potential detection, and controlling the four-foot robot to sequentially finish pipeline positioning detection, pipeline current detection, corrosion-resistant layer damage point detection and cathode protection potential detection in a single walking process.
11. The autonomous line inspection method for buried pipelines based on a quadruped robot according to claim 1, further comprising, before the acquiring of the pipeline azimuth signal, the pipeline buried depth data, the pipeline current data and the anticorrosive layer damage probe detection signal of the buried pipeline acquired by the receiver coil detection module during the traveling of the quadruped robot: Judging whether a pipeline GIS map exists or not; If the detection result exists, the quadruped robot is controlled to travel along the pipeline GIS map, and the detection of the damage point of the anti-corrosion layer and the detection of the cathodic protection potential are carried out in the traveling process, or the detection of the cathodic protection potential is carried out in the returning process, so as to generate the detection result of the buried pipeline; And if the detection signal does not exist, executing the steps of acquiring the pipeline azimuth signal, the pipeline burial depth data, the pipeline current data and the corrosion-resistant layer damage probe detection signal of the buried pipeline acquired by the receiver coil detection module in the advancing process of the quadruped robot.
12. Four-legged robot-based buried pipeline autonomous line inspection detection device, characterized in that the device comprises: The acquisition unit is used for acquiring a pipeline azimuth signal, pipeline burial depth data, pipeline current data and an anticorrosive layer damage probe detection signal of the buried pipeline, which are acquired by the receiver coil detection module in the advancing process of the quadruped robot; The pipeline GIS map construction unit is used for driving the four-foot robot positioning pipeline according to the pipeline azimuth signal, determining buried pipeline positioning data by combining pipeline buried depth data, and constructing a pipeline GIS map according to the buried pipeline positioning data; The damage point detection unit is used for positioning damage points of the anticorrosive layer according to the pipeline current data and the detection signal of the anticorrosive layer damage probe to generate an anticorrosive layer damage detection result; The cathode protection state detection unit is used for driving the quadruped robot to travel according to the pipeline GIS map, carrying out potential detection on the buried pipeline by CIPS in the traveling process, measuring the potential difference between the pipeline and soil through the reference electrode, and judging the cathode protection state of the pipeline; and the buried pipeline detection result generating unit is used for generating a buried pipeline detection result according to the pipeline GIS map, the corrosion-resistant layer damage detection result and the pipeline cathodic protection condition.
13. A computer readable medium having stored thereon a computer program, characterized in that the program when executed by a processor implements the autonomous line inspection method for buried pipelines based on a quadruped robot according to any one of claims 1 to 11.
14. A computer device comprising a memory for storing information including program instructions and a processor for controlling execution of the program instructions, wherein the program instructions when loaded and executed by the processor implement the autonomous line inspection method for buried pipelines based on a quadruped robot of any one of claims 1 to 11.
15. A computer program product comprising computer programs/instructions which, when executed by a processor, implement the autonomous line inspection method for buried pipes based on a quadruped robot according to any one of claims 1 to 11.

Description

Four-foot robot-based autonomous line inspection detection method and device for buried pipeline Technical Field The invention relates to the technical field of pipeline detection, in particular to an autonomous line inspection detection method and device for buried pipelines based on a quadruped robot. Background Buried pipelines are used as an important infrastructure for energy transportation, and due to the characteristics of buried laying, corrosion protection states and buried parameters of the pipelines need to be detected regularly to ensure operation safety. Traditional detection mainly relies on manual inspection, and the inspector needs to carry equipment to perform hiking operation along a pipeline path, so that the labor intensity is high, the operation environment is bad, the efficiency is low, and the detection quality is greatly influenced by human factors. With the development of robot technology, the adoption of an intelligent mobile carrier to replace manual execution of an out-pipeline detection task becomes an important direction for improving the automation level of detection. At present, a pipeline inspection robot platform performs path planning and positioning navigation by relying on satellite navigation and a pre-established Geographic Information System (GIS) so as to realize autonomous inspection. However, the technical scheme has obvious limitations that firstly, for buried pipelines which do not establish accurate GIS data, or in areas with weak satellite signals and serious terrain shielding, accurate positioning and path tracking cannot be realized only by means of geographic information navigation, so that line inspection fails, and secondly, the existing inspection robot is not generally integrated with a professional buried pipeline detection technology module, and an effective cooperative mechanism is lacking between a detection function and robot motion control, so that professional detection of PCM and CIPS cannot be performed by using the robot. In summary, in the prior art, autonomous line inspection is difficult to realize in a scene of lacking priori GIS information support, and the fusion degree of a robot platform and a professional pipeline detection technology is low, the detection and motion control cooperativity is poor, and the comprehensive requirements of buried pipeline external detection on positioning precision, detection integrity and operation efficiency cannot be met. Therefore, a pipeline inspection method and system capable of realizing autonomous positioning line inspection by fusing detection signals, effectively integrating various detection functions and realizing detection and motion cooperative control is needed. Disclosure of Invention The invention aims to provide an autonomous line inspection detection method for buried pipelines based on a quadruped robot, which solves the technical problem that the buried pipeline detection robot cannot independently inspect lines in a GIS-free data supporting environment, realizes the synchronous execution of detection tasks and line inspection paths by cooperating detection functions with motion control, effectively improves the detection efficiency and the accuracy and the integrity of detection results, and meanwhile dynamically builds a pipeline GIS map in the line inspection process, provides navigation references for subsequent detection, realizes autonomous improvement of basic geographic information of the pipelines, enhances the universality and the expandability of the system, and meets the comprehensive requirements of the detection outside the buried pipelines on positioning precision, detection integrity and operation efficiency. The invention further aims to provide an autonomous line inspection device for buried pipelines based on a quadruped robot. It is yet another object of the present invention to provide a computer readable medium. It is a further object of the invention to provide a computer device. In order to achieve the above purpose, the invention discloses an autonomous line inspection method for buried pipelines based on a quadruped robot, which comprises the following steps: Acquiring a pipeline azimuth signal, pipeline burial depth data, pipeline current data and an anticorrosive layer damage probe detection signal of a buried pipeline, which are acquired by a receiver coil detection module in the advancing process of the quadruped robot; driving a four-foot robot positioning pipeline according to the pipeline azimuth signal, determining buried pipeline positioning data by combining pipeline buried depth data, and constructing a pipeline GIS map according to the buried pipeline positioning data; positioning the damage point of the anticorrosive layer according to the pipeline current data and the detection signal of the damage probe of the anticorrosive layer to generate a detection result of damage of the anticorrosive layer; driving the quadruped robot to travel according