CN106838543A - A kind of robot for environment detection in city water pipeline - Google Patents
A kind of robot for environment detection in city water pipeline Download PDFInfo
- Publication number
- CN106838543A CN106838543A CN201710189080.3A CN201710189080A CN106838543A CN 106838543 A CN106838543 A CN 106838543A CN 201710189080 A CN201710189080 A CN 201710189080A CN 106838543 A CN106838543 A CN 106838543A
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- China
- Prior art keywords
- guide way
- microcontroller
- camera
- ultrasonic detector
- motor
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- 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
-
- 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
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot for environment detection in city water pipeline, including microcontroller, the input of microcontroller is connected with camera, ultrasonic detector, function button and power supply；The output end of microcontroller is connected with motor, infrared lamp and display；The output end of motor is connected with reduction box, flexible shaft and guider in turn；Power supply is also connected with motor, camera, ultrasonic detector and infrared lamp respectively；Guider includes the first guide way and the second guide way, and directional drive is connected between first guide way one end and second guide way one end, and the first guide way other end is connected with flexible shaft；Camera, ultrasonic detector and infrared lamp are installed in the second guide way other end；First guide way and the second guide way both sides have been mounted opposite pair of wheels diameter changing mechanism respectively.The present invention is conducive to automation that is cost-effective and improving pipe detection and intelligent level by designing environment detection machine device people in pipeline.
Description
Technical field
It is more particularly to a kind of for environment detection in city water pipeline the invention belongs to robotics
Robot.
Background technology
With the raising of people's quality of life, requirement of the people to water quality also more and more higher, from for the angle of health,
Ask wash one's face and rinse one's mouth, cook lamp and direct physical contact the standard for reaching drinking water is also required that with water.And the water of waterworks is passed through at present
After treatment, due to the secondary pollution during pipeline transportation, the water quality reached in user family cannot obtain substantive raising always；
Wherein, for the water pipe of newly-built building secondary pollution can be avoided by the pipeline supported using new material, and old building
Metallic conduit it is too high due to tearing the cost of trade-in open, therefore laid stress in the transformation to water pipe, at present for, for
Bigbore water pipeline, mainly uses inner lining process, and for the transformation of small-bore building water supply pipe, it is mainly right
Pipeline carries out rust cleaning and internal spray treatment.But improved difficult point, it is how to judge whether the pipeline for having sprayed reaches
Transformation is required.Accordingly, it would be desirable to environment detection machine device people in a kind of pipeline be easy to and operate and flexibly control is designed, it is above-mentioned to solve
Technical problem.
The content of the invention
It is an object of the invention to provide a kind of robot for environment detection in city water pipeline, by design
With using the robot, existing problem is solved.
In order to solve the above technical problems, the present invention is achieved by the following technical solutions：
The present invention is a kind of robot for environment detection in city water pipeline, including microcontroller is described micro-
The input of controller is connected with camera, ultrasonic detector, function button and power supply；The output end connection of the microcontroller
There are motor, infrared lamp and display；The output end of the motor is connected with reduction box, flexible shaft and guider in turn；It is described
Power supply is also connected with motor, camera, ultrasonic detector and infrared lamp respectively；The guider includes the first guide way and the
Two guide ways, are connected with directional drive, the first guide way other end between first guide way one end and second guide way one end
It is connected with flexible shaft；The camera, ultrasonic detector and infrared lamp are installed in the second guide way other end；The flexible shaft
Periphery is evenly distributed with the teeth of ring-type；First guide way and the second guide way both sides have been mounted opposite pair of wheels respectively
Diameter changing mechanism.
Further, the camera is used to gather image information and transmits it to microcontroller, the supersonic sounding
Device is used to detect the obstacle information on direct of travel and transmit it to microcontroller, and the microcontroller is to the image that receives
After information and obstacle information are analyzed treatment respectively, the then action of controlled motor, the action of the motor include starting and
Stop；The display is used for real-time display image information.
Further, described second guide way one end is connected with cover body, and the cover body is transparent hemisphere face structure, described to take the photograph
As head, ultrasonic detector and infrared lamp are respectively positioned on cover body inner side.
