CN105715903B - A kind of pipe robot and the method that pipe detection is carried out using it - Google Patents
A kind of pipe robot and the method that pipe detection is carried out using it Download PDFInfo
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- CN105715903B CN105715903B CN201610233775.2A CN201610233775A CN105715903B CN 105715903 B CN105715903 B CN 105715903B CN 201610233775 A CN201610233775 A CN 201610233775A CN 105715903 B CN105715903 B CN 105715903B
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- camera
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- rotation
- robot
- robot body
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Classifications
-
- 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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
A kind of method that pipe detection is carried out the present invention relates to pipe robot and using it, robot includes control cabinet（20）And robot body（10）.Robot body part includes crawl device（11）, lifting arm（12）, camera（13）.Operation control box（20）On rocking bar or button, robot body（10）Corresponding action can be performed, the control that these execution acted will be Jing Guo control software.Control software can not only control camera（13）Scaling, moreover it is possible to scaling multiple is fed back to camera is controlled in control software（13）Rotation and the motor part of pitching, and change according to the multiple of lens zoom the rotating speed of rotation and pitching motor.
Description
Technical field
The present invention relates to robot field, a kind of pipe robot is more particularly to.
Background technology
Pipeline is all widely used in all conglomeraties, and the life with people is closely bound up.To improve the life-span of pipeline,
Prevent pipeline because damaging or blocking and generation accident, it is necessary to carry out periodic maintenance to pipeline.But due to the complexity of pipeline, manually
Detection can not realize that a kind of pipe robot for replacing manually detecting arises at the historic moment in many places.
Pipe robot in the market is all to enter underground piping by way of crawl device carries camera to carry out
Detection.Crawl device can be connected with camera by wirelessly or non-wirelessly mode with external operator, and external operator control is climbed
Rotation, pitching, scaling of the walking of row device, turning and camera etc..Realized by the interoperation of crawl device and camera
Detection to each part of detection pipeline.
The rotation of prior art camera and pitch regulation are all to adjust button or rocking bar reality by manual manipulation camera
Existing, camera angular velocity of rotation and rate of pitch are constant, and this results in camera lens when multiplication factor is different, cam movement
The translational speed of its captured picture is not quite similar afterwards.Especially when camera lens multiplication factor is larger, bowing for camera is adjusted slightly
The picture shot in elevation angle degree, camera lens can be moved quickly so that be difficult to capture to need to catch in pipeline in During manual operation
Point.The rotation of some product cameras and luffing speed can be adjusted manually, but in practical operation, after camera lens amplification, manually
Regulation is difficult to arrive suitable speed to adjust, and wants to capture suitable position in the duct still highly difficult.
Through retrieval, also no Patents solve the above problems in industry.
The content of the invention
The purpose of the present invention is that shooting can be adjusted according to camera lens multiplication factor there is provided one kind in view of the shortcomings of the prior art
Head rotation and the pipe robot of rate of pitch, including robot body and control cabinet.Control cabinet and the robot body
By cable connection, robot body provides power by cable and carries out information transfer with control cabinet.
Preferably, robot body includes crawl device, lifting arm, camera, and lifting arm one end is connected on crawl device, separately
One end is connected with camera, and crawl device carries the camera and walked in the duct, and lifting arm controls camera relative to creeping
The height of device, camera shoots the picture in pipeline.
Preferably, camera realizes 360 degree of rotations and pitching up and down under the driving of corresponding motor by gear drive
Action.Preferably, control cabinet includes camera rotation and pitch control rocking bar, camera light adjusting knob, camera focal length
Increase and decrease button, camera zoom button, camera SR, crawl device direction controlling rocking bar, speed adjusting knob, power supply are opened
Button, display screen are closed, rocking bar or button on case is manipulated by, robot body performs corresponding actions.Preferably, image
Head carries and industrial computer is housed in lens zoom sensor, control cabinet, and industrial computer is equipped with control software, and industrial computer passes through control software
Control lens zoom sensor acquisition camera scale signal simultaneously transmits a signal to industrial computer, and control software is by scale signal number
Value is converted into camera rotation and pitching motor current value by pre-set programs, program setting current value and camera scale multiple into
Inverse relation, so as to change the rotating speed of rotation and pitching motor according to the scaling multiple of camera.
