CN109257570A - A kind of control method of pipe testing apparatus - Google Patents
A kind of control method of pipe testing apparatus Download PDFInfo
- Publication number
- CN109257570A CN109257570A CN201811259639.6A CN201811259639A CN109257570A CN 109257570 A CN109257570 A CN 109257570A CN 201811259639 A CN201811259639 A CN 201811259639A CN 109257570 A CN109257570 A CN 109257570A
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- China
- Prior art keywords
- camera
- controlling terminal
- video
- crawl device
- control method
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-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
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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
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Studio Devices (AREA)
Abstract
The invention discloses a kind of control methods of pipe testing apparatus, including the ambulation control method creeped in pipeline for controlling crawl device, the camera shooting head adjusting method for rising or falling or rotating for controlling the camera being located on crawl device, the audio acquired in crawl device pipeline and video recording are transferred to the video transmission method of controlling terminal, for counting traveling time and distance and the time shown on video and distance statistics stacking method in crawl device pipeline, controlling terminal passes through the movement of circuit control crawl device and the adjusting of camera, it the audio of video transmission method acquisition and records a video controlling terminal is transferred to by the data cable in the data drum that connect with crawl device, traveling time and distance in crawl device pipeline are counted by time and distance statistics stacking method and are shown in controlling terminal.Operation of the present invention is simple, conveniently, stablize, strong antijamming capability in signals transmission.
Description
Technical field
The present invention relates to pipe detection fields, more particularly, to a kind of control method of pipe testing apparatus.
Background technique
The scale in city constantly expands, and the water consumption in city is increasing, and displacement is also increasing, pipe dredging,
Pipeline rehabilitation, the task of pipe-dredging are also increasingly heavier, need regularly to dredge the drainage pipeline networks of urban inner thus
Cleaning and reparation.It needs to carry out detailed detection to the overall condition inside pipeline before cleaning, reparation, makes detection report
It accuses.
Existing pipe testing apparatus control method part is to pass through physical button plus external key based on microcomputer development
Disk auxiliary operation.Operating method is stiff, system interaction ability, hardware interface versatility, system redundancy difference and system software liter
Grade and follow-up function extension difficulty are big.Or to develop based on the end PC, the control of the end PC is installed by external notebook and tablet computer
Program controls system of creeping by issuing wireless signal.Stability and anti-interference ability be not good enough, slightly higher to operating environment requirement,
Equipment globality poor.
Summary of the invention
The purpose of the present invention is to provide a kind of control methods of pipe testing apparatus, solve equipment under actual job environment
Stability, globality, the problem of expansibility difference, operation of the present invention is simple, conveniently, stablize, it is anti-interference in signals transmission
Ability is strong.
The present invention solve above-mentioned technical problem the technical solution adopted is that: a kind of control method of pipe testing apparatus, packet
Include for control ambulation control method that crawl device creeps in pipeline, for control the camera being located on crawl device rise or
The camera shooting head adjusting method of decline or rotation, the video that the audio acquired in crawl device pipeline and video recording are transferred to controlling terminal
Transmission method, for counting traveling time and distance in crawl device pipeline and the time shown on video is superimposed with distance statistics
Method, controlling terminal by the adjusting of the movement of circuit control crawl device and camera, the audio of video transmission method acquisition and
Video recording is transferred to controlling terminal by the data cable in the data drum that connect with crawl device, folded by time and distance statistics
Adding method counts traveling time and distance in crawl device pipeline and shows in controlling terminal.For acquiring climbing for pipeline internal information
Row device includes the walking module moved in pipeline for crawl device, the camera module for adjusting camera, with crawl device
Connect and be used to calculate crawl device creep distance data drum include the data cable being connect with crawl device, for count creep
Device is creeped the meter counter of distance, and the controlling terminal for connecting and be used to control crawl device with data drum includes believing for input control
The control module of control crawl device number is carried out, is connect with control module and is the power module that control module is powered；Control module
It is connect respectively with walking module, camera module, meter counter.Controlling terminal controls crawl device when advancing, and data cable is with creeping
Device advance is mobile to touch meter counter rotation, generates real-time range data of creeping, which passes back to controlling terminal by cable, real
When show and be recorded on video and picture.Camera one end is connect with control module, and the camera other end and power module connect
It connects, collected video or image information are directly passed to controlling terminal by cable by camera.Controlling terminal controls crawl device
Forward-reverse and steering, while controlling the lifting, reduction, rotation of camera.Above-mentioned technical proposal, it is simple, convenient, steady
Fixed, by cable transmission signal stabilization, strong antijamming capability, failure rate are low.