Further, power line and holding wire, described power line one end and power supply phase are provided with inside the flexible shaft side by side
Even, its other end is connected with camera, ultrasonic detector and infrared lamp respectively；Described holding wire one end is connected with microcontroller,
Its other end is connected with camera, ultrasonic detector respectively.
Further, the wheel diameter changing mechanism includes radially telescopically adjustable support bar and on support bar
Wheel, the support bar include outer bar and interior bar, wherein outer bar be one end closing hollow structure, in the outer bar blind end
Side is connected with spring with interior bar one end, and the interior bar other end is arranged on the first guide way or on the second guide way.
Further, the microcontroller is single-chip microcomputer, and the directional drive is SMA flexible torsional drivers, described
Motor is direct current generator, and the output end of the reduction box includes gear wheel, and the gear wheel is mutually nibbled with the teeth of flexible shaft outer surface
Close.
The invention has the advantages that：
The present invention carries out environment measuring in pipeline by using robot, greatlys save manpower and materials, is conducive to saving
Cost；Pipe detection work is carried out by robot, is conducive to improving automation and the intelligent level of pipe detection work；
Teeth structure is provided with by by flexible shaft outer surface, and is meshed with reduction box output end gear wheel, then motor is through slowing down
Case drives flexible shaft movement, while guider plays guide effect, guider is moved in pipeline, guider
The camera and ultrasonic sensor of upper installation return coherent signal in real time, to flexible shaft under the analyzing and processing of microcontroller
Movement is controlled, and is conducive to avoiding that robot is collided with barrier and operating personnel are observed by display and schemed in real time
As information；By setting infrared lamp, auxiliary camera is then conducive to gather the image information in pipeline；By in guider
Both sides set wheel diameter changing mechanism, the reliability and stabilization for being easy to support oriented device to be slided in the pipeline of different inner diameters size
Property；By setting transparent cover, be conducive to protecting camera, ultrasonic detector and infrared lamp.
Certainly, implement any product of the invention to it is not absolutely required to while reaching all the above advantage.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, uses required for being described to embodiment below
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, on the premise of not paying creative work, can also obtain other attached according to these accompanying drawings
Figure.
Fig. 1 is a kind of composition frame chart for the robot of environment detection in city water pipeline of the invention；
Fig. 2 is the structural representation of guider in the present invention；
In accompanying drawing, the list of parts representated by each label is as follows：
1- microcontrollers, 2- motors, 3- reduction boxes, 4- flexible shafts, 401- power lines, 402- teeth, 403- holding wires, 5-
Guider, the guide ways of 501- first, the guide ways of 502- second, 503- directional drives, 504- wheel diameter changing mechanisms, 505- covers
Body, 6- cameras, 7- ultrasonic detectors, 8- infrared lamps, 9- function buttons, 10- displays, 11- power supplys.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is all other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Refer to shown in Fig. 1, the present invention is a kind of robot for environment detection in city water pipeline, including micro-
Controller 1, the input of microcontroller 1 is connected with camera 6, ultrasonic detector 7, function button 9 and power supply 11, microcontroller
1 output end is connected with motor 2, infrared lamp 8 and display 10, and the output end of motor 2 is connected with reduction box 3, flexible shaft 4 in turn
With guider 5；Power supply 11 is also connected with motor 2, camera 6, ultrasonic detector 7 and infrared lamp 8 respectively.
Wherein, motor 2 is used to drive reduction box 3 to operate, and reduction box 3 is defeated again after the rotating speed of motor 2 is necessarily slowed down
Go out and drive flexible shaft 4 to move, the movement of the moving belt action-oriented device 5 of flexible shaft 4, then guider 5 enter in pipeline
Line direction is guided and corresponding detection work.
