CN110805784A - Pipeline robot based on vision sensor - Google Patents
Pipeline robot based on vision sensor Download PDFInfo
- Publication number
- CN110805784A CN110805784A CN201910962837.7A CN201910962837A CN110805784A CN 110805784 A CN110805784 A CN 110805784A CN 201910962837 A CN201910962837 A CN 201910962837A CN 110805784 A CN110805784 A CN 110805784A
- Authority
- CN
- China
- Prior art keywords
- cable
- winding
- cable car
- vision sensor
- pipeline robot
- 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.)
- Pending
Links
Images
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/40—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable
-
- 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
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
-
- 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 discloses a visual sensor-based pipeline robot, which comprises a crawler, a positioning device and a control system, wherein the crawler is used for placing a sensor and a positioning device for detection and driving the whole equipment to move forwards or backwards; the holder mechanism is used for placing the high-definition camera and controlling the rotation of the high-definition camera; the cable reeling and unreeling trolley moves along with the crawler and is used for reeling and unreeling cables below; the terminal controller is communicated with the cable car for winding and unwinding the cable car in a wired or wireless mode and is used for controlling the cable car for winding and unwinding the cable car and receiving a feedback signal; the device has avoided the winding displacement quality poor, the winding reel wire winding is inhomogeneous, indiscriminate line scheduling problem through having made the optimization in the aspect of winding displacement section of thick bamboo design, and the rational utilization space reduces holistic quality and volume of cable car, has extended the distance that the pipeline detected, adopts extremely low frequency electromagnetic signal to fix a position in addition, and signal strength is big, avoids the signal to be shielded by metal conduit, avoids the device to skid, causes the phenomenon of accumulative error, and positioning accuracy is higher.
Description
Technical Field
The invention relates to the technical field of underground pipeline detection equipment, in particular to a pipeline robot based on a visual sensor for underground pipeline detection.
Background
With the continuous development of cities in China, the original pipelines and the newly added pipelines are woven into a densely-distributed star-ro underground pipe network, the total amount of various pipelines such as water drainage, water supply, hot water, steam, natural gas, liquefied petroleum gas, artificial gas and the like in China in 2018 is increased by 7% in the same direction of 212.5 kilometers, and the increase of 7% per year is basically maintained in 2010-plus-one 2018. Meanwhile, urban inland inundation, pavement collapse and other events frequently occur, which not only causes huge national economic loss, but also brings great inconvenience to production and life of the ordinary people.
Therefore, the maintenance of the underground pipeline is very important, and because the scale of the pipe network is large, the average pipeline maintenance cost is 300-; meanwhile, the increasingly outstanding problems in the aspects of pipeline management, maintenance and the like also improve the requirements on the performance index and the method flow of the monitoring instrument and the professional skills of operators. The method is limited by the technical bottleneck, no instrument can completely replace manual work to complete pipeline detection operation content so far, and how to better solve the maintenance problem of the urban underground pipeline, so that the better part or all of the instrument can replace manual work, the working efficiency is improved, the leakage position and the leakage condition of the underground pipeline can be accurately and timely found out, information can be better transmitted to a control console to be analyzed and processed, the dredging work inside the underground pipeline is realized, and the method is always a key point of international field attention.
Disclosure of Invention
In order to solve the problems of inconvenience in detection and low efficiency in the existing underground pipeline maintenance process, the invention provides a visual sensor-based pipeline robot which can be remotely controlled and has high efficiency.
In order to achieve the purpose, the invention provides the technical scheme that: a vision sensor based pipeline robot comprising:
the crawler is used for placing a sensor and a positioning device for detection and driving the whole equipment to move forwards or backwards;
the holder mechanism is used for placing the high-definition camera and controlling the rotation of the high-definition camera;
the cable reeling and unreeling trolley moves along with the crawler and is used for reeling and unreeling cables below;
and the terminal controller is communicated with the cable car for winding and unwinding the cable car and is used for controlling the cable car for winding and unwinding the cable car and receiving a feedback signal in a wired or wireless mode.