Preferably, ambulation control method includes the following contents: controlling terminal is located at by adjusting walking switch control and is climbed
Third motor rotates on row device, and the rotation of third motor drives crawl device all around to move.The control mould being located in controlling terminal
Block control module includes for remotely controlling the first control module of bracket lifting module and walking module, taking the photograph for remotely controlling
As the second control module of head rotating module, the first control module is connect with bracket lifting module, walking module respectively, the second control
Molding block is connect with camera rotating module, and the first control module, the second control module are connect with power module.First control
Module includes travelling control module, and travelling control module includes controlling the third motor rotation drive being located in walking module to creep
The walking switch that device all around moves, walking switch are connect with walking module.Third motor includes left side movable motor and the right side
Side movable motor, walking switch include the left-hand rotation that the right-hand rotation connecting with left side movable motor is switched, connect with right side movable motor
Switch, the front and back change-over switch with turn left switch and switch connection of turning right.Front and back change-over switch include for controlling crawl device before
Into advance switch, for control crawl device retrogressing retrogressing switch, for control crawl device pause shutdown switch, work as left side
When movable motor and right-hand rotation movable motor work at the same time, crawl device advances, and is arranged by two motors and the switch simplified, and reduces
Equipment failure rate, while being also convenient for the maintenance in later period.
Preferably, ambulation control method further includes moving velocity modulation prosecutor method, moving velocity modulation prosecutor method includes the following contents: being located at
The first electron speed regulator in controlling terminal controls the speed of motor rotation by adjusting circuitous resistance.Travelling control module includes
To the first electron speed regulator that movement speed is adjusted the speed, first electron speed regulator one end is connect with power module, the first electronics
The governor other end is connect with front and back change-over switch one end.Travelling control module is additionally provided with for protecting travelling control module
Two fuses, the second motor indicator light whether rotated for judging the second motor, second fuse one end and the first electronics tune
Fast device is connected in series, and the second fuse other end is connect with power module, and the second motor indicator light and the first electron speed regulator are simultaneously
Connection connection, the second motor indicator light are connected with second fuse, walking switch respectively.First electron speed regulator can be realized to climbing
Row device movement speed carries out stepless speed regulation, so that trolley movement is more smooth, convenient for the control to small vehicle speed；Second fuse
Open circuit, the electronics member device in protection travelling control module and walking module can be carried out when control module electric current of walking is excessive
Part；Second motor indicator light can help whether manipulator rotates convenient for the on-off of decision circuitry, motor, convenient for the inspection in later period
It repairs.
Preferably, camera shooting head adjusting method includes for controlling the bracket adjusting method and use that camera rises or falls
In the camera method for controlling rotation of control camera rotation.Camera module includes high for adjusting the lifting support of camera
The bracket of degree goes up and down module, the camera rotating module for adjusting camera shooting angle, and bracket goes up and down module, camera turns
Dynamic model block is connect with control module.Module raising and lowering, which is gone up and down, by control bracket carries out camera height adjustment, control
Camera rotating module rotates up and down, carries out letter to the defect of pipeline of different location in pipeline, different height, different angle
Breath acquisition, can precisely detect position each in pipeline.
Preferably, bracket adjusting method includes the following contents: controlling terminal controls camera bracket by rising switch
Rise, when camera bracket rises to predeterminated position, the first limit switch is disconnected, and limitation camera bracket rises；Controlling terminal
Camera bracket decline is controlled by down switch, when camera bracket drops to predeterminated position, the second limit switch is disconnected, limit
Camera bracket decline processed.It includes for controlling the first motor of lifting support, for limiting lifting support that bracket, which goes up and down module,
The first limit switch, the second limit switch for limiting lifting support decline risen, first motor are limited with first respectively
Switch, the connection of the second limit switch, the first limit switch and the second limit switch are connect with the first control module；First control
Module further includes bracket elevating control module, bracket elevating control module include the rising switch being connect with the first limit switch,
Down switch, the shutdown switch for making first motor stop operating connecting with the second limit switch, rising switch, decline are opened
It closes, shutdown switch is connect with power module.Through the above technical solutions, prevent bracket and pipeline from colliding, so as to cause
Bracket and pipeline are impaired, while preventing first motor from damaging because of rotation caused by can not rising or falling.
