CN105020538B - Sewage pipe network diving robot and detection method - Google Patents
Sewage pipe network diving robot and detection method Download PDFInfo
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- CN105020538B CN105020538B CN201510470372.5A CN201510470372A CN105020538B CN 105020538 B CN105020538 B CN 105020538B CN 201510470372 A CN201510470372 A CN 201510470372A CN 105020538 B CN105020538 B CN 105020538B
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- 230000009189 diving Effects 0.000 title claims abstract description 72
- 238000001514 detection method Methods 0.000 title claims abstract description 67
- 239000010865 sewage Substances 0.000 title claims abstract description 47
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 67
- 230000007547 defect Effects 0.000 claims abstract description 40
- 238000012423 maintenance Methods 0.000 claims abstract description 11
- 230000000694 effects Effects 0.000 claims description 13
- 238000007689 inspection Methods 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 11
- 239000000523 sample Substances 0.000 claims description 11
- 238000010276 construction Methods 0.000 claims description 9
- 238000005516 engineering process Methods 0.000 claims description 6
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- 239000000741 silica gel Substances 0.000 claims description 5
- 229910002027 silica gel Inorganic materials 0.000 claims description 5
- 239000004065 semiconductor Substances 0.000 claims description 4
- 238000013461 design Methods 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 3
- 239000004593 Epoxy Substances 0.000 claims description 2
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- 238000007726 management method Methods 0.000 description 5
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- 238000004891 communication Methods 0.000 description 3
- 238000011835 investigation Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000009975 flexible effect Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 229920002943 EPDM rubber Polymers 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
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- 239000002351 wastewater Substances 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/48—Indicating the position of the pig or mole in the pipe or conduit
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Sewage (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses a sewage pipe network diving robot and a detection method. A frame carrier is arranged on a robot body. A guide cranked lever is arranged on the frame carrier. A beam is arranged on the guide cranked lever. Crank arms are arranged on the beam and connected with a supporting rod. A bottom plate is arranged on the supporting rod. A connection shaft is arranged on the bottom plate and connected with a three-leg touch device in a rotating manner. A cover plate is arranged on the connection shaft. A balance device is arranged at the bottom of the cover plate. The detection method for the sewage pipe network diving robot includes the following steps that a, a pipeline information station is established; b, a detection system is assembled; c, high-pressure water jetting dredging is performed; d, underwater pipeline detection is conducted; and e, defect positioning and maintenance are conducted. The diving robot directly conducts pipeline detection underwater, the diving robot accurately capture pipeline defects in a dead-corner-free and all-directional manner in pipelines, all positions in the pipelines can be checked through one time of detection, detecting and positioning are highly accurate, cost is low, and efficiency is high.
Description
Technical field
The invention belongs to robot detection technique field, and in particular to a kind of sewage network diving robot and detection side
Method.
Background technology
Important component part of the sewage network as city, is the basic constituent element in a city, by sewage network
Sewage is collected, effluent standard after process, is reached, it is to avoid disorderly row leaves about sewage, protects the environment of existence.Therefore, control sewage
The construction quality of pipe-networks engineering is directly connected to the image in a city and environment, directly affects the life of resident.
Typically relatively lag behind for China's sewage network construction and management, problem present in its construction and management is also increasingly
Prominent, in this regard, in recent years, China increases the construction project to sewage network, sets up the mechanism being uniformly coordinated, and expands planning
Scope and depth, the globality of prominent planning, systematicness and preciseness, further investigate the construction of Xincheng District, the transformation of old town,
The planning of chemical industry enterprise wastewater the drain pollution management, the drain pollution management planning in town and country town, the class of region small-scale sewage treatment facility in city
Topic, according to the requirement of water pollution situation, city sewage discharge situation and improvement situation, makes implementary plan, strengthens to dirt
The construction and management of grid, improves constantly collection rate and treatment effeciency of the sewage network to sewage.
Sewage network is a system network, will result in chain reaction impact entirely when somewhere has problems or damages
The drainability of system.In order to be able to drainability to greatest extent, extend pipeline service life, it is necessary to the pipe detection of Erecting and improving
The maintenance means of appraisal procedure and science are regularly checked to which, are assessed, dredged and are repaired.