In the above technical solution, as a preferable technical solution, the positioning device is an ac pulse transmitting coil, and the ac pulse transmitting coil is fixed on the crawler.
On the basis of the technical scheme, further, the frequency of the electromagnetic signal transmitted by the alternating current pulse transmitting coil is 23.5 Hz.
In the above technical solution, further, the crawler includes a chassis, and a base is fixed on the chassis and used for storing hardware equipment.
As a preferred technical scheme, 6 wheels are symmetrically arranged on two sides of the chassis, an output shaft of the driving motor is connected with a gear, and the rotation of the wheels is controlled through gear transmission.
Further, be provided with high definition digtal camera on the cloud platform mechanism, high definition digtal camera passes through parallelogram's lifing arm and connects on the base.
On the basis of the technical scheme, as an optimal embodiment, the light supplement lamps are arranged above and below the high-definition camera.
Furthermore, a U-shaped ring is arranged on the base and is fixed on the base in the horizontal direction.
In the above technical solution, the cable car for winding and unwinding a cable includes: the cable is wound on the winding reel; the wire arranging mechanism is used for arranging wires; the guide pressing device controls the recovery and discharge directions of the cable; and the controller is used for receiving the instruction sent by the terminal controller, sending the instruction to the cable car for execution and feeding back the real-time working condition of the whole device to the terminal controller.
On the basis of the technical scheme, preferably, the paying-off cable car comprises an automatic mode and a manual mode, wherein the automatic mode is that a winding drum is driven by a motor to wind, and meanwhile, a winding mechanism and a guide pressing device are driven to wind, so that the cable car can automatically take up and pay off; the manual mode is to receive and release the cable by rotating the hand crank.
Compared with the prior art, the invention has the beneficial effects that: 1. the design of the winding displacement drum is optimized, the problems of poor winding displacement quality, uneven winding of the winding drum, wire disorder and the like are avoided, the space is reasonably utilized, the overall quality and volume of the cable car are reduced, the length of the winding displacement reaches 600m, and the distance of pipeline detection is extended; 2. the ultra-low frequency electromagnetic signal is adopted for positioning, the signal intensity is high, the signal is prevented from being shielded by a metal pipeline, the phenomena of slipping and accumulated error caused by the device are avoided, and the positioning precision is higher; 3. the camera can realize 360-degree axial continuous rotation and 270-degree horizontal overturning, the shell completely wraps the camera to protect the camera, and the main light source and the light source are 10 LED lamps in total to provide illumination for the camera; 4. the crawler is driven by six wheels at two sides independently, turns 360 degrees in situ, and the obstacle crossing capability is improved by the transition wheel at the center.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a bottom view of the crawler;
FIG. 3 is a block diagram of the pan and tilt head mechanism;
figure 4 is a block diagram of a high definition camera;
FIG. 5 is a block diagram of a cable car;
fig. 6 is a schematic view of the structure of the bobbin.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, the present invention provides a visual sensor-based pipeline robot, which mainly comprises three parts: a robot 1 for detection, a cable car 2 for taking in and out a cable, and a terminal controller 3 for transmitting and receiving signals, which are explained in detail below.
First, a description will be given of a detected robot including a crawler 10 and a pan/tilt head mechanism 11.
The crawler 10 is driven by two motors, and the driving mode is a driving mode commonly used by a pipeline detection robot, all wheels of the crawler are driving wheels, the pipeline detection robot can obtain enough driving force, the two motors respectively drive the left and right wheels in the crawler, and differential turning can be realized by controlling the speed and the turning of the two motors to be different, so that the robot can steer autonomously. Such a structure is not complicated to control and is compact in arrangement. Therefore, the dual-motor full drive is adopted as the driving mode of the crawler.
The driving force of the wheels of the pipeline detection robot is output by two motors arranged in the crawler through a transmission mechanism. The developed pipeline detection robot adopts a six-wheel driving mode, has better walking capability in the pipeline compared with four-wheel driving, and has stronger driving force and obstacle crossing performance. In addition, gear transmission is used as a transmission mechanism of the pipeline detection robot, and compared with chain transmission and belt transmission, the gear transmission is more compact, a tensioning mechanism required by the chain transmission and the belt transmission is omitted, so that the size of a creeper body is more compact, and the defects of unstable transmission and high noise of the creeper body are overcome.