Preferably, camera method for controlling rotation includes the following contents: the control rocker switch being located in controlling terminal
It is rotated up and down by circuit control camera.Camera rotating module includes the second electricity for driving camera to rotate
Machine, the second motor include the left and right motor of the motor up and down for driving camera to rotate upwardly and downwardly, drive camera left-right rotation, up and down
Motor is connect with the second control module with left and right motor.Camera one end is connect with the control module for being used for transmission signal, is taken the photograph
As the head other end is connect with power module；Second motor drives second driving shaft rotation, and second driving shaft drives camera rotation,
Second control module can be by the starting or closing of the second motor of control, to control the rotation of camera, camera passes through
Upper and lower motor and left and right motor realize that 360 ° omni-directional rotates up and down, maintenance when convenient for post facility damage.For controlling
The rocker switch that camera processed rotates up and down is located in the second control module, and rocker switch is connect with power module.Above and below
Two rocker switches control motor up and down, and left and right two rocker switches control left and right motor, and rocker switch is cross, is passed through
One connecting rod is attached four switches up and down, to control left and right motor and upper and lower motor.What the prior art used
It is double-layer cross rocker switch, controls camera up and down by 8 microswitches, this programme passes through single layer cross rocker arm
Switch is controlled camera up and down by 4 microswitches, is rationally realized using normally-open normally-close contact, more succinctly
It is illustrated.Through the above technical solutions, overcoming the problem of existing camera scheme of rotation complexity, become by pervious odt circuit
Achieve the effect that equally to can be realized 360 ° of camera rotations using relatively simple technology for present single circuit.
Preferably, further including illumination control method, illumination control method includes the following contents: being located in controlling terminal
Second electron speed regulator is adjusted the lighting device brightness being located on crawl device by adjusting circuitous resistance.It further include being used for
The lighting module of pipeline internal light source is provided, lighting module is connect with the lighting control module that the first control module is equipped with, and is shone
Bright control module includes the second electron speed regulator for regulating illumination intensity, and the second electron speed regulator is connect with lighting module.
The third fuse for protecting lighting control module is additionally provided on lighting control module, for judging whether lighting module starts
Lighting module indicator light, third fuse one end and the second electron speed regulator be connected in series, the third fuse other end and electricity
Source module connection, lighting module indicator light are connected in parallel with the second electron speed regulator；Lighting module includes two and is connected in parallel
First LED light and the second LED light.Second electron speed regulator can be realized the stepless-adjustment to the first LED light and the second LED light brightness
Speed adjusts the first LED light and the second LED light brightness freely, and third fuse can be in lighting control module electric current
Make circuit breaker when excessive, protects the electronic component on lighting control module and lighting module.
Preferably, video transmission method include video recording transmission method, video recording transmission method the following steps are included:
Step 1: after initialization video recording relevant parameter and equipment, monitoring video recording movement；
Step 2: if video recording not yet starts, return step one starts the video recording of camera；If video recording has been started up,
Creation generates the catalogue and file of video recording；
Step 3: camera is sent to the message of controlling terminal video recording beginning state；
Step 4: the video information that controlling terminal takes camera generates video file；Controlling terminal can will image
The video information that head continuous collecting arrives, circulation generate video file.
Step 5: controlling terminal judges whether to stop video recording, if so, closing video file, sends video recording halted state
Message is to camera；If not stopping recording a video, return step four.
Through the above technical solutions, can be realized the video information in pipeline is stable, be conveniently transported to long-range control
Terminal processed.
Preferably, video transmission method further includes audio frequency transmission method, audio frequency transmission method the following steps are included:
Step A: initialization audio collecting device and parameter；
Step B: audio collecting device pre-processes the audio data of acquisition and is stored in buffer；
Step C: it obtains audio data address and carries out coded treatment；
Step D: the audio data in audio collecting device is transferred in controlling terminal.
Through the above technical solutions, can be realized, audio data is stable, is conveniently transported to controlling terminal.
Preferably, time and distance statistics stacking method the following steps are included:
Step a: the crawl device distance that controlling terminal pair is connect with data drum initializes；
Step b: whether detection time and/or distance change, if not changing, return step a；If becoming
Change, then reads time and/or the distance of variation；
Step c: controlling terminal shows that time and/or distance are superimposed upon the region of video and show size；
Step d: controlling terminal reads the color font of display and time and/or distance is added on video；
Step e: controlling terminal is arrived by the time after superposition and/or apart from storage.
Through the above technical solutions, the time of statistics, distance synchronous can be shown on video pictures, convenient for subsequent right
The determination of the breakage of pipeline.
The invention has the advantages that:
1, camera shooting grease head highness, camera rotational angle can be adjusted in the present invention, can be realized to inside pipeline
Comprehensive detection.
2, the present invention can walking to crawl device and illumination carry out stepless speed regulation so that the movement and illumination of crawl device are adjusted
Section more freely with conveniently.
3, the high voltage that original pair of human body has injury is changed to harmless low-voltage by the present invention, so that using more pacifying
Entirely, bulky transformer, rectifier bridge and filter capacitor are eliminated.
4, the present invention is able to solve crawl device and encounters the problem of easy blocking of mud halts, enables to protective shell
Splicing part seals waterproof.
5, the present invention realizes the automation of crawling device height, can detecte bigger pipeline, part and easily replaces, reduces inspection
Survey cost.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is systematic schematic diagram of the invention.
Fig. 3 is walking module of the invention, bracket lifting module, lighting module and camera rotating module module principle
Figure.