Therefore, to the condition detection inside pipeline it is raising collection rate and treatment effeciency important set of the sewage network to sewage
Into part, not only can science, the situation being visually known inside pipeline, or the pipeline maintenance of damage provides accurate
Data.In sewage network, pipe detection, using a set of robot device for integrating mechanization and intellectuality, records pipe at present
Concrete condition inside road.Diving closure, the rubber pneumatic bag auxiliary closure of pipeline and inspection shaft is first adopted in detection process, then is carried out
Draining and high pressure dredging, then carry out pipe detection, finally produce image data and word report.But need in detection process
The water yield in control pipeline is wanted less than the 5% of caliber, this causes pipe detection to operate more complicated, difficulty larger, needs flower
Expense more time and expense go to be detected；And find there are missing inspection feelings with the presence of the defect of section of tubing in detection process
Condition, technical staff have to carry out secondary detection, improve human cost.
The content of the invention
The invention provides a kind of sewage network diving robot and detection method, according to the detection pipeline section for marking off, adopt
Pipe detection is carried out with diving robot under water directly, diving robot lacks without dead angle, in all directions to pipeline in the duct
It is trapped into row precisely to catch, one-time detection can complete the investigation of all positions in pipeline, simple to operate, quick, and detects fixed
Position is high precisely, low cost, efficiency high.
The present invention is adopted the following technical scheme that：
A kind of sewage network diving robot, including control system on the bank and robot body, it is characterised in that：Robot
Body is provided with frame carrier, and the upper end of frame carrier is provided with buoyant mass, and frame carrier is provided with control cabinet, and control cabinet is provided with
Subsea Control Systems, Subsea Control Systems connect control system on the bank, are provided with the first photographic head and illuminating lamp, framework in control cabinet
Carrier is provided with propeller and sonar；Frame carrier is provided with guiding curved bar, is oriented to curved bar and is provided with crossbeam, and crossbeam is provided with song
Arm, cranks arm and is connected with support bar；Support bar is provided with chassis, and chassis is provided with connecting shaft, is rotatably connected to three feet in connecting shaft
Touching device, three feet touching device include three legs, and three legs are structure as a whole, and are rotatably connected to guiding on single leg
Wheel, connecting shaft are provided with cover plate, and cover plate is limited in three feet touching device in connecting shaft, and the bottom of cover plate is provided with bascule,
Return unit is provided between bascule and cover plate；Frame carrier is provided with line slideway, slidably connects lifting on line slideway
Platform, lifting platform are provided with mechanical hand, and line slideway is provided with second camera.
Further, crank arm including master arm and slave arm, master arm connection support bar, slave arm connecting cross beam, master arm
Push rod is provided with and slave arm between, and when directive wheel touches inner-walls of duct, the stress on support bar drives bending of cranking arm, and carries out
Cushioning effect, then in the presence of push rod, recovery initial condition of cranking arm is carried out buffering to touching next time and is prepared.
Further, silica gel pad is provided between the installing hole of connecting shaft and three feet touching device, silica gel pad has certain
Pliability, the natural viscosity in good compressibility and surface, can blind, complete connecting shaft and touch device with three feet
Connection between installing hole, plays a part of to be fixedly connected and damping.
Further, bascule includes housing, balance empennage and connecting plate, and balance empennage is balanced between connecting plate
, in housing, connecting plate connects return unit for empennage and connecting plate, when directive wheel touches inner-walls of duct, three feet touching device
Bascule is rotated and touches, the balance empennage in bascule is opened, in fan shape, under buoyancy of water effect, machine of diving under water
Device people is smoothly suspended in water, it is ensured that the accuracy that defect of pipeline catches.
Further, the underwater holder rotating speed of second camera is 6 °/S, and the pitching scope of second camera is ± 15 °, the
The scope that swings of two photographic head is ± 30 °, finely tunes second camera, can be by second camera precise positioning to defect of pipeline
On, carry out defect shooting.
Further, illuminating lamp adopts two LEDs, and the power of LED is 35W, and LED is by semiconductor die package in ring
In oxygen tree fat, LED adopts chemiluminescence technology, and two LEDs are to provide light source inside pipeline, facilitate underwater robot to shoot pipe
Each position inside road, technical staff will be clearly understood that concrete condition inside pipeline, be easy to judge.