As shown in fig. 2, 6 wheels are symmetrically arranged on both sides of the chassis 101 of the crawler 10, wherein 4 large-sized wheels 1011 are used in the front and rear, two small-sized wheels 1012 are used in the middle, the large-sized wheels are used for supporting the vehicle body driving robot, and the small-sized wheels are used for assisting in climbing obstacles.
When the wheels are connected with the output shaft of the driving motor, high interchangeability is needed, the assembly and disassembly are simple, and the wheels with different sizes can be conveniently replaced when the pipeline detection robot inspects pipelines with different pipe diameters; in addition, each output shaft connecting end of the motor adopts a D-shaped design, a D-shaped shaft is called for short, a wheel connecting hole adopts a D-shaped hole design, the D-shaped shaft and the D-shaped hole are matched for transmission, compared with key transmission, the wheel shaft transmission clearance is reduced, the transmission precision is ensured, a tacking screw and an axial fastening bolt are added, and the wheel and the output shaft can be completely positioned. The whole device is driven by the driving mode, the driving is strong, the stability is stronger, the crawler is independently driven by six wheels at two sides, the crawler turns 360 degrees in situ, and the obstacle crossing capability is improved by the transition wheel at the center.
Still be provided with positioner on crawler 10, this positioner adopts the utmost point low frequency electromagnetic signal method to fix a position, and the metal of extremely low frequency electromagnetic signal can pierce through rock, sea water and certain thickness is applicable to the communication inside and outside the pipeline, specifically is to fix an alternating current pulse transmitting coil on crawler, and this alternating current pulse transmitting coil leads to 23.5Hz alternating current pulse, and the wireless extremely low frequency electromagnetic pulse of intermittent transmission places a receiving coil outside the pipeline, through the extremely low frequency electromagnetic signal of transmitting coil in the induction pipeline, produces alternating current signal. When the receiving coil outside the pipeline and the transmitting coil inside the pipeline are close to each other, an alternating current pulse signal with certain electromotive force is induced, and the electromotive force induced by the receiving coil is larger and larger as the distance between the robot and the receiving coil is smaller. The distribution rule of extremely low frequency electromagnetic signals transmitted by the transmitting coil in the space outside the pipeline is the key for realizing robot positioning.
And designing an electromagnetic positioning system of the pipeline robot according to the analysis of the spatial distribution of the extremely-low-frequency electromagnetic signals outside the pipeline. The system is mainly divided into two parts, namely a very low frequency electromagnetic signal transmitting system in the pipeline and a signal receiving system outside the pipeline. The extremely-low frequency electromagnetic signal transmitting system adopts a singlechip control circuit, and a time-varying current is introduced into a coil to transmit an extremely-low frequency electromagnetic signal of 23.5 Hz. The single chip microcomputer discretizes the extremely low frequency sinusoidal pulse signal, emits a discrete digital signal, drives a 16-bit DA converter MAX541, outputs a 23.5Hz extremely low frequency voltage signal through a DA conversion and amplifier, and emits the signal through an emitting coil. 12000 turns of enameled wire winding with the thickness of 0.2mm are adopted as a transmitting antenna. The receiving coil is formed by winding 24000 circles of 0.1mm enameled wires, the coil is packaged in a cylinder made of nylon after being wound, the coil is connected to a signal conditioning circuit through a lead, a 6-stage filtering and amplifying circuit is used for conditioning signals, and a Schmidt trigger is used for triggering a single chip microcomputer to collect the signals. When the receiving antenna is parallel to the pipeline, the moment when the received signal is maximum is the moment when the distance between the receiving antenna and the pipeline robot is the nearest. When the receiving antenna is placed perpendicular to the pipe, the received signal is first boosted, then weakened, and then boosted. When the antenna and the pipeline are vertical, the received signal is the weakest, and the robot is in the middle position of two strong signals. The singlechip is used for identifying the acquired signals, when the acquired electromagnetic signals are larger than a certain numerical value, voice prompt is carried out, the intensity of the acquired signals is displayed simultaneously, and the staff can identify and position according to the change rule of the intensity of the acquired signals.
