CN105715904A - General survey robot for underground pipelines - Google Patents
General survey robot for underground pipelines Download PDFInfo
- Publication number
- CN105715904A CN105715904A CN201610236439.3A CN201610236439A CN105715904A CN 105715904 A CN105715904 A CN 105715904A CN 201610236439 A CN201610236439 A CN 201610236439A CN 105715904 A CN105715904 A CN 105715904A
- Authority
- CN
- China
- Prior art keywords
- general survey
- master controller
- survey robot
- walking dolly
- pipeline
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The invention relates to a general survey robot for underground pipelines, belongs to the technical field of underground pipeline detecting equipment, and provides the general survey robot for the underground pipelines, wherein the general survey robot is simple in structure and convenient for use, adopts machines to replace workers to detect the underground pipelines, and is safe, reliable and high in working efficiency. The general survey robot comprises a ground control car and a walking car arranged in a pipe; an image acquiring device and an illuminating lamp are arranged on the walking car; a main controller is arranged on the ground control car, and is provided with a display screen and a data storage unit; the walking car, the image acquiring device and the illuminating lamp are all connected with the main controller; the image acquiring device is used for acquiring image data in the pipe and transmitting the image data to the main controller; the image data is displayed through the display screen; and the data storage unit is used for storing the image data. The general survey robot is widely applied to detection of the underground pipelines.
Description
Technical field
The present invention relates to a kind of Underground Pipeline General Survey robot, belong to underground utilities detection equipment technical field.
Background technology
Along with the large diameter pipeline engineering development being representative with oil and gas pipes, cause people's great attention to pipe detection and maintenance, in succession carry out the automation research for the purpose of the cleaning and detection of long-distance pipe, most representational is cleaning and detection equipment in a kind of motorless pipe, and it provides walking power by the pressure differential of pumped (conveying) medium in the pipe of equipment head and the tail two ends.At present, oil, chemical industry, developing rapidly of the industry such as natural gas and nuclear industry, various pipelines are as a kind of important material conveying facility, it is widely applied, in growing city, the maintenance of pipeline and blowdown, pipeline construction link is extremely important, they are often erected at aerial or are embedded in underground, form complicated official website, restriction by space or geographical position, people are difficult to be directly involved, make artificial maintenance not only difficulty, and cost is high, simultaneously because corrosion, weight etc. act on, pipeline is crackle inevitably, the phenomenons such as dew hole, and the environment residing for pipeline is often people not easily or can not directly contact, can not to the detection of tiny pipeline, flaw detection and maintenance.
Summary of the invention
For solving the technical problem that prior art exists, the invention provides a kind of simple in construction, easy to use, adopt machine to replace manual detection underground utilities, the Underground Pipeline General Survey robot safe and reliable, work effect is high.
For achieving the above object, the technical solution adopted in the present invention is Underground Pipeline General Survey robot, car and the walking dolly being arranged in pipeline is controlled including ground, described walking dolly is provided with image collecting device and illuminating lamp, described ground controls to be provided with master controller on car, described master controller is provided with display screen and data storage element, described walking dolly, image collecting device is all connected with master controller with illuminating lamp, described image collecting device is for gathering the view data in pipeline, and view data is transferred to master controller, displayed by display screen, data storage element is used for storing view data.
Preferably, described image collector is set to infrared camera.
Preferably, being provided with rotation column on described walking dolly, the top of described rotation column is hinged with mounting seat, and described image collecting device is arranged in mounting seat, being respectively connected with servomotor on the jointed shaft of described rotation column and mounting seat, described servomotor is connected with master controller.
Preferably, described walking dolly and master controller, by wired connection, walking dolly are provided with cable-coiling drum.
Compared with prior art, the present invention has following technical effect that present configuration is simple, adopt and install machines to replace manual labor to the pipeline that can not contact and microtubule, special pipeline are carried out maintenance conditions, fuselage is little, dexterous, light, easily operate, by the image in infrared camera locality underground pipelines, the image feedback collected is analyzed to master controller, so that it is determined that the situation of pipeline, work efficiency significantly improves, and is greatly shortened the time of fixing a breakdown.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the structural representation of walking dolly in the present invention.
Detailed description of the invention
In order to make the technical problem to be solved, technical scheme and beneficial effect clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.
As shown in Figure 1, Underground Pipeline General Survey robot, car 1 and the walking dolly 2 being arranged in pipeline is controlled including ground, walking dolly 2 is provided with image collecting device 3 and illuminating lamp 4, image collecting device 3 adopts infrared camera, ground controls to be provided with master controller 5 on car 1, master controller 5 is provided with display screen and data storage element, walking dolly 2, image collecting device 3 is all connected with master controller 5 with illuminating lamp 4, image collecting device 3 is for gathering the view data in pipeline, and view data is transferred to master controller 5, displayed by display screen, data storage element is used for storing view data.
As shown in Figure 2, walking dolly 2 is provided with rotation column 6, the top rotating column 6 is hinged with mounting seat 7, image collecting device 3 is arranged in mounting seat 7, rotate and the jointed shaft of column 6 and mounting seat 7 is respectively connected with servomotor 8, servomotor 8 is connected with master controller 5, and walking dolly 2 and master controller 5, by wired connection, walking dolly 2 are provided with cable-coiling drum 9.