Fig. 4 is the first control module schematic diagram of the invention.
Fig. 5 is the second control module schematic diagram of the invention.
Fig. 6 is power module schematic diagram of the invention.
Fig. 7 is the general structure schematic diagram that the present invention is equipped with camera.
Fig. 8 is the supporting structure schematic diagram that the present invention removes camera.
Fig. 9 is the structural schematic diagram of data drum of the present invention.
Figure 10 is uninstalled tire construction schematic diagram in Fig. 7 or Fig. 8.
In figure: 1, power module, the 2, first control module, the 3, second control module, 4, bracket lifting module, 5, camera
Rotating module, the 6, first power supply, 7, second source, 8, rising switch, 9, shutdown switch, 10, down switch, 11, rocker switch,
12, the first radiator fan, the 13, second radiator fan, the 14, first limit switch, 15, first motor, the 16, second limit switch,
17, the second motor, 18, upper and lower motor, 19, left and right motor, 20, first fuse, 21, total power switch, 22, camera, 23,
Walking module, 24, lighting module, 25, travelling control module, 26, lighting control module, 27, bracket elevating control module, 28,
Second fuse, the 29, first electron speed regulator, the 30, second motor indicator light, 31, front and back change-over switch, 32, switch of turning right,
33, turn left switch, 34, third fuse, the 35, second electron speed regulator, 36, lighting module indicator light, 37, third motor, 38,
Left side movable motor, 39, right side movable motor, the 40, first LED light, the 41, second LED light, 42, shell, the 43, first transmission shaft,
44, support rod, 45, second driving shaft, 46, fixed link, 47, mounting base, 48, support rod crook, 49, lug boss, 50, hollow out
Portion, 51, lighting device, 52, mounting groove, 53, mounting hole, 54, driving device, 55, water-proof sealing rubber strip, the 56, first inclined surface,
57, the second inclined surface, 58, third inclined surface, 59, data drum, 60, data cable, 61, meter counter, 62, drum, 63, reciprocal
Axis, 64, transmission case, 65, controlling terminal, the 66, first car axle hole, 67, carcass, the 68, first metal fixture block, the 69, first cylinder,
70, lid, the 71, second metal fixture block, the 72, second cylinder, 73, inner ring, 74, clamping rings, 75, first through hole, 76, screw thread
Hole, 77, first step hole, the 78, second through-hole, 79, second step hole, 80, cambered surface deep trouth line, 81, axle
Specific embodiment
Below in conjunction with drawings and embodiments, the present invention is further illustrated.
As Figure 1-10 shows, a kind of control method of pipe testing apparatus of the present invention, including for controlling crawl device in pipe
The ambulation control method creeped in road, the camera for rising or falling or rotating for controlling the camera 22 being located on crawl device
The audio acquired in crawl device pipeline and video recording are transferred to the video transmission method of controlling terminal 65, are used for by 22 adjusting methods
Count traveling time and distance and the time shown on video and distance statistics stacking method, controlling terminal in crawl device pipeline
65 by the adjusting of the movement of circuit control crawl device and camera 22, the audio of video transmission method acquisition and record a video by with
Data cable in the data drum of crawl device connection is transferred to controlling terminal 65, is united by time and distance statistics stacking method
It counts traveling time and distance in crawl device pipeline and is shown in controlling terminal 65.For acquiring the crawl device packet of pipeline internal information
Include the walking module 23 moved in pipeline for crawl device, the bracket for adjusting 22 support height of camera goes up and down module 4,
For adjusting the camera rotating module 5 of 22 shooting angle of camera, connect with crawl device and be used to calculate crawl device creep away from
From data drum 59 include the data cable 60 being connect with crawl device, for count crawl device creep with a distance from meter counter 61,
It is connect with data drum 59 and the controlling terminal 65 for controlling crawl device includes carrying out control for input control signal to creep
The control module of device, the power module 1 for connecting and be control module power supply with control module；Control module respectively with walking module
23, bracket lifting module 4, camera rotating module 5, meter counter 61 connect.
Control module includes for remotely controlling the first control module 2 of bracket lifting module 4 and walking module 23, being used for
Second control module 3 of long-range control camera rotating module 5, the first control module 2 go up and down module 4, walking with bracket respectively
Module 23 connects, and the second control module 3 connect with camera rotating module 5, the first control module 2, the second control module 3 with
Power module 1 connects.