Through the electromagnetic positioning system technology, the positioning accuracy of pipeline inspection robot in the pipeline inside can reach 5cm, is enough to guarantee the accurate nature that the internal defect of pipeline detected, fixes a position through adopting extremely low frequency electromagnetic signal, and signal strength is big, avoids the signal to be shielded by metal pipeline, avoids the device to skid, causes the phenomenon of accumulative error, and positioning accuracy is higher.
Further, as shown in fig. 3, the pan/tilt head mechanism 11 includes a high definition camera 110 and a lifting arm 111, the high definition camera 110 is connected to the base 102 through the parallelogram-shaped lifting arm 111, and the lifting arm 111 is used for adjusting the height of the pan/tilt head camera to adapt to pipelines with different pipe diameters. The high-torque direct-current motor is arranged in the base, the height of the holder is adjusted through a parallelogram lifting arm structure, air spring supporting rods are arranged on lifting arms on two sides, in addition, a U-shaped ring 112 is arranged on the base 102 and used as a lifting ring of a pipeline detection robot descending pipeline wellhead, a camera can be protected, and a lens is prevented from being collided by mistake. The rear camera is arranged at the tail of the base, so that a real-time backing image can be provided, and the detection personnel can conveniently operate the robot to retreat. The base is also an important storage area for robot components and parts and is provided with a motor drive, a main control board, a power modem, a stabilized voltage power supply and the like.
The cloud platform is at the lifting in-process, and the speed increase can lead to the impact action time to reduce, increases driving motor's impact frequency, and the impact velocity is fast, and this can produce the harm to driving motor, has reduced the life of motor. The pan-tilt structure needs to be finely designed.
The design variables are first determined. In the lifting process of the holder mechanism, the mechanism design parameter influencing the torque of the motor is the hinge point interval l of the lifting arm rod1Horizontal distance d between hinge point of lifting arm rod and hinge point of gas spring support rodxPerpendicular distance dyAnd the lifter rotation angle α, so the design variables are:
X＝(lldxdyα)T＝(x1x2x3x4)T
an objective function is then determined. And starting from the optimal lifting performance of the tripod head lifting mechanism, optimally determining the position of each hinge point in the tripod head lifting mechanism by taking the maximum torque required by the driving motor in the lifting process as an optimization objective function. Taking the objective function as:
f(X)＝min(Md)
and then, determining constraint conditions, wherein the three-side relation rule of the triangle is met when the lifting arm rod is in a horizontal position, the lifting height of the tripod head is less than or equal to the maximum lifting height after the lifting arm rotates α, the gas spring support rod is always in an effective stroke to avoid the gas spring support rod from being under the action of tension in a fully extended state, and the lifting arm rod has a certain geometric size to avoid interference among parts and the like in consideration of design factors.
And finally, carrying out parametric modeling and parametric analysis on the cradle head lifting mechanism by using ADAMS simulation software, creating target parameters, then creating a constraint function, carrying out optimization design by adopting a quadratic programming algorithm in ADAMS in a given optimization range, and searching for the optimal scheme of arrangement of each hinge point in the cradle head lifting mechanism.
The pipeline detection robot goes deep into a pipeline to perform an endoscopic detection task, the camera acquires image information in the pipeline, the acquired image is subjected to transmission coding processing through video compression coding and high-speed image transmission, then is transmitted to an external main control system through a cable, and is displayed on a human-computer interface after demodulation and decoding processing. However, under normal circumstances, most of domestic pipeline inspection robots are short in pipeline endoscopic inspection, which is only about one hundred meters, and few foreign enterprises and research institutions can realize remote communication, so that remote data transmission is a common problem in the industry. The invention provides a pipeline detection robot combination
The H.264 video coding and decoding technology and the high-speed image transmission technology realize the remote video real-time communication between the pipeline detection robot and the host.