Wherein, the angle of divergence of infrared lamp 8 matches with the angle of visual field of camera 6, and camera 6 is used to gather image information simultaneously
Microcontroller 1 is transmitted it to, ultrasonic detector 7 is used to detect the obstacle information on direct of travel and transmits it to micro-control
After device processed 1,1 pair of image information for receiving of microcontroller and obstacle information are analyzed treatment respectively, then controlled motor 2
Action, the action of motor 2 includes starting and stops；Function button 9 is carried out through microcontroller 1 for operating personnel to motor rotation
Control, is easy to later stage repair and maintenance manually；Display 10 is used for the image information of display camera 6 collection in real time.
As shown in Fig. 2 guider 5 includes the first guide way 501 and the second guide way 502, the one end of the first guide way 501
Directional drive 503 is connected between the one end of the second guide way 502, the other end of the first guide way 501 is connected with flexible shaft 4；
The other end of second guide way 502 is connected with cover body 505, and camera 6, ultrasonic detector 7 and infrared lamp 8 are arranged on the second guide way
502 other ends, camera 6, ultrasonic detector 7 and infrared lamp 8 are respectively positioned on the inner side of cover body 505；Flexible shaft 4 is through the first guide way
501 and the insertion of directional drive 503 be connected to the second guide way 502, the periphery of flexible shaft 4 is evenly distributed with ring-type teeth 402, soft
Be provided with power line 401 and holding wire 403 side by side inside property axle 4, the one end of power line 401 is connected with power supply 11, the other end respectively with
Camera 6, ultrasonic detector 7 and infrared lamp 8 are connected；The one end of holding wire 403 is connected with microcontroller 1, the other end respectively with take the photograph
As first 6, ultrasonic detector 7 is connected.
Wherein, the first guide way 501 and the both sides of the second guide way 502 have been mounted opposite pair of wheels diameter changing mechanism respectively
504, wheel diameter changing mechanism 504 includes radially telescopically adjustable support bar and the wheel on support bar (in figure not
Show), support bar includes outer bar (not shown) and interior bar (not shown), and outer bar is the hollow structure of one end closing,
Outer bar blind end inner side is connected with Flexible Connector (not shown) with interior bar one end, and the Flexible Connector is spring, interior bar
The other end is arranged on the first guide way 501 or on the second guide way 502；Because wheel diameter changing mechanism 504 can be along pipeline radially
Telescopic adjustment, is easy to support oriented device 5 to be slided along pipeline, and is conducive to the detection work of the pipeline of adaptation different inner diameters specification
Make.
Wherein, microcontroller 1 is single-chip microcomputer, and power supply 11 includes battery or civil power and mu balanced circuit, and cover body 505 is
Bright hemisphere face structure, directional drive 503 is SMA flexible torsional drivers, and motor 2 is direct current generator, and reduction box 3 is existing
Mechanism, realizes reducing the rotating speed of output shaft or gear of output end by gear pair, and what is applied in the present invention is the output of reduction box 3
It is gear wheel to hold, and the gear wheel is meshed with the teeth 402 of the outer surface of flexible shaft 4, is then controlled through reduction box 3 by motor 2
Flexible shaft 4 is axially moveable in pipeline, and then the mobile driving guider 5 of flexible shaft 4 is moved, and guider 5 is in pipeline
Inside play a part of channeling direction.
Finally it should be noted that present invention disclosed above preferred embodiment is only intended to help illustrates the present invention.It is excellent
The embodiment not all of details of detailed descriptionthe is selected, it is only described specific embodiment that the invention is not limited yet.Obviously, root
According to the content of this specification, can make many modifications and variations.This specification is chosen and specifically describes these embodiments, be in order to
Principle of the invention and practical application are preferably explained, so that skilled artisan can be best understood by and utilize
The present invention.The invention is limited only by the claims and the full scope thereof and equivalents thereof.