The present invention also provides a kind of method that use pipe robot carries out pipe detection, comprises the following steps：1）By machine
Device human body is placed in inside the pipeline for needing to detect；2）Manipulation control cabinet makes robot body walk in the duct, images simultaneously
Picture in head shooting pipeline, and picture is sent on display screen；3）Camera zoom button, shooting are pressed according to need of work
Head correspondingly zooms in or out the operation of camera lens；4）Camera rotation and pitch control rocking bar are manipulated, industrial computer is according to mirror
Head zoom multiple changes the output current of camera rotation and pitching motor, so as to change the speed of rotation and pitching.
Compared with prior art, the camera of pipe robot of the invention can not only be scaled, moreover it is possible to according to scaling multiple
The speed of camera rotation and pitching is automatically adjusted, and both are inversely.So no matter the scaling what state of camera,
It can ensure that the translational speed of the captured picture when controlling its rotation with pitching is identical, it is accurate when being easy to manually operated camera
The point caught the need for capturing in pipeline.
Brief description of the drawings
Fig. 1 is a kind of structural representation of pipe robot of the present invention；
Fig. 2 is a kind of control cabinet schematic diagram of pipe robot of the present invention；
Wherein：10-robot body；11-crawl device；12-lifting arm；13-camera；20-control cabinet；21—
Camera rotates and pitch control rocking bar；22-camera light adjusting knob；23-camera focal length increase and decrease button 24-take the photograph
As head zoom button；25-camera SR；26-crawl device direction controlling rocking bar；27-speed adjusting knob；28—
Power switch button；29-display screen.
Embodiment
With reference to embodiment, the present invention will be further described, but protection scope of the present invention is not limited solely to this reality
Apply example.
Fig. 1, Fig. 2 are referred to, a kind of pipe robot of the invention includes two parts, and a part is the control on ground
Case 20, another part is to enter the robot body 10 that underground piping is detected.Control cabinet 20 passes through cable with robot body 10
（Not shown in figure）Connection, cable on the one hand can for robot body 10 provide power, be on the other hand also used for control cabinet 20 and
The information transfer of robot body 10.
As shown in figure 1, robot body 10 mainly includes crawl device 11, lifting arm 12, camera 13.The one end of lifting arm 12
It is connected on crawl device 11, the other end is connected with camera 13.The effect of crawl device 11 is to carry camera 13 to go in the duct
Walk, lifting arm 12 can control height of the camera 13 relative to crawl device 11, so as to adapt to the pipeline of different-diameter size, image
First 13 are used to shoot the picture in pipeline, and picture can be delivered on control cabinet 20 by being connected to the cable of robot body 10,
And be shown on display screen 29.Camera 13 under the driving of corresponding motor, by gear drive can realize 360 degree rotation and
Pitching motion up and down.All of above action is operated on controllable case 20.In wherein one preferred embodiment, robot sheet
Section's work of nature during body 10 is used（Wuhan）The Intelligent Measurement robot TGB-WS100 of intellectual technology Co., Ltd production, camera 13
Using Sony's FX11 camera lenses, it has multiplication factor big, the advantage of small volume, before demand is imaged under meeting pipeline as far as possible
Put the volume for being reduced significantly camera 13.