Because the amount of uncompressed video data is large, reasonable compression coding is often required to be performed on the video, so as to transmit clearer and smoother image information under a certain bandwidth. The pipeline detection robot designed by the invention is mainly applied to a system by adopting an H.264 coding and decoding technology.
The h.264 technology is a video coding and decoding technology jointly established by ITU-T and ISO, and is also a standard established according to the MPEG-4 technology. H.264 adopts a mixed coding mode, and meets the requirements of different rates and transmission applications. Meanwhile, H.264 has strong network adaptability, can be better applied to the fields of IP and wireless networks, and has great compression ratio advantage on dynamic images.
When the camera acquires the pipeline image, after the pipeline image is compressed and encoded by H.264, the video information is modulated by the high-speed image transmission module to form compressed data information. Data information is transmitted to the outside of the pipe system on the long cable, and is expressed on a human-computer interface through demodulation and image decoding, so that remote communication video display of the towing robot system is realized. In order to realize the remote video communication and the image data transmission of the pipeline robot system, a remote transmission system can be applied to a towing robot, two high-speed image transmission modules are adopted and respectively arranged in an external pipe system and a pipeline detection robot, and the image transmission modules applied by the invention can compress and code digital videos and images through a TC-PAM coding pulse amplitude modulation technology. After the camera collects image information inside the pipeline, compact video sequence information is obtained through H.264 video compression coding, TC-PAM modulation is carried out on the compact video sequence information through high-speed image transmission to obtain compressed data information, the data information is transmitted to an outside pipe system through a long cable, and a video image is obtained through demodulation and image decoding. The high-speed map transmission can use different working modes of TC-PAM4/8/16/32/64/128, the transmission data speed is 64 Kbps-15 Mbps, the TC-PAM is used for modulation, so that the transmission frequency spectrum is compressed, the anti-interference characteristic is enhanced, and the transmission distance is longer.
As shown in fig. 4, useful illuminating lamps 113 are arranged above and below the high-definition camera 110, when the pipeline inspection robot enters a pipeline to inspect, the auxiliary lighting of the holder light is turned on, the position and posture of the camera are adjusted by operating a virtual button on a software interface, so that a part to be inspected in the pipeline is in a proper position on the software interface, and then the camera is focused and zoomed, so that the image of the part to be inspected is clearer. The camera holder consists of a detachable camera, a holder part and a light part. The action of adjusting the position and the posture of the camera depends on the design and the arrangement of transmission mechanisms of each part, a stepping motor is arranged in the tripod head part, a female plug-in connecting shaft of the tripod head part is driven by gear transmission, a slip ring is adopted for wiring, a male plug of the camera part is matched with the female plug-in connecting shaft, the infinite rotation of 360 degrees in the circumferential direction of the camera is realized, the horizontal overturning of 270 degrees is realized, and the shell completely wraps the camera, so that the effect of protecting the camera is realized; a stepping motor arranged in the detachable camera part realizes up-and-down 90-degree swinging movement of the camera through belt transmission, and a transmission belt tensioning disc is designed, so that the belt transmission stability is improved; the installation position of the charging connector is reserved, so that the rear section can conveniently work in a sealing way; an air pressure indicating lamp is installed, and the air pressure inside the early warning swing motion part is insufficient. The camera is wrapped up completely to the camera shell, plays the effect of protection camera, and 4 pieces of floodlights of distribution in the protecgulum provide the illumination for the camera, and are equipped with two pieces of laser heads, detect the demarcation instrument of intraductal defect as the robot.
As shown in fig. 5, the cable reeling and unreeling trolley has a guiding function, the cable is guided by the guide wheel and the guide rod, the cable can synchronously move along with the screw nut, the rope inlet angle of the cable can be adjusted in real time, the cable and the winding drum can be always kept perpendicular and tangent, and the deviation phenomenon is avoided. In addition, the distance between the middle guide wheel (the guide wheel is positioned on the butt joint screw) and the coding wheel is reduced by applying spring force on the middle butt joint screw, and the pressing force on the cable is increased, wherein the pressing force is converted into the resistance of the cable. Sufficient cable resistance ensures that the cable between the guide pressing device and the winding drum is always in a tight state when the cable car is wound and unwound, and the problems of untight winding and disorderly winding and the like caused by insufficient winding and unwinding tension of the winding drum are avoided. The middle guide wheel can float in a certain range up and down by changing the compression amount of the spring. Therefore, the device can adapt to the guide pressing work of the reducing cable (the cable diameter range is not changed greatly). In addition, the middle guide wheel and the coding wheel are matched to compress the cable, the cable moves to drive the coding wheel to rotate, and at the moment, the length of the cable which is released and the instantaneous speed of the cable can be measured through the encoder.