A kind of sewage network diving robot detection method, it is characterised in that comprise the steps：
A () sets up duct size information station：The sewage network pipeline as-constructed drawing that construction unit provides is understood and is analyzed,
The pipe inner bottom absolute altitude of understanding pipeline, water (flow) direction, caliber, the well location that crosses are put and pipeline material, then are marked on drawing with red pen
Each joint and access point, analyze actually detected concrete distribution situation, mark off detection pipeline section, and then basis is analyzed
Datagram sets up the duct size information station of detection on the coast in control system；
B () assembles detecting system：Cable connection focusing electrod-array is popped one's head in, then will be focusing electrod-array probe solid
It is scheduled on the cover plate of the preposition design of diving robot, the cable for accessing that then focusing electrod-array is popped one's head in is wound into support
Bar, and cable is accessed in ashore control system along frame carrier；
C () water jetting at high pressure is dredged：High-Pressure Water jet-action is carried out to every section of pipeline section using water jetting at high pressure machine, by pipeline
Mud and rubbish be washed at inspection shaft, be then evacuated to carriage, mud and rubbish are forgotten about it appointed place by carriage to be carried out
Discharge；
D () submarine pipeline is detected：Diving robot control electric switch is opened, diving robot is put into from inspection shaft
In water, pipe detection in first order pipeline section is carried out, illuminating lamp is opened by control system on the bank, illuminating lamp is arranged on diving machine
People's front and back position, it is ensured that one section of pipeline illuminates before and after diving robot, and opens the first photographic head, with the first photographic head to pipe
Situation inside road carries out the operation of real-time imaging monitoring, record, video capture, opens propeller, according to pipeline hydraulic pressure and water
The practical situation of stream, controls angle of rake rotating speed, then by wireless controller Remote diving robot, to robot of diving under water
Transmitting control commands, diving robot carry out underwater 3 D degree of freedom along water movement, and technical staff accesses ground connection on the coast
Electrode probe, and gallon is ceaselessly carried out, the focusing electrod-array probe of robot loading of diving under water, water, pipeline, the earth
Pop one's head in form loop with ground electrode, in control system, show curent change figure on the bank, occur on substantially when curent change is run into
During liter, the defect of the rupture of pipeline appearance herein, deformation, dislocation, disconnection and seepage is illustrated, technical staff is by wireless controller control
Diving robot touches three feet touching device on the inwall of pipeline, under the rotation of directive wheel, drives three near fault location
Leg on foot touching device is rotated, and leg touches bascule, and the balance empennage in bascule is opened, robot of diving under water
Fault location rested on smoothly, balance empennage is balanced effect, then technical staff adjusts mechanical in control system on the coast
Handss are supported on the angle on inner-walls of duct, and open second camera, second camera alignment fault location, are precisely shot,
The picture of defect is obtained, on the bank after control system display defect data, return unit will be balanced in empennage income housing, bascule
Recover initial condition, then technical staff's continuation control diving robot advances in the duct, completes the pipe detection of the pipeline section,
Same pipe detection is carried out to next section of pipeline section again；
(e) defect location and maintenance：For the data in control system on the bank, image detection, volume are carried out to pipeline inside
Collect, record, play back, real time record is positioned to defect of pipeline, confirm the classification of defect of pipeline, it is determined that the elaborate position for keeping in repair, pacifies
Arranging exclusive technical staff carries out maintenance work.
Further, setting up in the operation of duct size information station, the length range of pipeline section being detected in 0～120m, length is accurate to
0.1m。
Further, in submarine pipeline detection operation, the speed of a ship or plane control of robot of diving under water is in 0～10m/min, diving robot
Control in 0～1.5h in bottom time.
Further, in defect location operation, the location positioning precision of defect of pipeline is 1cm, and the scope of positioning resolution exists
0.05～0.1m, pipeline detection distance are 150m.