Rotated and pitch control rocking bar 21, camera light adjusting knob as shown in Fig. 2 control cabinet 20 includes camera
22nd, camera focal length increase and decrease button 23, camera zoom button 24, camera SR 25, crawl device direction controlling rocking bar
26th, speed adjusting knob 27, power switch button 28, display screen 29.Rocking bar or button in operation control box 20, robot sheet
Body 10 performs corresponding action.Industrial computer is housed in control cabinet 20（Not shown in figure）, industrial computer be used for complete it is various control and
Graphical analysis.In wherein one preferred embodiment, industrial computer uses and grinds magnificent MIO3326 types industry control based on X86 hardware platforms
Machine.
The operation in the duct of robot body 10, operation camera zoom button 24, industrial computer is provided with control software, work
Control machine controls the scaling of the camera lens of camera 13 by control software, while recording the multiple of lens zoom, and data feedback is given
The part of the rotation of camera 13 and pitching motor is controlled in industrial computer control software, industrial computer control software is according to lens zoom
Multiple come change rotation and pitching motor rotating speed, and both inversely：Such as camera lens quadruplication, camera 13 rotates
The a quarter of initial value is reduced to the rotating speed of pitching motor.Now the rotation of operation camera and pitch control rocking bar 21, are imaged
It is first 13 rotation and pitching angular speed be changed into before a quarter.So no matter the scaling what state of camera 13, all
It can guarantee that the translational speed of the picture taken when controlling its rotation with pitching is identical, when being easy to manually operated camera 13
The point caught the need for being accurately captured in pipeline.In one of the embodiments, control software is opened based on WIN7 software platforms
Hair, using C Plus Plus programming realization.
The present invention also provides a kind of method that use pipe robot carries out pipe detection, is specially：1）By robot sheet
Body 10 is placed in inside the pipeline for needing to detect；2）Manipulation control cabinet 20 makes robot body 10 walk in the duct, images simultaneously
First 13 shoot the picture in pipeline, and picture is sent on display screen 29；3）Camera zoom button is pressed according to need of work
24, camera 13 correspondingly zooms in or out the operation of camera lens.Lens zoom sensor, sensor are carried in camera 13
Acquisition camera scale signal simultaneously transmits a signal to industrial computer, and scale signal numerical value is converted into by control software by pre-set programs
Camera rotates and pitching motor current value, and program setting camera scales multiple and current value inversely, such as camera
13 quadruplications, the electric current that control software is loaded on camera rotation and pitching motor just conjugates a quarter of initial value,
Output speed is also accordingly changed into a quarter of initial value.This detection method is not in camera in the larger feelings of multiplication factor
Rotation or pitching camera, the phenomenon that shooting picture is quickly beated under condition, are easy to catch the point in pipeline.
Finally it should be noted that：Above example only not limits technology described in the invention to illustrate the present invention
Scheme, therefore, although this specification with reference to each above-mentioned embodiment to present invention has been detailed description, this
Field it is to be appreciated by one skilled in the art that still can be modified to the present invention or equivalent substitution, and all do not depart from this
The technical scheme of the spirit and scope of invention and its improvement, it all should cover in scope of the presently claimed invention.
Claims (3)
1. a kind of pipe robot, including robot body（10）And control cabinet（20）, the control cabinet（20）With the machine
Human body（10）By cable connection, the robot body（10）By the cable provide power and with the control cabinet
（20）Carry out information transfer, it is characterised in that：The robot body（10）Including crawl device（11）, lifting arm（12）, shooting
Head（13）, the lifting arm（12）One end is connected to the crawl device（11）On, the other end and the camera（13）Connection, institute
State crawl device（11）Carry the camera（13）Walk in the duct, the lifting arm（12）Control the camera（13）Phase
For the crawl device（11）Height, the camera（13）Shoot the picture in pipeline；
The control cabinet（20）Including camera rotation and pitch control rocking bar（21）, camera light adjusting knob（22）, take the photograph
As head focal length increase and decrease button（23）, camera zoom button（24）, camera SR（25）, crawl device direction controlling rocking bar
（26）, speed adjusting knob（27）, power switch button（28）, display screen（29）, by operating the control cabinet（20）On
Rocking bar or button, the robot body（10）Perform corresponding actions；
The camera（13）Carry lens zoom sensor, the control cabinet（20）In industrial computer, industrial computer dress are housed
There is control software, the industrial computer controls the lens zoom sensor acquisition camera by the control software（13）Scaling
Signal simultaneously transmits the signal to the industrial computer, and scale signal numerical value is converted into taking the photograph by the control software by pre-set programs
As head rotation and pitching motor current value, current value and camera described in program setting（13）Scale multiple inversely, from
And according to camera（13）Scaling multiple come change rotation and pitching motor rotating speed.