Claims (6)
1. a kind of robot for environment detection in city water pipeline, it is characterised in that：Including microcontroller (1), institute
The input for stating microcontroller (1) is connected with camera (6), ultrasonic detector (7), function button (9) and power supply (11)；It is described
The output end of microcontroller (1) is connected with motor (2), infrared lamp (8) and display (10)；The output end of the motor (2) according to
It is secondary to be connected with reduction box (3), flexible shaft (4) and guider (5)；The power supply (11) also respectively with motor (2), camera
(6), ultrasonic detector (7) and infrared lamp (8) are connected；
The guider (5) includes the first guide way (501) and the second guide way (502), the first guide way (501) one end with
Directional drive (503), the first guide way (501) other end and flexible shaft (4) are connected between second guide way (502) one end
It is connected；The camera (6), ultrasonic detector (7) and infrared lamp (8) are installed in the second guide way (502) other end；It is described
Flexible shaft (4) periphery is evenly distributed with the teeth (402) of ring-type；First guide way (501) and the second guide way (502) two
Side has been mounted opposite pair of wheels diameter changing mechanism (504) respectively.
2. a kind of robot for environment detection in city water pipeline according to claim 1, it is characterised in that：
, for gathering image information and transmitting it to microcontroller (1), the ultrasonic detector (7) is for visiting for the camera (6)
Survey direct of travel on obstacle information and transmit it to microcontroller (1), the microcontroller (1) to receive image letter
After breath and obstacle information are analyzed treatment respectively, the then action of controlled motor (2), the action of the motor (2) includes opening
Dynamic and stopping；The display (10) is for real-time display image information.
3. a kind of robot for environment detection in city water pipeline according to claim 1, it is characterised in that：
Described second guide way (502) one end is connected with cover body (505), and the cover body (505) is transparent hemisphere face structure, the shooting
Head (6), ultrasonic detector (7) and infrared lamp (8) are respectively positioned on cover body (505) inner side.
4. a kind of robot for environment detection in city water pipeline according to claim 1, it is characterised in that：
Power line (401) and holding wire (403), described power line (401) one end and power supply are provided with side by side inside the flexible shaft (4)
(11) it is connected, its other end is connected with camera (6), ultrasonic detector (7) and infrared lamp (8) respectively；The holding wire (403)
One end is connected with microcontroller (1), and its other end is connected with camera (6), ultrasonic detector (7) respectively.
5. a kind of robot for environment detection in city water pipeline according to claim 1, it is characterised in that：
The wheel diameter changing mechanism (504) includes radially telescopically adjustable support bar and the wheel on support bar, described
Support bar includes outer bar and interior bar, and wherein outer bar is the hollow structure of one end closing, with interior bar one on the inside of the outer bar blind end
End is connected with spring, and the interior bar other end is arranged on the first guide way (501) or on the second guide way (502).
6. a kind of robot for environment detection in city water pipeline according to claim 1, it is characterised in that：
The microcontroller (1) is single-chip microcomputer, and the directional drive (503) is SMA flexible torsional drivers, and the motor (2) is
Direct current generator, the output end of the reduction box (3) includes the teeth (402) of gear wheel, the gear wheel and flexible shaft (4) outer surface
It is meshed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710189080.3A CN106838543A (en) | 2017-03-27 | 2017-03-27 | A kind of robot for environment detection in city water pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710189080.3A CN106838543A (en) | 2017-03-27 | 2017-03-27 | A kind of robot for environment detection in city water pipeline |