The present invention is had the advantages that as a result of above-mentioned technical proposal：
Diving robot in the present invention has directly the function of operation under water, in concrete detection process, according to drawing
The detection pipeline section for separating, directly carries out pipe detection under water using diving robot.Technical staff is by control system on the bank
Control Subsea Control Systems so that diving robot moves ahead in the presence of propeller, and illuminating lamp provides pipeline inside photographing
Light source, the first photographic head shoot the practical situation inside whole pipeline；When the curent change in curent change figure occurs on substantially
When rising, pipeline existing defects herein are illustrated, technical staff dives under water robot to defect of pipeline by wireless controller Remote
Particular location, three feet touching device is touched on the inwall of pipeline, under the rotation of directive wheel, is driven on three feet touching device
Leg rotate, leg touches bascule, and the balance empennage in bascule is opened, and balance empennage is in fan shape, in water
Buoyancy under, balance empennage is balanced effect, and diving robot is smoothly suspended in water, dives under water robot smoothly
Rest on fault location, improve the accuracy for shooting, technical staff adjusts robot support in control system in pipeline on the coast
Angle on wall, and second camera is opened, second camera alignment fault location is precisely shot, is obtained the picture of defect,
On the bank after control system display defect data, return unit will be balanced in empennage income housing, and bascule recovers initial condition, dives
Water robot proceeds pipe detection work.Diving robot is carried out without dead angle, in all directions to defect of pipeline in the duct
Precisely catch, one-time detection can complete the investigation of all positions in pipeline, simple to operate, quick, and detect accurate positioning
Height, low cost, efficiency high.
Description of the drawings
The invention will be further described below in conjunction with the accompanying drawings：
Fig. 1 is a kind of structural representation (the three feet touching dress not shown in figure of sewage network diving robot of the invention
Put)；
Fig. 2 is the structural representation cranked arm in a kind of sewage network diving robot of the invention；
Fig. 3 is the structural representation of three feet touching device in a kind of sewage network diving robot of the invention；
Fig. 4 is a kind of structural representation of sewage network diving robot middle frame carrier of the invention；
Fig. 5 is structural representation when bascule is not actuated in a kind of sewage network diving robot of the invention；
Fig. 6 is structural representation when bascule starts in a kind of sewage network diving robot of the invention；
Fig. 7 is structural representation when a kind of sewage network diving robot of the invention is detected.
Specific embodiment
As shown in Figures 1 to 6, it is a kind of sewage network diving robot of the invention, including control system B on the bank and open-shelf
Formula robot body, control system B is mainly by a main control computer, optical transmitter and receiver, liquid crystal display and wireless controller group on the bank
What is selected into, main control computer is industrial computer, and industrial computer adopts embedded type bus structure, noise is low, small volume, consume energy it is low；Light
Terminal is to realize visual plant that digital signal and optical signal are mutually changed in information transfer, and which includes Digital Optical Terminal and network
Optical transmitter and receiver two parts, 8 in Digital Optical Terminal serial ports passage are capable of achieving the serial ports of tri- kinds of agreements of RS422, RS485 and RS232
Communication, can realize the information transfer of video image respectively in addition with 3 tunnel video channels；Network optical transmitter and receiver is provided with a net
Network passage, it is possible to achieve the network communication of control system B and robot body on the bank；That wireless controller is selected is Saitck
P3000 wireless controllers, the handle lightly facilitate, flexible operation, wireless controller control robot advance, retrogressing, dive, floating,
Turn to.The communication of control system B and robot body on the bank and the electrical source of power of robot body are fed through cable to realize.
Robot body is provided with frame carrier 1, and the upper end of frame carrier 1 is provided with buoyant mass 2, and buoyant mass 2 provides buoyancy
Effect.Frame carrier 1 is provided with control cabinet 3, and 3 points of control cabinet is interior cabin and outer cabin two parts, and inside wall material adopts thicker out of my cabin
Stainless steel material, in order to ensure the reliability in interior cabin, employ axial direction and end face two seals measure, and use combination property
Reasonable ethylene propylene diene rubber O-ring seal, interior cabin are provided with Subsea Control Systems, and Subsea Control Systems connection is controlled on the bank
System B；The first photographic head 4 and illuminating lamp 5 are installed in outer cabin, and outer cabin is sealed by glass outer.In sewage network, pipeline interior lights
Line is dark, therefore illuminating lamp 5 adopts two LEDs, and the power of LED is 35W, and LED is by semiconductor die package in epoxy
In resin, semiconductor chip is very little, and very gently, LED adopts chemiluminescence technology, caloric value to have low than general lighting lamp 5
10%, such illuminating lamp 5 just has enough brightness, and two LEDs are to provide light source inside pipeline, and power consumption is less, using the longevity
Life length, high brightness facilitate underwater robot to shoot each position inside pipeline, and technical staff is will be clearly understood that inside pipeline
Concrete condition, be easy to judge.Frame carrier 1 is provided with propeller 6 and sonar 7, and propeller 6 cooperates and completes machine
The propulsion of human body, it is traversing, turn bow, lifting, trim and heel, sonar 7 can be led with the environment inside 360 ° of scanning pipelines
Boat task.