In use, first adopt stopcock that underground piping is carried out sealing operation, walking dolly is placed in pipeline, master controller adopts cable to be connected with the walking dolly in pipeline, signal transmission is more stable, operator are operated by the keyboard on master controller to control walking dolly pace in pipeline and direction, control infrared camera in the shooting direction of pipe interior, lens focus, lamplight brightness etc., the pipe interior image of shooting and other parameters then pass through cable transmission to master controller display screen, operator can real-time monitoring tubular road internal state, simultaneously by raw video data record and store, to do further analysis and assessment, after completing inspection work, according to related specifications code with require the Video Document of pipe inspection carries out defect coding and captures defect picture, carry out defect analysis and write inspection and evaluation report, require to be compressed image data processing according to user simultaneously, offer videodisc achieves, to instruct next step pipeline rehabilitation or maintenance work.Wherein, the type of drive of walking dolly can adopt in-wheel driving, binder type to drive, creeping motion type drives, and meets different pipeline environment.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all any amendment, equivalent replacement and improvement etc. made within the spirit and principles in the present invention, all should wrap within the scope of the present invention.
Claims (4)
1. Underground Pipeline General Survey robot, it is characterized in that: include ground and control car and the walking dolly being arranged in pipeline, described walking dolly is provided with image collecting device and illuminating lamp, described ground controls to be provided with master controller on car, described master controller is provided with display screen and data storage element, described walking dolly, image collecting device is all connected with master controller with illuminating lamp, described image collecting device is for gathering the view data in pipeline, and view data is transferred to master controller, displayed by display screen, data storage element is used for storing view data.
2. Underground Pipeline General Survey robot according to claim 1, it is characterised in that: described image collector is set to infrared camera.
3. Underground Pipeline General Survey robot according to claim 1, it is characterized in that: described walking dolly is provided with rotation column, the top of described rotation column is hinged with mounting seat, described image collecting device is arranged in mounting seat, being respectively connected with servomotor on the jointed shaft of described rotation column and mounting seat, described servomotor is connected with master controller.
4. the Underground Pipeline General Survey robot according to any one of claim 1-3, it is characterised in that: described walking dolly and master controller, by wired connection, walking dolly are provided with cable-coiling drum.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610236439.3A CN105715904A (en) | 2016-04-18 | 2016-04-18 | General survey robot for underground pipelines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610236439.3A CN105715904A (en) | 2016-04-18 | 2016-04-18 | General survey robot for underground pipelines |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105715904A true CN105715904A (en) | 2016-06-29 |
Family
ID=56160334
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610236439.3A Pending CN105715904A (en) | 2016-04-18 | 2016-04-18 | General survey robot for underground pipelines |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105715904A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107701923A (en) * | 2017-09-06 | 2018-02-16 | 国网江苏省电力公司江阴市供电公司 | Line clogging positioning searching device and its lookup method |
| CN109506075A (en) * | 2018-11-15 | 2019-03-22 | 福建工程学院 | Municipal pipeline breakage induce roadbed cavity whether there is or not detection device |
| CN109557171A (en) * | 2017-09-26 | 2019-04-02 | 中国石油天然气股份有限公司 | Oil & Gas Storage inspection device for containers |
| CN112524393A (en) * | 2020-10-20 | 2021-03-19 | 中国电建集团西北勘测设计研究院有限公司 | Dark culvert detection layout method |
| CN112856246A (en) * | 2020-12-21 | 2021-05-28 | 温州佳宝电镀设备有限公司 | Method for searching pipeline water leakage point |
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| CN101493174A (en) * | 2008-12-05 | 2009-07-29 | 山东电力集团公司东营供电公司 | Cable conduit traction robot based on video monitor |
| EP2093026A1 (en) * | 2008-02-21 | 2009-08-26 | Dieter Weuffen | Canal inspection robots with digital data transmission |
| CN101915339A (en) * | 2010-07-29 | 2010-12-15 | 中国科学院深圳先进技术研究院 | Pipeline robot |
| CN203431420U (en) * | 2013-07-03 | 2014-02-12 | 胡雄华 | Detection robot for miniature pipeline |
| 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 |
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| EP2093026A1 (en) * | 2008-02-21 | 2009-08-26 | Dieter Weuffen | Canal inspection robots with digital data transmission |
| CN101493174A (en) * | 2008-12-05 | 2009-07-29 | 山东电力集团公司东营供电公司 | Cable conduit traction robot based on video monitor |
| CN101915339A (en) * | 2010-07-29 | 2010-12-15 | 中国科学院深圳先进技术研究院 | Pipeline robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107701923A (en) * | 2017-09-06 | 2018-02-16 | 国网江苏省电力公司江阴市供电公司 | Line clogging positioning searching device and its lookup method |
| CN109557171A (en) * | 2017-09-26 | 2019-04-02 | 中国石油天然气股份有限公司 | Oil & Gas Storage inspection device for containers |
| CN109506075A (en) * | 2018-11-15 | 2019-03-22 | 福建工程学院 | Municipal pipeline breakage induce roadbed cavity whether there is or not detection device |
| CN109506075B (en) * | 2018-11-15 | 2020-08-07 | 福建工程学院 | Detection apparatus for municipal administration pipeline damage induces roadbed cavity and has or not |
| CN112524393A (en) * | 2020-10-20 | 2021-03-19 | 中国电建集团西北勘测设计研究院有限公司 | Dark culvert detection layout method |
| CN112856246A (en) * | 2020-12-21 | 2021-05-28 | 温州佳宝电镀设备有限公司 | Method for searching pipeline water leakage point |
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Application publication date: 20160629 |