First control module 2 includes travelling control module 25, and travelling control module 25 includes that control is located at walking module 23
In third motor 37 rotation drive crawl device all around move walking switch, to movement speed adjusted the speed first electricity
Sub- governor 29,29 one end of the first electron speed regulator are connect with power module 1, and 29 other end of the first electron speed regulator is opened with walking
One end connection is closed, the walking switch other end is connect with walking module 23.Travelling control module 25 is additionally provided with for protecting walking control
The second fuse 28 of molding block, the second motor indicator light 30 whether rotated for judging the second motor 17, second fuse
28 one end and the first electron speed regulator 29 are connected in series, and 28 other end of second fuse is connect with power module 1, and the second motor refers to
Show that lamp 30 is connected in parallel with the first electron speed regulator 29, the second motor indicator light 30 is switched with second fuse 28, walking respectively
Connection.
Third motor 37 includes left side movable motor 38 and right side movable motor 39, and walking switch includes and the left row leakage of electricity
The right-hand rotation switch 32 of the connection of machine 38, the left-hand rotation switch 33 connecting with right side movable motor 39 are switched with left-hand rotation switch 33 and right-hand rotation
The front and back change-over switch 31 of 32 connections, front and back change-over switch 31 are connect with the first electron speed regulator 29.
It further include being set in lighting module 24 and the first control module 2 for providing the lighting module 24 of pipeline internal light source
Some lighting control modules 26 connect, and lighting control module 26 includes the second electron speed regulator 35 for regulating illumination intensity,
Second electron speed regulator 35 is connect with lighting module 24.It is additionally provided on lighting control module 26 for protecting lighting control module 26
Third fuse 34, the lighting module indicator light 36 that whether starts for judging lighting module 24,34 one end of third fuse
It is connected in series with the second electron speed regulator 35,34 other end of third fuse is connect with power module 1, lighting module indicator light 36
It is connected in parallel with the second electron speed regulator 35；Lighting module 24 includes two the first LED light 40 and the second LED light being connected in parallel
41。
Bracket lifting module 4 includes first for controlling the first motor 15 of bracket lifting, rising for limit bracket
Limit switch 14, for the second limit switch 16 of limit bracket decline, first motor 15 respectively with the first limit switch 14, the
The connection of two limit switches 16, the first limit switch 14 and the second limit switch 16 are connect with the first control module 2；First control
Module 2 further includes bracket elevating control module 27, bracket elevating control module 27 include connect with the first limit switch 14 it is upper
Switch 8, the down switch 10 connecting with the second limit switch 16, the shutdown switch 9 for making first motor 15 stop operating are risen,
Rising switch 8, down switch 10, shutdown switch 9 are connect with power module 1；Second control module 3 includes for controlling camera shooting
First 22 rocker switches 11 rotated up and down, rocker switch 11 are connect with power module 1.Camera rotating module 5 includes using
In the second motor 17 for driving camera 22 to rotate, the second motor 17 includes the motor up and down for driving camera 22 to rotate upwardly and downwardly
18, the left and right motor 19 of 22 left-right rotation of camera is driven, upper and lower motor 18 connects with the second control module 3 with left and right motor 19
It connects.22 one end of camera is connect with the control for being used for transmission signal, and 22 other end of camera is connect with power module 1.Second control
Molding block 3 further includes the radiating module for reducing temperature, and radiating module includes the first radiator fan 12 and the second radiator fan
13, the first radiator fan 12 and the second radiator fan 13 are in parallel, the first radiator fan 12 and 13 one end of the second radiator fan with
The connection of 1 output end of power module, the first radiator fan 12 and 13 other end of the second radiator fan ground connection.
Power module 1 includes the first fuse 20 of protective module, for the total power switch of closure or openness general supply
21, the first power supply 6 for powering for first motor 15, the second source 7 for powering for the second motor 17, first fuse
20 one end connect external power supply, and 20 other end of first fuse connect with total power switch 21, and total power switch 21 is respectively with the
One power supply 6, second source 7 connect, the first power supply 6 respectively with rising switch 8, down switch 10, shutdown switch 9, the first electronics
Governor 29, the connection of the second electron speed regulator 35, second source 7 are dissipated with rocker switch 11, the first radiator fan 12, second respectively
Hot-air fan 13 connects.When being equipped with second fuse 28 and when third fuse 34, the first power supply 1 respectively with second fuse 28 with
Third fuse 34 connects.The prior art is had to the 68V voltage of injury by transformer output to human body, simultaneously by rectifier bridge rectification
The scheme exported after being filtered by capacitor is improved to the 36V electricity by Switching Power Supply output to no damage to human body of this programme
Pressure, is output to third motor 37 after the first electronic speed regulation, is reduced by more circuit power supply lines to 2 tunnels and is powered, eliminates heaviness
Transformer, rectifier bridge and filter capacitor.When current is excessive, the setting of fuse can protect system not damaged, only need
Replace fuse；The setting of total power switch 21 can be convenient for the control to system, convenient for the operation of halt system；First
Alternating current can be converted into different DC power supplies by the setting of power supply 6 and second source 7, be arranged by different voltage, thus
Enable first motor 15 and the more efficient use of the second motor 17.