The cable car is connected with the pipeline detection robot through the wireless remote controller and a composite cable to form a complete robot detection feedback system together, and the system is one of important devices in a pipeline detection robot system, but still has some problems in the actual working process. If the cable arranging mechanism of the cable car is not reasonably designed and calculated, the cable arranging quality is poor, and the winding of the winding drum is not uniform; the cable car is not designed with a guide pressing device which can adapt to the diameter-variable cable, so that the problems of loose cable arrangement, wire disorder and the like are caused, and the applicable cable diameter is single; the size parameter of the cable car winding drum is designed to be too large, and the space is not reasonably utilized, so that the overall volume of the cable car is too large, the weight is overweight, and the like. Therefore, the cable arranging device of the cable car needs to be reasonably and effectively improved. The invention combines the working principle of the wire arranging mechanism, carries out theoretical calculation on the wire arranging process, and designs the guiding and pressing device. The device has the following functions: when the cable is replaced by the cable car, the guide pressing device only needs to adjust the appropriate compression amount of the spring, and meanwhile, the reduction ratio between the winding drum and the reciprocating screw rod is changed, so that the cable can be re-arranged, and the problem that the traditional cable car only adapts to a single cable is solved.
The principle of the cable car for winding and unwinding the cable is briefly described, as shown in fig. 6, when the cable car is in operation, the winding drum continuously winds the cable, and the outer diameter (the outer diameter of the wire coil) after winding is related to the diameter and length of the winding drum, the length of the cable and the diameter of the cable. Suppose that cable car winding displacement rule is neat, and the cable is the even winding of heliciform on the bobbin, regards heliciform cable circle as the ring, when the bobbin was around arbitrary one deck a layer, the bobbin external diameter was:
when the winding drum finishes winding any layer a, the length of the wound cable is as follows:
S＝nπ(D0+Φ)+nπ(D0+2Ф)+…+nπ(D0+aΦ)
wherein n is L/phi, and the finishing is as follows:
in the formula: s is cable length, L is bobbin length, D0The diameter of the winding reel, phi is the wire diameter of the cable, a is the number of layers of the cable, a is an integer larger than or equal to 0, and n is the number of turns of each layer of winding. After the length S and the diameter phi of the cable are determined, the proper length L of the winding reel is given according to the size index requirement of the cable car, and the number a of winding layers and the diameter D of the winding reel can be determined0The relationship (2) of (c). Different value of layer number a corresponding to different value of bobbin diameter D0And a bobbin outer diameter D. After the parameter values are determined according to actual conditions, the parameter values are substituted into the formula, and then the proper diameter of the winding drum can be determined.
Through optimizing cable car bobbin, avoided winding displacement quality poor, the bobbin winding inhomogeneous, the scheduling problem of disorderly line, the rational utilization space reduces the holistic quality of cable car and volume, and winding displacement length reaches 600m, has extended the distance that the pipeline detected.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. Various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, and still fall within the scope of the invention.
Claims (10)
1. A vision sensor-based pipeline robot, comprising:
the crawler is used for placing a sensor and a positioning device for detection and driving the whole equipment to move forwards or backwards;
the holder mechanism is used for placing the high-definition camera and controlling the rotation of the high-definition camera;
the cable reeling and unreeling trolley moves along with the crawler and is used for reeling and unreeling cables below;
and the terminal controller is communicated with the cable car for winding and unwinding the cable car and is used for controlling the cable car for winding and unwinding the cable car and receiving a feedback signal in a wired or wireless mode.
