CN104948916A - Circularly-surrounding underwater fish-shaped robot underwater pipeline detecting device and method - Google Patents

Abstract

The invention discloses an underwater pipe detection device and a detection method for a circular fish-shaped robot surrounding an underwater, and relates to an underwater robot. The underwater pipeline detection device of the circular underwater fish-shaped robot is equipped with an early warning module, an image processing module, an embedded controller, an optical vision module and a sensor module. The fish-shaped underwater robot circles around the pipeline; the optical imaging sensor collects image information around the underwater pipeline in real time; the embedded controller receives and processes the real-time surrounding image information of the optical vision module and the sensing signal of the sensor module, and then transmits to the image processing module; the image processing module receives the image information processed by the embedded controller, and judges whether there is a crack in the pipeline or whether the corrosion is so severe that it cannot be ignored. When the module is working, the pipeline detected by the underwater robot has potential safety hazards; the fish-shaped underwater robot moves down a certain distance and continues to move around in a circle.

Description

Circular surrounding underwater fish-shaped robot underwater pipeline detection device and detection method

technical field

The invention relates to an underwater robot, in particular to a detection device and a detection method for an underwater pipeline of a circular underwater fish-shaped robot.

Background technique

With the rapid development of the economy, the demand for oil is becoming more and more urgent, and more attention has been paid to the exploitation of offshore oil fields. Underwater pipelines are a common way to connect subsea oilfields to the land surface, but no matter what the device is, it will have a certain service life due to the erosion of the external environment. Factors such as sediment corrosion on the water pipe wall, stress corrosion and other factors cause cracks in the pipeline. These Corrosion is random, so detecting water pipes is a necessary task.

Traditional underwater robots are mainly divided into two categories: one is a slender body shape, and the other is an open frame. The slender body is mainly designed in consideration of the hydrodynamic characteristics. The fish shape is a good slender body shape in the ocean, which allows the underwater robot to have a fish-like propulsion rate, high swimming speed and excellent Athletic flexibility performance.

Contents of the invention

The purpose of the present invention is to solve the traditional problem of single thrust direction and poor maneuverability, etc., and provide an underwater pipeline detection device and detection method for a circular underwater fish-shaped robot with efficient propulsion and flexible maneuverability.

The underwater pipeline detection device of the circular underwater fish-shaped robot is provided with an early warning module, an image processing module, an embedded controller, a light vision module and a sensor module; the light vision module is provided with an optical imaging sensor, a cloud platform and an auxiliary lighting lamp; the sensor module is provided with a depth sensor, a speed sensor, an attitude sensor, a sonar sensor, a battery monitoring sensor and a thruster monitoring sensor;

The output end of the image processing module is connected with the input end of the early warning module, and the output end of the embedded controller is connected with the input end of the image processing module;

The optical imaging sensor and the auxiliary light are respectively arranged on the platform; the signal output end of the optical imaging sensor is connected with the signal input end of the embedded controller;

The signal output end of the depth sensor, the signal output end of the speed sensor, the signal output end of the attitude sensor, the signal output end of the sonar sensor, the signal output end of the battery monitoring sensor and the signal output end of the thruster monitoring sensor are respectively connected with the embedded Connected to the signal input terminal of the type controller.

The circular surrounding underwater fish-shaped robot underwater pipeline detection method adopts the circular surrounding underwater fish-shaped robot underwater pipeline detection device, and the detection method includes the following steps:

Step 1, the fish-shaped underwater robot circles around the pipeline from a starting point on the water surface;

Step 2, the optical imaging sensor of the optical vision module collects the surrounding image information of the underwater pipeline in real time; the depth information, speed information, attitude information, front image information, and battery status information of the underwater robot are collected in real time through the sensor module and thruster status information;

In step 2, the specific method for collecting the depth information, speed information, attitude information, front image information, battery status information and thruster status information of the underwater robot in real time through the sensor module may be:

Using a depth sensor to measure the depth of the underwater robot in the water, converting the measured depth data into a depth voltage signal and transmitting it to the embedded controller;