Crawl device includes protective shell, and protective shell surface is equipped with row's silt structure, and row's silt structure includes being located at protective shell bottom
The inclined surface on portion surface, inclined surface include the first inclined surface 56, the second inclined surface 57 above the first inclined surface 56, are located at
The third inclined surface 58 of second inclined surface, 57 top.
Protective shell is equipped with for shooting the camera 22 of pipeline internal information, for providing the illumination of illumination for camera 22
Device 51, the driving device 54 for controlling camera 22 and lighting device 51 and powering for camera 22 and lighting device 51,
Camera 22 and lighting device 51 are each provided in driving device 54, and driving device 54 is connect with data drum 59.
Protective shell is additionally provided with the lifting support for lifting illumination device 51 and camera 22, and lifting support is located at driving dress
It sets on 54；Lifting support includes for installing the shell 42 of camera 22 and lighting device 51, first motor 15 and first motor
First transmission shafts 43 of 15 connections, the first transmission shaft 43 are fastened on the support rod 44 for going up and down shell 42, support rod 44 with
Shell 42 connects, and shell 42, first motor 15, the first transmission shaft 43, support rod 44 are each provided in driving device 54；Support rod 44
Equipped with support rod crook 48, the first transmission shaft 43 is fastened in support rod crook 48；It is equipped in shell 42 and is taken the photograph for rotating
As first 22 second driving shaft 45, the rotatable fixation of camera 22 is located on second driving shaft 45；Band is additionally provided in shell 42
The second motor 17 that dynamic second driving shaft 45 rotates, the second motor 17 are connect with second driving shaft 45, rocker switch 11 respectively；Outside
Shell 42 is equipped with the fixed link 46 for fixing shell 42, and the first transmission shaft 43 is fixedly connected in mounting base 47, fixed link 46
One end is connect with shell 42, and 46 other end of fixed link is fixedly connected in mounting base 47, and mounting base 47 is located in driving device 54.
Shell 42 is equipped with the mounting groove 52 for installing lighting device 51, and mounting groove 52 is equipped with mounting hole 53, the groove face of mounting groove 52
For arc.So that shell 42 will not be turned on one's side due to gravity, fixed link 46 may be mounted at support for the setting of fixed link 46
Above or below bar 44, support rod 44 and fixed link 46 form parallelogram, and the starting of first motor 15 passes through parallelogram
Power is passed to shell 42 in parallel, makes shell 42 is horizontal to rise, so that entire bracket rising is more stable；Lighting device
51 for providing light source for camera 22 in a dark environment, so that shooting is more clear.Mounting hole 53 is located in the middle part of arc, peace
The design in hole 53 is filled so that lighting device 51 is easier to be fixed on mounting groove 52, it is not easy to fall, the design of arc is so that illumination
The installation of device 51 is more stable.Support rod 44 is equipped with the lug boss 49 for increasing by 44 intensity of support rod, sets below lug boss 49
There are hollow-out parts 50.Lug boss 49 is located at 44 middle part of support rod, and support rod 44 is easy to happen fracture, and fracture frequently occurs in middle part
Position, the setting of lug boss 49 is so that phenomenon of rupture, the intensity of raising support rod 44 are less likely to occur support rod 44, while also making
It is more beautiful to obtain 22 bracket of camera；50 one side of hollow-out parts alleviates the weight of 22 bracket of camera, saves material, another
Aspect hollow-out parts 50 make 22 bracket of camera more beautiful.
The tire of pipe crawling device includes carcass 67, is removably secured the hub unit being located in carcass 67, wheel hub dress
It sets and is located in the first metal fixture block 68 including being removably secured the first metal fixture block 68 being located in carcass, being removably secured
The second metal fixture block 71,67 body of tire is located between the first metal fixture block 68 and the second metal fixture block 71, thus the second metal clip
First metal fixture block 68 is removably secured and is located in carcass 67 by block 71.First metal fixture block 68 includes being removably secured set
The first cylinder 69 for being located in the second metal fixture block 71, the lid 70 being linked together with the first cylinder 69, the first cylinder 69 it is straight
Diameter is less than the diameter of lid 70, is removably secured lid 70 by the first cylinder 69 and is set in carcass 67.In carcass 67
The heart is equipped with inner ring 73 corresponding with lid 70, and 73 wall of inner ring is equipped with internal diameter clamping rings corresponding with the first cylinder 69
74, the first cylinder 69 is removably secured after clamping rings 74 and is set in the second metal fixture block 71, and lid 70 is embedded in
Inner ring 73, lid 70 are matched with the one side of clamping rings 74, so that the first metal fixture block 68 is removably secured and is set in
In carcass 67.Second metal fixture block 71 includes second cylinder 72 corresponding with inner ring 73, and 72 center of the second cylinder is equipped with and the
The corresponding first through hole 75 of one cylinder 69, the second cylinder 72 are embedded in inner ring 73, the other side of the second cylinder and clamping rings 74
Face matches, and the first cylinder 69 is removably secured after clamping rings 74 and is set in first through hole 75, thus the first gold medal
Belong to fixture block 68 and the second metal fixture block 71 is removably secured and is set in carcass 67.Second cylinder 72 is equipped with threaded hole 76, lid
Body 70 is equipped with first step corresponding with threaded hole 76 hole 77, and clamping rings 74 is equipped with second through-hole corresponding with threaded hole 76
78；By screw connection, the second cylinder 72 and lid 70 are removably secured and are fixed on 74 two sides of annulus.Lid 70 is equipped with
Axle 81 is removably secured across second step hole 79 with lid 70 by screw and is connect by second step hole 79.Carcass 67
Outer surface is equipped with the cambered surface deep trouth line 80 for preventing carcass from skidding.67 shape of carcass is arcwall face.First cylinder 69 is equipped with and axle
81 cooperate the second connected car axle hole, and the first car axle hole 66 in the second car axle hole and crawl device on the first cylinder 69 is opposite
Together, axle 81 is by entering the first car axle hole 66 after the second car axle hole.