2. The vision sensor-based pipeline robot of claim 1, wherein: the positioning device is an alternating current pulse transmitting coil which is fixed on the crawler.
3. The vision sensor-based pipeline robot of claim 2, wherein: the frequency of the electromagnetic signal transmitted by the alternating current pulse transmitting coil is 23.5 Hz.
4. The vision sensor-based pipeline robot of claim 1, wherein: the crawler comprises a chassis, wherein a base is fixed on the chassis and used for storing hardware equipment.
5. The vision sensor-based pipeline robot of claim 4, wherein: 6 wheels are symmetrically arranged on two sides of the chassis, an output shaft of the driving motor is connected with a gear, and the rotation of the wheels is controlled through gear transmission.
6. The vision sensor-based pipeline robot of claim 4, wherein: the holder mechanism is provided with a high-definition camera, and the high-definition camera is connected to the base through a parallelogram lifting arm.
7. The vision sensor-based pipeline robot of claim 6, wherein: the below is established to high definition digtal camera's top and all is provided with the light filling lamp.
8. The vision sensor-based pipeline robot of claim 6, wherein: the base is provided with a U-shaped ring, and the U-shaped ring is fixed on the base in the horizontal direction.
9. The vision sensor-based pipeline robot of claim 1, wherein said cable reel comprises:
the cable is wound on the winding reel;
the wire arranging mechanism is used for arranging wires;
the guide pressing device controls the recovery and discharge directions of the cable;
and the controller is used for receiving the instruction sent by the terminal controller, sending the instruction to the cable car for execution and feeding back the real-time working condition of the whole device to the terminal controller.
10. The vision sensor-based pipeline robot of claim 9, wherein: the cable car comprises an automatic mode and a manual mode, wherein the automatic mode is that a winding drum is driven by a motor to wind wires, and meanwhile, a wire arranging mechanism and a guide pressing device are driven to arrange wires, so that the cable car can automatically take up and pay off the wires; the manual mode is to receive and release the cable by rotating the hand crank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910962837.7A CN110805784A (en) | 2019-10-11 | 2019-10-11 | Pipeline robot based on vision sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910962837.7A CN110805784A (en) | 2019-10-11 | 2019-10-11 | Pipeline robot based on vision sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110805784A true CN110805784A (en) | 2020-02-18 |
Family
ID=69488255
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910962837.7A Pending CN110805784A (en) | 2019-10-11 | 2019-10-11 | Pipeline robot based on vision sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110805784A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114738597A (en) * | 2022-04-15 | 2022-07-12 | 哈工大机器人（合肥）国际创新研究院 | Control system of pipeline water detection robot |
| CN114776934A (en) * | 2022-06-21 | 2022-07-22 | 徐州徐工道金特种机器人技术有限公司 | Intelligent pipeline inspection robot control system |
| CN115166447A (en) * | 2022-08-10 | 2022-10-11 | 特恩普电力科技（杭州）有限公司 | Convenient to use's cubical switchboard partial discharge monitoring devices |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101832447A (en) * | 2010-05-06 | 2010-09-15 | 清华大学 | Robot for detecting drainage pipeline video |
| CN103672296A (en) * | 2013-12-17 | 2014-03-26 | 王军 | Integrated frame type pipeline robot |
| CN106441272A (en) * | 2016-09-14 | 2017-02-22 | 江苏师范大学 | Automatic fast positioning system and method of pipeline block clearing robot |
| CN207316352U (en) * | 2017-09-22 | 2018-05-04 | 贵州省交通规划勘察设计研究院股份有限公司 | A kind of pipeline climbing robot for being used to detect dredging |
| CN207774510U (en) * | 2017-12-26 | 2018-08-28 | 深圳市博铭维智能科技有限公司 | Intelligent retractable cable electric cable vehicle |