Frame carrier 1 is provided with guiding curved bar 8, is oriented to curved bar 8 and is provided with crossbeam 9, and crossbeam 9 is provided with cranks arm 10, cranks arm
10 are connected with support bar 11, and cranking arm 10 includes master arm 101 and slave arm 102,101 connection support bar 11 of master arm, slave arm
102 connecting cross beams 9, are provided with push rod 103 between master arm 101 and slave arm 102, stress on support bar 11 drive crank arm it is 10 curved
Song, carries out cushioning effect, and then in the presence of push rod 103,10 recovery initial condition of cranking arm carry out buffering to touching next time
Prepare.Support bar 11 is provided with chassis 12, and chassis 12 is provided with connecting shaft 13, is rotatably connected to three feet touching dress in connecting shaft 13
Put 14, between the installing hole of connecting shaft 13 and three feet touching device 14, be provided with silica gel pad, silica gel pad has certain flexible
Property, the natural viscosity in good compressibility and surface, can blind, complete the peace that connecting shaft 13 and three feet touch device 14
Connection between dress hole, plays a part of to be fixedly connected and damping.Three feet touching device 14 includes three legs 141, and three are propped up
Foot 141 is structure as a whole, and is rotatably connected to directive wheel 142 on single leg 141, and connecting shaft 13 is provided with cover plate 15, cover plate 15
Three feet touching device 14 is limited in connecting shaft 13, the bottom of cover plate 15 is provided with bascule 16, bascule 16 and cover plate
Return unit 17 is provided between 15, and bascule 16 includes housing 161, balance empennage 162 and connecting plate 163, and balance empennage 162 sets
Between connecting plate 163, in housing 161, connecting plate 163 connects return unit 17 for balance empennage 162 and connecting plate 163,
When directive wheel 142 touches inner-walls of duct, three feet touching device 14 rotates and touches bascule 16, flat in bascule 16
Weighing apparatus empennage 162 is opened, and in fan shape, under buoyancy of water effect, diving robot is smoothly suspended in water, it is ensured that pipeline lacks
Fall into the accuracy for catching.Frame carrier 1 is provided with line slideway 18, slidably connects lifting platform 19 on line slideway 18, lifting
Platform 19 is provided with mechanical hand 20, and line slideway 18 is provided with second camera 21, and the underwater holder rotating speed of second camera 21 is
6 °/S, the pitching scope of second camera 21 is ± 15 °, and the scope that swings of second camera 21 is ± 30 °, fine setting second
Photographic head 21, can carry out defect shooting by 21 precise positioning of second camera on defect of pipeline.
As shown in fig. 7, being a kind of sewage network diving robot detection method of the invention, which comprises the steps：
A () sets up duct size information station：Understand landform residing for the distribution of sewage network pipeline, it is existing that understanding whether there is bad geology
As, it is ensured that detection site stability preferably, sets up good berth platform on the ground.The sewage that technical staff is provided to construction unit
Pipe network pipeline as-constructed drawing is understood and is analyzed, and the pipe inner bottom absolute altitude of understanding pipeline, pipeline material, caliber, the well location that crosses are put
And water (flow) direction, then each joint and access point is marked on drawing with red pen, actually detected concrete distribution situation is analyzed,
Detection pipeline section being marked off, the length range of pipeline section being detected in 0～120m, length is accurate to 0.1m, concrete detection is divided into 8 sections of pipes
Section：W1～W2, W2～W3, W3～W4, W4～W5, W5～W6, W6～W7, W7～W8, W8～W9, in a certain section of pipeline section, pipe
Segment number is preceding to represent initial inspection shaft, and posterior expression of pipeline section numbering terminates inspection shaft.Then according to the data for analyzing
Scheme in control system B on the coast, to set up the duct size information station of detection.The concrete duct size information station set up is as shown in table 1：
1 duct size information station of table
Technical staff carries out reconnaissance trip according to duct size information station, according to the specific distribution situation in duct size information station, each
The particular location of the initial inspection shaft and termination inspection shaft of individual pipeline section is marked, and improves safety and the accuracy of detection.