Using a speed sensor to measure the navigation speed of the underwater robot in the water, converting the measured navigation speed data into a speed voltage signal and transmitting it to the embedded controller;

Using an attitude sensor to measure the attitude of the underwater robot underwater, converting the measured direction data into a voltage signal and transmitting it to the embedded controller;

The sonar sensor is used to measure the forward-looking environment of the underwater robot, and the measured image data is converted into a voltage signal and transmitted to the embedded controller;

Using a battery monitoring sensor to measure the speed of the propeller of the underwater robot, converting the measured battery pack state data into a voltage signal and transmitting it to the embedded controller;

The thruster monitoring sensor is used to measure the speed of the propeller of the underwater robot, and the measured speed signal of the propeller is converted into a voltage signal and transmitted to the embedded controller.

Step 3, the embedded controller respectively receives and processes the surrounding image information of the real-time underwater pipeline of the optical vision module and the sensing signal of the sensor module, and transmits them to the image processing module after processing;

Step 4, the image processing module receives the processed image information from the embedded controller, and judges whether the pipeline has cracks or whether the corrosion is so serious that it cannot be ignored, and if this is reached, a warning is issued to request output to the early warning module;

In step 4, image features of cracks, damage, and serious corrosion in the pipeline need to be stored in the image processing module; the image processing module will compare the image received from the embedded controller in real time, if it is consistent with the existing pipeline wear feature If they agree, pass the relevant staff immediately.

In step 5, the early warning module notifies the relevant staff in a certain way. If the early warning module works, it means that the pipeline detected by the underwater robot has potential safety hazards.

Step 6, the fish-shaped underwater robot moves down for a certain distance, and then continues to move around in a circle.

In step 6, the downward movement by a certain distance depends on the height of image acquisition when the fish-shaped underwater robot circles around.

The invention provides an underwater robot for detecting underwater pipelines, so that the fish-shaped robot can realize real-time image transmission, ensure the safety of complex underwater operations through an early warning module, and complete the detection and tracking task of underwater pipelines. The fish-shaped robot can flexibly move around a circle. When starting from a starting point, it circles around and returns to this starting point, and then begins to move up or down for a certain distance. This distance is adjusted according to the detection range around the pipeline. After moving the vertical distance , start the circular path wrap around again for pipe inspection on the same vertical line as the starting point.

The beneficial effects of the present invention are: the fish-like robot can improve the flexibility of the robot's movement. It is common to move left and right according to the speed of the propellers on the left and right sides at different times and in different directions. For fish in the ocean, at the tail of the robot, flippers are distributed on the upper, lower, left, and right sides and are connected with movable fins. In addition, by collecting images in real time to the operation console, once a problem is found, it will immediately call the police to improve the safety of underwater pipelines.

Description of drawings

Fig. 1 is a structural block diagram of an underwater pipeline detection method of a circular fish-shaped robot surrounding the water according to the present invention.

Fig. 2 is a schematic flowchart of an underwater pipeline detection method of a circular fish-shaped robot surrounding the water according to the present invention.

Detailed ways

The present invention will be further elaborated below by describing a preferred specific embodiment in detail in conjunction with the accompanying drawings.

As shown in Figure 1, the embodiment of the underwater pipeline detection device of the circular underwater fish-shaped robot is provided with an early warning module 10, an image processing module 11, an embedded controller 12, an optical vision module 13 and a sensor module 14; The optical vision module 13 is provided with an optical imaging sensor 131, a pan/tilt 132 and an auxiliary light 133; the sensor module 14 is provided with a depth sensor 141, a speed sensor 142, an attitude sensor 143, a sonar sensor 144, and a battery monitoring sensor 145 and thruster monitoring sensor 146 .

The output end of the image processing module 11 is connected to the input end of the early warning module 10 , and the output end of the embedded controller 12 is connected to the input end of the image processing module 11 .