| CN208417968U (en) * | 2018-05-21 | 2019-01-22 | 郭科睿 | A kind of small pipeline special single-way robot |
| CN208997559U (en) * | 2018-08-29 | 2019-06-18 | 江苏瀚智智能科技有限公司 | A kind of cable-free type pipeline robot suitable for different tube diameters |
-
2019
- 2019-10-11 CN CN201910962837.7A patent/CN110805784A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101832447A (en) * | 2010-05-06 | 2010-09-15 | 清华大学 | Robot for detecting drainage pipeline video |
| CN103672296A (en) * | 2013-12-17 | 2014-03-26 | 王军 | Integrated frame type pipeline robot |
| CN106441272A (en) * | 2016-09-14 | 2017-02-22 | 江苏师范大学 | Automatic fast positioning system and method of pipeline block clearing robot |
| CN207316352U (en) * | 2017-09-22 | 2018-05-04 | 贵州省交通规划勘察设计研究院股份有限公司 | A kind of pipeline climbing robot for being used to detect dredging |
| CN207774510U (en) * | 2017-12-26 | 2018-08-28 | 深圳市博铭维智能科技有限公司 | Intelligent retractable cable electric cable vehicle |
| CN208417968U (en) * | 2018-05-21 | 2019-01-22 | 郭科睿 | A kind of small pipeline special single-way robot |
| CN208997559U (en) * | 2018-08-29 | 2019-06-18 | 江苏瀚智智能科技有限公司 | A kind of cable-free type pipeline robot suitable for different tube diameters |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114738597A (en) * | 2022-04-15 | 2022-07-12 | 哈工大机器人（合肥）国际创新研究院 | Control system of pipeline water detection robot |
| CN114738597B (en) * | 2022-04-15 | 2023-09-05 | 哈工大机器人（合肥）国际创新研究院 | Control system of pipeline water-carrying detection robot |
| CN114776934A (en) * | 2022-06-21 | 2022-07-22 | 徐州徐工道金特种机器人技术有限公司 | Intelligent pipeline inspection robot control system |
| CN115166447A (en) * | 2022-08-10 | 2022-10-11 | 特恩普电力科技（杭州）有限公司 | Convenient to use's cubical switchboard partial discharge monitoring devices |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110805784A (en) | Pipeline robot based on vision sensor | |
| CN107910806B (en) | Cable tunnel inspection robot and navigation method | |
| CN101832447B (en) | Robot for detecting drainage pipeline video | |
| CN103672293B (en) | The amphibious working pipe pipeline robot of a kind of multi-dimensions test | |
| CN101196551A (en) | Ground wire patrol checking robot of high voltage power line | |
| CN109649982A (en) | Automatic tour inspection system along a kind of mine belt conveyor | |
| CN106429931A (en) | System and method for controlling active type electric wave compensation crane | |
| CN112140089A (en) | A patrol and examine robot for indoor environment | |
| US10151895B2 (en) | System and method of transmitting electricity through an insulated environment | |
| CN211649493U (en) | CCTV pipeline inspection robot body structure | |
| CN103287983A (en) | Gantry-type four-drum wheeled crane | |
| CN206409817U (en) | A kind of vertical shaft and detecting robot of pipe | |
| CN110733993B (en) | Intelligent sling and sling hanging method thereof | |
| CN208997559U (en) | A kind of cable-free type pipeline robot suitable for different tube diameters | |
| CN207455056U (en) | A kind of magnetic suck pipe robot | |
| CN207279567U (en) | A kind of lamp riser for possessing ipc monitor interface and simple cable structure | |
| CN116619960A (en) | Full vector survey cluster system and control method thereof | |
| CN106759543B (en) | A kind of round-the-clock long-range bridge foundation washout monitoring and warning system | |
| CN205048073U (en) | Pipeline robot | |
| CN210347933U (en) | Transmission line unmanned aerial vehicle distance measuring device | |
| CN206467700U (en) | A kind of mechanical bridge foundation washout monitoring device | |
| CN106480911B (en) | A kind of mechanical bridge foundation washout monitoring device and its round-the-clock long-range monitoring and warning system | |
| CN208103869U (en) | A kind of well spacing surveying device suitable for Internet of Things | |
| CN102110961B (en) | Intelligent patrol inspection system of operation state of high-voltage line | |
| CN111945559B (en) | Compound driven FAST cable detection robot system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200218 |