B () assembles detecting system：Cable connection focusing electrod-array is popped one's head in, then will be focusing electrod-array probe solid
It is scheduled on the cover plate 15 of the preposition design of diving robot, the cable for accessing that then focusing electrod-array is popped one's head in is wound into support
Bar 11, and cable is accessed in ashore control system B along frame carrier 1.General focusing electrod-array probe, water, pipe
Road, the earth and ground electrode probe A form loop, show the curent change figure of normal table on the bank in control system B, when running into
During defect of pipeline, electric current can penetrate tube wall, there is low impedance path between electrode, and electric current substantially increases, according to the change of electric current
Judge the defect present position in pipeline.
C () water jetting at high pressure is dredged：In order to avoid the mud and rubbish of pipeline have influence on the detection effect of diving robot,
Before detection, water jetting at high pressure dredging should be carried out to 8 sections of pipeline sections respectively.Water jetting at high pressure machine by high pressure produce rearwardly and a forwardly
Current, can freely control high-voltage tube operation in the duct, carry out High-Pressure Water spray using water jetting at high pressure machine to every section of pipeline section
The effect of penetrating, the mud and rubbish in pipeline is washed at inspection shaft, is then evacuated to carriage, and mud and rubbish are drawn by carriage
Appointed place is discharged, can the bottom line reduction pollution of mud and rubbish to surrounding enviroment.
Dredging device specifically adopts SJ2700 vehicular water jetting at high pressure machines, vehicular water jetting at high pressure machine to be adapted to various street fortune
OK, the restriction of Bu Shou streets condition, the not impact of climate, safe operation are simple, are applicable to the various pipes of 200～1200mm
The pipeline in footpath, high-voltage tube can be upper and lower as 150m with the ultimate range of dredging pipeline.Vehicular water jetting at high pressure machine can be in pipeline
Mud and various house refuses carry out the effect of dredging completely, and remove the attachments such as the rust deposite on inner-walls of duct, erosion, just
In the detection effect of diving robot.
D () submarine pipeline is detected：Diving robot control electric switch is opened, pipeline inspection in first order pipeline section W1～W2 is carried out
Survey, diving robot is put in water from initial inspection shaft, illuminating lamp 5, illuminating lamp 5 are opened by control system B on the bank
It is arranged on diving robot front and back position, it is ensured that one section of pipeline illuminates before and after diving robot, and opens the first photographic head 4,
The operation of real-time imaging monitoring, record, video capture is carried out with the first photographic head 4 to the situation inside pipeline, propeller is opened
6, according to pipeline hydraulic pressure and the practical situation of current, the rotating speed of propeller 6 is controlled, is then dived under water by wireless controller Remote
Robot, to robot transmitting control commands of diving under water, diving robot carries out underwater 3 D degree of freedom along water movement, technology
Personnel access ground electrode probe A on the coast, and ceaselessly carry out gallon, the focusing electrode array that robot of diving under water is loaded
Row probe, water, pipeline, the earth and ground electrode probe A form loop, show curent change figure on the bank, work as chance in control system B
When there is substantially rising to curent change, the defect of the rupture of pipeline appearance herein, deformation, dislocation, disconnection and seepage, technology are illustrated
Personnel, near fault location three feet touching device 14 are touched on the inwall of pipeline by wireless controller control diving robot,
Under the rotation of directive wheel 142, the leg 141 on three feet touching device 14 is driven to rotate, leg 141 touches bascule
16, the balance empennage 162 in bascule 16 is opened, and diving robot smoothly rests on fault location, and balance empennage 162 is carried out
Balanced action, then technical staff adjust mechanical hand 20 on the coast in control system B and be supported on the angle on inner-walls of duct, and open
Second camera 21 is opened, the alignment fault location of second camera 21 is precisely shot, obtains the picture of defect, on the bank control system
After system B display defect data, return unit 17 is taken in empennage 162 is balanced in housing 161, and bascule 16 recovers initial condition,
Then technical staff's continuation control diving robot advances in the duct, completes the pipe detection of the pipeline section, then next section is managed
Duan Jinhang same pipe detection, in 0～10m/min, diving robot is in underwater operation for the speed of a ship or plane control of robot of diving under water
Time control is in 0～1.5h.The concrete testing result of 8 sections of pipeline sections such as table 2：
The concrete testing result of 2 pipeline section of table
(e) defect location and maintenance：For the data in control system B on the bank, image detection, volume are carried out to pipeline inside
Collect, record, play back, real time record is positioned to defect of pipeline, confirm that the classification of defect of pipeline is as shown in table 3：
The classification of 2 defect of pipeline of table
It is determined that the elaborate position of maintenance, the location positioning precision of defect of pipeline is 1cm, and the scope of positioning resolution is 0.05
～0.1m, pipeline detection distance are 150m.Exclusive technical staff is arranged to carry out maintenance work.