Ambulation control method includes the following contents: controlling terminal 65 is located on crawl device the by adjusting walking switch control
The rotation of three motors 37, the rotation of third motor 37 drive crawl device all around to move.
Ambulation control method further includes moving velocity modulation prosecutor method, and moving velocity modulation prosecutor method includes the following contents: being located at controlling terminal
The first electron speed regulator 29 on 65 controls the speed of motor rotation by adjusting circuitous resistance.
22 adjusting method of camera includes for controlling bracket adjusting method that camera 22 rises or falls and for controlling
22 method for controlling rotation of camera that camera 22 processed rotates.
Bracket adjusting method includes the following contents: controlling terminal 65 controls 22 bracket of camera by rising switch 8 and rises,
When 22 bracket of camera rises to predeterminated position, the first limit switch 14 is disconnected, and limitation 22 bracket of camera rises；Controlling terminal
65 control the decline of 22 bracket of camera by down switch 10, and when 22 bracket of camera drops to predeterminated position, the second limit is opened
It closes 16 to disconnect, limitation 22 bracket of camera decline.
22 method for controlling rotation of camera includes the following contents: the control rocker switch 11 being located in controlling terminal 65 passes through
Circuit control camera 22 rotates up and down.
It further include illumination control method, illumination control method includes the following contents: the second electricity being located in controlling terminal 65
Sub- governor 35 is adjusted the lighting device brightness being located on crawl device by adjusting circuitous resistance.
Video transmission method include video recording transmission method, video recording transmission method the following steps are included:
Step 1: after initialization video recording relevant parameter and equipment, whether monitoring video recording starts；
Step 2: if video recording not yet starts, return step one starts the video recording of camera 22；If video recording has been started up,
Then create the catalogue and file for generating video recording；
Step 3: camera 22 is sent to the message of the video recording beginning state of controlling terminal 65；
Step 4: the video information that controlling terminal 65 takes camera 22 generates video file；
Step 5: controlling terminal 65 judges whether to stop video recording, if so, closing video file, sends video recording and stops shape
State message is to camera 22；If not stopping recording a video, return step four.
Video transmission method further includes audio frequency transmission method, audio frequency transmission method the following steps are included:
Step A: initialization audio collecting device and parameter；
Step B: audio collecting device pre-processes the audio data of acquisition and is stored in buffer；
Step C: it obtains audio data address and carries out coded treatment；
Step D: the audio data in audio collecting device is transferred in controlling terminal 65.
Time and distance statistics stacking method the following steps are included:
Step a: controlling terminal 65 initializes the crawl device distance connecting with data drum；
Step b: whether detection time and/or distance change, if not changing, return step a；If becoming
Change, then reads time and/or the distance of variation；
Step c: controlling terminal 65 shows that time and/or distance are superimposed upon the region of video and show size；
Step d: controlling terminal 65 reads the color font of display and time and/or distance is added on video；
Step e: controlling terminal 65 is arrived by the time after superposition and/or apart from storage.
The length stretched by the meter counter 61 in data drum 59 according to the data cable 60 connecting with crawl device, calculating are climbed
The data of real-time statistics are sent controlling terminal 65, controlling terminal 65 by moving distance of the row device in pipeline, data drum 59
The display of receiving time and distance is generated simultaneously.