2. a kind of pipe robot as claimed in claim 1, it is characterised in that：The camera（13）In the drive of corresponding motor
Under dynamic, 360 degree of rotations and up and down pitching motion are realized by gear drive.
3. the method that the pipe robot described in a kind of use claim 1-2 any one carries out pipe detection, including it is following
Step：1）By robot body（10）It is placed in inside the pipeline for needing to detect；2）Manipulate control cabinet（20）Make robot body
（10）Walk in the duct, while camera（13）The picture in pipeline is shot, and picture is sent to display screen（29）On；3）
Camera zoom button is pressed according to need of work（24）, camera（13）Correspondingly zoom in or out the operation of camera lens, 4）
Manipulate camera rotation and pitch control rocking bar（21）, industrial computer is according to the change camera rotation of camera lens zoom multiple and bows
The output current of motor is faced upward, so as to change the speed of rotation and pitching.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610233775.2A CN105715903B (en) | 2016-04-15 | 2016-04-15 | A kind of pipe robot and the method that pipe detection is carried out using it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610233775.2A CN105715903B (en) | 2016-04-15 | 2016-04-15 | A kind of pipe robot and the method that pipe detection is carried out using it |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105715903A CN105715903A (en) | 2016-06-29 |
| CN105715903B true CN105715903B (en) | 2017-08-04 |
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| CN201610233775.2A Active CN105715903B (en) | 2016-04-15 | 2016-04-15 | A kind of pipe robot and the method that pipe detection is carried out using it |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107807595A (en) * | 2017-11-13 | 2018-03-16 | 上海新奥新能源技术有限公司 | A kind of pipe testing apparatus |
| CN109253343A (en) * | 2018-10-31 | 2019-01-22 | 苏州赛亚智能技术有限公司 | A kind of pipeline detection robot |
| CN110919668B (en) * | 2019-12-05 | 2020-08-14 | 戴斐 | Intelligent voice control pipeline, air pipe video detection device and robot system |
| CN110246176A (en) * | 2019-05-31 | 2019-09-17 | 中广核检测技术有限公司 | A kind of evaporator pipe sheet crawl device dynamic positioning method based on machine vision |
| CN110944114B (en) * | 2019-11-28 | 2021-06-08 | 维沃移动通信有限公司 | Photographing method and electronic equipment |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101915339B (en) * | 2010-07-29 | 2012-09-12 | 中国科学院深圳先进技术研究院 | Pipeline robot |
| CN102621995B (en) * | 2012-04-09 | 2014-07-09 | 华南农业大学 | Frame type three degree-of-freedom cradle head control system and control method thereof |
| US8934023B2 (en) * | 2013-03-15 | 2015-01-13 | Freefly Systems, Inc. | Method and system for introducing controlled disturbance into an actively stabilized system |
| CN203770944U (en) * | 2014-04-10 | 2014-08-13 | 武汉中仪物联技术有限公司 | Pipeline robot panorama detection device |
| CN204077835U (en) * | 2014-07-03 | 2015-01-07 | 深圳市博铭维智能科技有限公司 | Pipeline irrigation canals and ditches measuring robots and system thereof |
| CN206036517U (en) * | 2016-04-15 | 2017-03-22 | 中科天工（武汉）智能技术有限公司 | Pipeline robot |
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