The present invention directly carries out pipe detection under water using diving robot, dives under water according to the detection pipeline section for marking off
Robot is precisely caught without dead angle, in all directions to defect of pipeline in the duct, and one-time detection can complete institute in pipeline
There is the investigation of position, it is simple to operate, quick, and detect that positioning is high precisely, and low cost, efficiency high.Testing cost of the present invention is
The 1/4 of conventional detection, efficiency are 3 times of conventional detection.
The specific embodiment of the present invention is these are only, but the technical characteristic of the present invention is not limited thereto.It is any with this
Based on bright, it is to solve essentially identical technical problem, realizes essentially identical technique effect, done ground simple change, etc.
With replacement or modification etc., among being all covered by protection scope of the present invention.
Claims (10)
1. a kind of sewage network diving robot, including control system on the bank and robot body, sets on the robot body
The upper end for having frame carrier, the frame carrier is provided with buoyant mass, and the frame carrier is provided with control cabinet, the control cabinet peace
Equipped with Subsea Control Systems, control system on the bank described in Subsea Control Systems connection, it is characterised in that：In the control cabinet
The first photographic head and illuminating lamp is provided with, the frame carrier is provided with propeller and sonar；The frame carrier is provided with guiding
Curved bar, the guiding curved bar are provided with crossbeam, and the crossbeam is provided with cranks arm, and described cranking arm is connected with support bar；The support
Bar is provided with chassis, and the chassis is provided with connecting shaft, is rotatably connected to three feet touching device, three foot in the connecting shaft
Touching device includes three legs, and three legs are structure as a whole, and are rotatably connected to directive wheel, institute on the single leg
State connecting shaft and be provided with cover plate, the cover plate is limited in three foot touching device in the connecting shaft, the bottom of the cover plate
Portion is provided with bascule, is provided with return unit between the bascule and the cover plate；The frame carrier is provided with straight line and leads
Rail, slidably connects lifting platform on the line slideway, the lifting platform is provided with mechanical hand, and the line slideway is provided with
Two photographic head.
2. a kind of sewage network according to claim 1 is dived under water robot, it is characterised in that：It is described to crank arm including master arm
And slave arm, the master arm connects the support bar, and the slave arm connects the crossbeam, the master arm and described driven
Push rod is provided between arm.
3. a kind of sewage network according to claim 1 is dived under water robot, it is characterised in that：The connecting shaft and described three
Silica gel pad is provided between the installing hole of foot touching device.
4. a kind of sewage network according to claim 1 is dived under water robot, it is characterised in that：The bascule includes shell
Body, balance empennage and connecting plate, between the connecting plate, the balance empennage and the connecting plate set the balance empennage
In the housing, the connecting plate connects the return unit.
5. a kind of sewage network according to claim 1 is dived under water robot, it is characterised in that：The water of the second camera
Lower head rotating speed is 6 °/S, and the pitching scope of the second camera is ± 15 °, the scope that swings of the second camera
For ± 30 °.
6. a kind of sewage network according to claim 1 is dived under water robot, it is characterised in that：The illuminating lamp adopts two
LED, the power of the LED is 35W, and the LED by semiconductor die package in the epoxy, adopt by the LED
Use chemiluminescence technology.