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| Publication Number | Publication Date |
|---|---|
| CN106838543A true CN106838543A (en) | 2017-06-13 |
Family
ID=59129774
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710189080.3A Pending CN106838543A (en) | 2017-03-27 | 2017-03-27 | A kind of robot for environment detection in city water pipeline |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107606387A (en) * | 2017-10-17 | 2018-01-19 | 北京理工大学珠海学院 | A kind of self-adapting pipe crawl device and pipe welding line detecting method |
| CN108051286A (en) * | 2017-12-07 | 2018-05-18 | 浙江海洋大学 | A kind of inner-walls of duct erosive wear detection device |
| CN108644531A (en) * | 2018-07-06 | 2018-10-12 | 郑州大学 | Rail mounted drainpipe detecting equipment and the method for detecting drainage pipeline using it |
| CN109854862A (en) * | 2019-04-11 | 2019-06-07 | 江西理工大学 | A kind of pipe robot |
| CN110094598A (en) * | 2018-12-26 | 2019-08-06 | 上海京佳实业有限公司 | A kind of detection probe protective device of detecting robot of pipe |
| CN110672637A (en) * | 2019-10-31 | 2020-01-10 | 上海速介机器人科技有限公司 | Imaging automatic detection device in oil cylinder |
| CN111089220A (en) * | 2020-01-07 | 2020-05-01 | 中国计量大学 | Flexible pipeline inspection device |
| CN111699379A (en) * | 2018-04-02 | 2020-09-22 | 杜书勇 | Intelligent data acquisition system and method for pipeline |
| CN112134206A (en) * | 2019-07-03 | 2020-12-25 | 苏州力佳达电子科技有限公司 | Inspection robot capable of surmounting obstacles |
| CN112709936A (en) * | 2020-12-30 | 2021-04-27 | 沈阳工业大学 | Probe follow-up structure for detection in micro pipeline |
| CN113124261A (en) * | 2021-04-19 | 2021-07-16 | 北京工业大学 | Head pose control structure of water supply pipeline leak detection robot |
| CN115095735A (en) * | 2022-07-29 | 2022-09-23 | 福建建利达工程技术有限公司 | Pipeline robot detection device and pipeline fault detection method |
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| CN204879274U (en) * | 2015-04-27 | 2015-12-16 | 西安文理学院 | Wriggling formula pipeline flexible robot drive mechanism |
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| GB1453189A (en) * | 1972-11-22 | 1976-10-20 | Babcock & Wilcox Ltd | Inspection of tubular conduits |
| CN1475332A (en) * | 2003-06-24 | 2004-02-18 | 浙江大学 | Todpole imitation and spiral blood vessel robot |
| CN2734434Y (en) * | 2003-12-16 | 2005-10-19 | 杨雄 | Conduit cleaning robot |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107606387A (en) * | 2017-10-17 | 2018-01-19 | 北京理工大学珠海学院 | A kind of self-adapting pipe crawl device and pipe welding line detecting method |
| CN108051286A (en) * | 2017-12-07 | 2018-05-18 | 浙江海洋大学 | A kind of inner-walls of duct erosive wear detection device |
| CN111699379B (en) * | 2018-04-02 | 2024-01-30 | 杜书勇 | Intelligent data acquisition system and method for pipeline |
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| CN110094598A (en) * | 2018-12-26 | 2019-08-06 | 上海京佳实业有限公司 | A kind of detection probe protective device of detecting robot of pipe |
| CN109854862A (en) * | 2019-04-11 | 2019-06-07 | 江西理工大学 | A kind of pipe robot |
| CN112134206A (en) * | 2019-07-03 | 2020-12-25 | 苏州力佳达电子科技有限公司 | Inspection robot capable of surmounting obstacles |
| CN110672637B (en) * | 2019-10-31 | 2022-06-24 | 上海速介机器人科技有限公司 | Imaging automatic detection device in oil cylinder |
| CN110672637A (en) * | 2019-10-31 | 2020-01-10 | 上海速介机器人科技有限公司 | Imaging automatic detection device in oil cylinder |
| CN111089220B (en) * | 2020-01-07 | 2021-04-13 | 中国计量大学 | Flexible pipeline inspection device |
| CN111089220A (en) * | 2020-01-07 | 2020-05-01 | 中国计量大学 | Flexible pipeline inspection device |
| CN112709936A (en) * | 2020-12-30 | 2021-04-27 | 沈阳工业大学 | Probe follow-up structure for detection in micro pipeline |
| CN113124261A (en) * | 2021-04-19 | 2021-07-16 | 北京工业大学 | Head pose control structure of water supply pipeline leak detection robot |
| CN115095735A (en) * | 2022-07-29 | 2022-09-23 | 福建建利达工程技术有限公司 | Pipeline robot detection device and pipeline fault detection method |
| CN115095735B (en) * | 2022-07-29 | 2024-05-07 | 福建建利达工程技术有限公司 | Pipeline robot detection device and pipeline fault detection method |
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