The optical imaging sensor 131 and the auxiliary lighting lamp 133 are respectively arranged on the platform 132 ; the signal output end of the optical imaging sensor 131 is connected with the signal input end of the embedded controller 12 .

The signal output end of the depth sensor 141, the signal output end of the speed sensor 142, the signal output end of the attitude sensor 143, the signal output end of the sonar sensor 144, the signal output end of the battery monitoring sensor 145 and the thruster monitoring sensor 146 The signal output terminals are respectively connected to the signal input terminals of the embedded controller 12 .

The fish-shaped robot moves according to the set radius, which can be manually adjusted. After a circle, that is, after the image acquisition is completed, the downward moving distance is the height of the collected image to continue the next detection.

As shown in Figure 2, a circular underwater fish-shaped robot underwater pipeline detection method includes the following steps:

Step 1, the fish-shaped underwater robot circles around the pipeline from a starting point on the water surface.

Step 2, the optical imaging sensor 131 of the optical vision module 13 collects the surrounding image information of the underwater pipeline in real time; the depth information, speed information, attitude information, and front image of the underwater robot are collected in real time through the sensor module 14 information, battery status information, and thruster status information.

Step 2.1, the depth sensor 141 measures the depth of the underwater robot in the water, and converts the measured depth data into a depth voltage signal and sends it to the embedded controller 12;

Step 2.2, the speed sensor 142 measures the navigation speed of the underwater robot in the water, and converts the measured navigation speed data into a speed voltage signal and transmits it to the embedded controller 12;

Step 2.3, the attitude sensor 143 measures the attitude of the underwater robot, and converts the measured direction data into a voltage signal and transmits it to the embedded controller 12;

Step 2.4, the sonar sensor 144 measures the forward-looking environment of the underwater robot, and converts the measured image data into a voltage signal and transmits it to the embedded controller 12;

Step 2.5, the battery monitoring sensor 145 measures the speed of the propeller of the underwater robot, and converts the measured battery pack state data into a voltage signal and transmits it to the embedded controller 12;

Step 2.6, the propeller monitoring sensor 146 measures the rotational speed of the propeller of the underwater robot, converts the measured propeller rotational speed signal into a voltage signal and transmits it to the embedded controller 12 .

Step 3, the embedded controller 12 respectively receives and processes the surrounding image information of the real-time underwater pipeline of the optical vision module 13 and the sensing signal of the sensor module 14, and transmits them to the image processing module 11 after processing;

Step 4, the image processing module 11 receives the processed image information from the embedded controller 12, and judges whether there are cracks in the pipeline or whether the corrosion is so serious that it cannot be ignored. Early warning module 10;

Step 4.1, in the image processing module 11, image features such as cracks, damage, and serious corrosion in the pipeline need to be stored;

In step 4.2, the image processing module 11 will compare the image received from the embedded controller in real time, and if it is consistent with the existing pipeline wear characteristics, immediately pass through the relevant staff.

In step 5, the early warning module 10 notifies the relevant staff in some way. If the early warning module 10 works, it means that the pipeline detected by the underwater robot has potential safety hazards.

Step 6, the fish-shaped underwater robot moves downward for a certain distance, and then continues to move around in a circle.

In step 6.1, the distance to move downward depends on the height of image acquisition when the fish-shaped underwater robot circles around.

The path of the fish robot is circular, and the radius of the circle can be adjusted. The invention can detect the outside of the pipeline and the condition of the pipeline on the seabed, mainly detecting the erosion around the pipeline, the supporting condition of the pipeline, the outer wall of the pipeline and its damage. The fish-shaped robot includes an early warning module, an image processing module, a sensor module, an optical vision module and an embedded controller. The sensor module and the optical vision module are respectively connected to the signal input end of the embedded controller, and the signal output end of the embedded controller is connected to the signal input end of the underwater optical transceiver. The fish-shaped robot of the present invention implements a circular circumnavigation path, and can detect and warn the underwater pipeline by controlling the underwater robot through the operation on the console.

