基于视觉与激光融合的柔性压裂管线检测机器人

Flexible Fracturing Pipeline Inspection Robot Based on Vision and Laser Fusion

柔性压裂管线作为一种新型压裂管汇,能有效提升压裂作业时管线连接效率。为了保障柔性压裂管线安全服役,并面向现场使用需求,研制了一种基于视觉与激光融合的柔性压裂管线检测机器人。机器人主要由爬行装置、视频检测装置、激光旋转检测装置和控制模块组成,并基于混合现实技术提高机器人检测交互体验。机器人通过视频检测和激光测量分别获得柔性压裂管线的图像信息与轮廓信息,在此基础上综合评估管线内部橡胶层磨损状况,从而有效预测和规避柔性压裂管线失效风险。最后,通过试制样机开展试验,验证了该机器人能够满足设计需求,具备较好的推广前景。

As a new type of fracturing pipeline manifold,flexible fracturing pipeline can effectively improve the efficiency of pipeline connection during fracturing operation.In order to ensure the safe service of flexible fracturing pipeline and to meet the field requirements,this paper proposes and develops a flexible fracturing pipeline inspection robot based on vision and laser fusion.The robot is mainly composed of a crawling mechanism,a video inspection system,a laser rotation inspection system and a control module.The interactive experience of the robot inspection is improved based on mixed reality technology.The robot obtains image and contour information of the flexible fracturing pipeline through video inspection and laser measurement respectively,based on which it comprehensively evaluates the wear condition of the internal rubber layer of the pipeline and thus effectively predicts and avoids the failure risk of the flexible fracturing pipeline.Finally,the prototype is tested to verify that the robot can meet the design requirements and has good prospects for popularization.