Each embodiment is described in a progressive manner in specification, the highlights of each of the examples are with other realities
The difference of example is applied, the same or similar parts in each embodiment may refer to each other.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of control method of pipe testing apparatus, it is characterised in that: including what is creeped in pipeline for controlling crawl device
Ambulation control method is adjusted for controlling the camera (22) that the camera being located on crawl device (22) rises or falls or rotates
The audio acquired in crawl device pipeline and video recording are transferred to the video transmission method of controlling terminal (65), for counting by method
Traveling time and distance and the time shown on video and distance statistics stacking method, controlling terminal (65) in crawl device pipeline
By the adjusting of the movement of circuit control crawl device and camera (22), the audio of video transmission method acquisition and record a video by with
Data cable in the data drum of crawl device connection is transferred to controlling terminal (65), passes through time and distance statistics stacking method
It counts traveling time and distance in crawl device pipeline and is shown in controlling terminal (65).
2. the control method of pipe testing apparatus according to claim 1, it is characterised in that: ambulation control method include with
Lower content: controlling terminal (65) is located at third motor (37) rotation, third motor on crawl device by adjusting walking switch control
(37) rotation drives crawl device all around to move.
3. the control method of pipe testing apparatus according to claim 2, it is characterised in that: ambulation control method further includes
Velocity modulation prosecutor method is moved, moving velocity modulation prosecutor method includes the following contents: the first electron speed regulator (29) being located on controlling terminal (65)
The speed of motor rotation is controlled by adjusting circuitous resistance.
4. the control method of pipe testing apparatus according to claim 1 or 2 or 3, it is characterised in that: camera (22) is adjusted
Section method includes for controlling bracket adjusting method that camera (22) rises or falls and for controlling camera (22) rotation
Camera (22) method for controlling rotation.
5. the control method of pipe testing apparatus according to claim 4, it is characterised in that: bracket adjusting method include with
Lower content: controlling terminal (65) controls camera (22) bracket by rising switch (8) and rises, and camera (22) bracket rises to
When predeterminated position, the first limit switch (14) is disconnected, and limitation camera (22) bracket rises；Controlling terminal (65) is opened by decline
Close (10) control camera (22) bracket decline, when camera (22) bracket drops to predeterminated position, the second limit switch (16)
It disconnects, limitation camera (22) bracket decline.
6. the control method of pipe testing apparatus according to claim 5, it is characterised in that: camera (22) rotation control
Method includes the following contents: being located at the control rocker switch (11) on controlling terminal (65) and passes through on circuit control camera (22)
Lower left-right rotation.
7. the control method of pipe testing apparatus described according to claim 1 or 2 or 3 or 5 or 6, it is characterised in that: further include
Illumination control method, illumination control method include the following contents: the second electron speed regulator (35) being located on controlling terminal (65)
The lighting device brightness being located on crawl device is adjusted by adjusting circuitous resistance.
8. the control method of pipe testing apparatus described according to claim 1 or 2 or 3 or 5 or 6, it is characterised in that: video passes
Transmission method include video recording transmission method, video recording transmission method the following steps are included:
Step 1: after initialization video recording relevant parameter and equipment, whether monitoring video recording starts；
Step 2: if video recording not yet starts, return step one starts the video recording of camera (22)；If video recording has been started up,
Creation generates the catalogue and file of video recording；
Step 3: camera (22) is sent to the message of controlling terminal (65) video recording beginning state；
Step 4: the video information that controlling terminal (65) takes camera (22) generates video file；
Step 5: controlling terminal (65) judges whether to stop video recording, if so, closing video file, sends video recording halted state
Message gives camera (22)；If not stopping recording a video, return step four.
9. the control method of pipe testing apparatus according to claim 8, it is characterised in that: video transmission method further includes
Audio frequency transmission method, audio frequency transmission method the following steps are included:
Step A: initialization audio collecting device and parameter；
Step B: audio collecting device pre-processes the audio data of acquisition and is stored in buffer；
Step C: it obtains audio data address and carries out coded treatment；
Step D: the audio data in audio collecting device is transferred on controlling terminal (65).
10. the control method of pipe testing apparatus described according to claim 1 or 2 or 3 or 5 or 6 or 9, it is characterised in that: when
Between with distance statistics stacking method the following steps are included:
Step a: controlling terminal (65) initializes the crawl device distance connecting with data drum；
Step b: whether detection time and/or distance change, if not changing, return step a；If changing,
Read time and/or the distance of variation；
Step c: controlling terminal (65) shows that time and/or distance are superimposed upon the region of video and show size；
Step d: controlling terminal (65) reads the color font of display and time and/or distance is added on video；
Step e: controlling terminal (65) are arrived by the time after superposition and/or apart from storage.
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| CN110919668A (en) * | 2019-12-05 | 2020-03-27 | 戴斐 | Intelligent voice control pipeline, air pipe video detection device and robot system |
| CN118274769A (en) * | 2024-05-27 | 2024-07-02 | 东北大学 | Rock drilling high-precision shooting and metering device and use method |
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| CN109257570B (en) | 2021-05-07 |
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