Title:
PIPELINE THREE-DIMENSIONAL CURVE MEASURING ROBOT AND IMPLEMENTATION METHOD THEREFOR
Document Type and Number:
WIPO Patent Application WO/2020/151363
Kind Code:
A1
Abstract:
A pipeline three-dimensional curve measuring robot and an implementation method therefor. The measuring robot comprises: an electronic bin (20); sliding rods (10) connected to the centers of both sides of the electronic bin (20); wheel brackets connected to the sliding rods (10) by means of linear bearings (102); at least two sets of walking wheels (103) uniformly distributed on the wheel brackets; at least one set of odometer wheels (104) provided on the sliding rod (10) at on one side of the electronic bin (20) and mounted with an independent contraction wheel carrier; and encoders (105) mounted on the odometer wheels (104). Springs (101) are mounted on the sliding rods (10) at both ends of the linear bearing (102). The electronic bin (20) is internally provided with an inertia measurement unit (201), a collection control module, and a power supply module. Each set of walking wheels (103) is contracted synchronously by means of the spring (101), so that the geometric center of the inertia measurement unit (201) is located on the central axis of the electronic bin (20). The collection control module controls the inertia measurement unit (201) and the encoders (105) to synchronously collect measurement data, and compares a three-dimensional curve calculated according to the measurement data with three-dimensional curve data at a pipeline reference moment to obtain the deformation amount of a pipeline three-dimensional curve. According to the measuring robot, the measuring points are always kept on the central axis of the pipeline by synchronous tensioning of the walking wheels (103), and high-precision mileage measurement is realized by independent tensioning of the odometer wheels (104).
Inventors:
LI QINGQUAN (CN)
CHEN ZHIPENG (CN)
YIN YU (CN)
CHENG XIANG (CN)
ZHU JIASONG (CN)
CHEN ZHIPENG (CN)
YIN YU (CN)
CHENG XIANG (CN)
ZHU JIASONG (CN)
Application Number:
PCT/CN2019/121384
Publication Date:
July 30, 2020
Filing Date:
November 28, 2019
Export Citation:
Assignee:
UNIV SHENZHEN (CN)
International Classes:
F16L55/30; G01B21/20; G01B21/32; F16L101/30
Foreign References:
| CN109780370A | 2019-05-21 | |||
| CN110260881A | 2019-09-20 | |||
| CN107576316A | 2018-01-12 | |||
| CN104567915A | 2015-04-29 | |||
| CN103244830A | 2013-08-14 | |||
| US3755908B1 | 1992-10-27 | |||
| RU2111453C1 | 1998-05-20 |
Attorney, Agent or Firm:
JOHNSON INTELLECTUAL PROPERTY AGENCY(SHENZHEN) (CN)
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