Claims (5)

1. circular ring is around fish-shape robot submarine pipeline detection device under water, it is characterized in that being provided with warning module, image processing module, embedded controller, light vision module and sensor assembly; Described smooth vision module is provided with optical imaging sensor, The Cloud Terrace and assist illuminator; Described sensor assembly is provided with depth transducer, velocity transducer, attitude transducer, sonar sensor, battery cell monitoring sensor and propulsion device monitoring sensor;

The output terminal of described image processing module is connected with warning module input end, and the output terminal of described embedded controller is connected with image processing module input end;

Described optical imaging sensor, assist illuminator are separately positioned on The Cloud Terrace; The signal output part of described optical imaging sensor is connected with the signal input part of embedded controller;

The signal output part of the signal output part of described depth transducer, the signal output part of velocity transducer, attitude transducer, the signal output part of sonar sensor, the signal output part of battery cell monitoring sensor and the signal output part of propulsion device monitoring sensor are connected with the signal input part of embedded controller respectively.

2. circular ring is around fish-shape robot submarine pipeline detecting method under water, it is characterized in that adopting as claimed in claim 1 that circular ring is around fish-shape robot submarine pipeline detection device under water, and described detecting method comprises the following steps:

Step 1, fish shape underwater robot from a starting point of the water surface circular ring around pipeline;

Step 2, the optical imaging sensor of light vision module, carries out surrounding's image information of Real-time Collection submarine pipeline; The depth information of Real-time Collection underwater robot, velocity information, attitude information, image information in front, battery status information and propulsion device status information is carried out by described sensor assembly;

Step 3, embedded controller receives respectively and processes surrounding's image information of the real-time submarine pipeline of described smooth vision module, the transducing signal of sensor assembly, is transferred to image processing module through process;

Step 4, image processing module receives from the image information after described embedded controller process, judges whether pipeline has slight crack or whether seriously corroded is to the stage of can not ignore, if reach this stage, then the requirement that gives a warning outputs to warning module;

Step 5, warning module notifies relevant staff by certain mode, if warning module work, then illustrates that the pipeline that now underwater robot detects has potential safety hazard;

Step 6, fish shape underwater robot moves down certain distance, then continues to start circle and is rotated around.

3. as claimed in claim 2 circular ring around fish-shape robot submarine pipeline detecting method under water, it is characterized in that in step 2, the described concrete grammar carrying out the depth information of Real-time Collection underwater robot, velocity information, attitude information, image information in front, battery status information and propulsion device status information by described sensor assembly is:

Adopt depth transducer to measure the degree of depth of underwater robot in water, depth data will be recorded and be converted into degree of depth voltage signal and pass to described embedded controller;

Adopt velocity transducer to measure the headway of underwater robot in water, will record headway data transformations is that velocity voltage signal passes to described embedded controller;

Adopt attitude transducer to measure underwater robot attitude under water, bearing data will be recorded and be converted into voltage signal and pass to described embedded controller;

Adopt sonar sensor to measure underwater robot forward sight environment, image data will be recorded and be converted into voltage signal and pass to described embedded controller;

Adopt battery device monitoring sensor to measure underwater robot propeller rotating speed, will record battery state data transformations is that voltage signal passes to described embedded controller;

Adopt propulsion device monitoring sensor to measure underwater robot propeller rotating speed, propulsion device tach signal will be recorded and be converted into voltage signal and pass to described embedded controller.

4. circular ring, around fish-shape robot submarine pipeline detecting method under water, is characterized in that in step 4 as claimed in claim 2, needs to have the characteristics of image that crack, breakage, seriously corroded appear in pipeline in described image processing module; The image that image processing module wants real time contrast to receive from embedded controller, if consistent with the pipe wear feature had, then passes through relevant staff at once.

5. circular ring, around fish-shape robot submarine pipeline detecting method under water, is characterized in that in step 6 as claimed in claim 2, described in move down certain distance be depend on fish shape underwater robot circular ring around time IMAQ height.