7. a kind of sewage network is dived under water robot detection method, it is characterised in that comprise the steps：
A () sets up duct size information station：The sewage network pipeline as-constructed drawing that construction unit provides is understood and analyzed, is understood
The pipe inner bottom absolute altitude of pipeline, water (flow) direction, caliber, the well location that crosses are put and pipeline material, then mark each with red pen on drawing
Joint and access point, analyze actually detected concrete distribution situation, mark off detection pipeline section, then according to the data for analyzing
Scheme in control system on the coast, to set up the duct size information station of detection；
B () assembles detecting system：Cable connection focusing electrod-array is popped one's head in, then focusing electrod-array probe is fixed on
On the cover plate of the preposition design of diving robot, the cable for accessing that then focusing electrod-array is popped one's head in is wound into support bar, and
Cable is accessed in ashore control system along frame carrier；
C () water jetting at high pressure is dredged：High-Pressure Water jet-action is carried out to every section of pipeline section using water jetting at high pressure machine, by the silt in pipeline
Mud and rubbish are washed at inspection shaft, are then evacuated to carriage, and mud and rubbish are forgotten about it appointed place and discharged by carriage；
D () submarine pipeline is detected：Diving robot control electric switch is opened, diving robot is put into into water from inspection shaft
In, pipe detection in first order pipeline section being carried out, illuminating lamp is opened by control system on the bank, illuminating lamp is arranged on diving robot
Front and back position, it is ensured that one section of pipeline illuminates before and after diving robot, and opens the first photographic head, with the first photographic head to pipeline
Internal situation carries out the operation of real-time imaging monitoring, record, video capture, opens propeller, according to pipeline hydraulic pressure and current
Practical situation, control angle of rake rotating speed, then dived under water robot by wireless controller Remote, to machine Crinis Carbonisatus of diving under water
Control command, diving robot is sent to carry out underwater 3 D degree of freedom along water movement, technical staff accesses ground connection electricity on the coast
Pole is popped one's head in, and ceaselessly carries out gallon, focusing electrod-array probe that robot of diving under water is loaded, water, pipeline, the earth and
Ground electrode pops one's head in form loop, shows curent change figure on the bank in control system, occurs substantially rising when curent change is run into
When, the defect of the rupture of pipeline appearance herein, deformation, dislocation, disconnection and seepage is illustrated, technical staff is controlled latent by wireless controller
Water robot touches three feet touching device on the inwall of pipeline, under the rotation of directive wheel, drives three feet near fault location
Leg on touching device is rotated, and leg touches bascule, and the balance empennage in bascule is opened, and diving robot puts down
Fault location rested on quietly, balance empennage is balanced effect, then technical staff adjusts mechanical hand in control system on the coast
The angle being supported on inner-walls of duct, and second camera is opened, second camera alignment fault location is precisely shot, is obtained
The picture of defect is taken, on the bank after control system display defect data, return unit will be balanced in empennage income housing, and bascule is extensive
Initial condition is answered, then technical staff's continuation control diving robot advances in the duct, completes the pipe detection of the pipeline section, then
Same pipe detection is carried out to next section of pipeline section；
(e) defect location and maintenance：For the data in control system on the bank, image detection, editor, note is carried out to pipeline inside
Record, playback, position real time record to defect of pipeline, confirm the classification of defect of pipeline, it is determined that the elaborate position of maintenance, arranges exclusive
Technical staff carries out maintenance work.
8. a kind of sewage network according to claim 7 is dived under water robot detection method, it is characterised in that：It is described to set up pipe
In road information station operation, the length range of pipeline section is detected in 0～120m, length is accurate to 0.1m.
9. a kind of sewage network according to claim 7 is dived under water robot detection method, it is characterised in that：The subaqueous pipe
In road detection operation, the speed of a ship or plane of the diving robot is controlled in 0～10m/min, and the diving robot is in underwater operation
Time control is in 0～1.5h.
10. a kind of sewage network according to claim 7 is dived under water robot detection method, it is characterised in that：The defect
In positioning action, the location positioning precision of defect of pipeline is 1cm, and the scope of positioning resolution is in 0.05～0.1m, pipeline detection
Distance is 150m.
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| CN201510470372.5A CN105020538B (en) | 2015-08-04 | 2015-08-04 | Sewage pipe network diving robot and detection method |
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| CN201510470372.5A CN105020538B (en) | 2015-08-04 | 2015-08-04 | Sewage pipe network diving robot and detection method |
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| CN112460376A (en) * | 2020-11-11 | 2021-03-09 | 中交第一公路勘察设计研究院有限公司 | High-water-level drainage pipe network defect positioning system and method |
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| CN114772273B (en) * | 2022-06-22 | 2022-09-16 | 国机传感科技有限公司 | Detector conveying system with state sensing function |
| CN115577506B (en) * | 2022-09-22 | 2023-08-25 | 长江生态环保集团有限公司 | Method for pre-diagnosing and accurately checking problems of sewage pipe network |
| CN117646844B (en) * | 2024-01-30 | 2024-04-02 | 西南石油大学 | Accurate positioning and inner detection pipeline intelligent plugging robot |
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