CN112361122A - Box culvert detection robot fixes a position auxiliary device based on inertial navigation - Google Patents
Box culvert detection robot fixes a position auxiliary device based on inertial navigation Download PDFInfo
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- CN112361122A CN112361122A CN202011126561.8A CN202011126561A CN112361122A CN 112361122 A CN112361122 A CN 112361122A CN 202011126561 A CN202011126561 A CN 202011126561A CN 112361122 A CN112361122 A CN 112361122A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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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
- F16L55/46—Launching or retrieval of pigs or moles
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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
- F16L55/48—Indicating the position of the pig or mole in the pipe or conduit
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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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- 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
- F16L2101/50—Pulling cables or the like
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to the technical field of underground box culvert detection facilities, and particularly relates to a box culvert detection robot positioning auxiliary device based on inertial navigation. This box culvert detection robot fixes a position auxiliary device includes: the pipeline sensor is positioned at the bottom of the detection robot and can transmit electromagnetic signals; the signal receiving device is positioned on the ground, can receive the electromagnetic signal sent by the pipeline sensor and is used for sensing the strength of the electromagnetic signal so as to determine the position of the detection robot; the detection robot comprises a robot main body ship, an air negative pressure type power system, a CCTV system, a sonar system, an autonomous power supply, a conversion joint, an integrated controller, a receiving antenna, a receiving unit, a speed regulation module, an air pressure alarm device and a radar device. The invention has the advantages that: the method that the existing detection unit positions according to the cable winding and unwinding of the pipeline winding and unwinding vehicle is abandoned, and the function that various defects and discharge openings are accurately positioned without various signal transmissions in the box culvert is realized.
Description
Technical Field
The invention belongs to the technical field of underground box culvert detection facilities, and particularly relates to a box culvert detection robot positioning auxiliary device based on inertial navigation.
Background
In recent years, most of domestic cities suffer from waterlogging caused by heavy rain, and the waterlogging becomes one of the important problems facing the development of the current Chinese cities, one of the objective reasons is that more and more waste water and wastes are discharged from urban drainage pipe networks all the year round, and the substances are corrosive, so that various functional and structural damages such as blockage, leakage and the like of urban drainage pipes are caused. Therefore, the drainage pipeline must be detected in time, so that various hidden dangers in the pipeline network can be predicted in advance, and accurate implementation basis is provided for pipeline dredging, repairing, municipal planning, engineering quantity measurement and calculation, emergency measures and the like.
The urban intelligent box culvert is used as a confluence pipe network of each drainage pipeline, and is mostly operated at high water level throughout the year, and the previous pipeline periscope and pipeline crawling robot cannot meet the detection working condition of high water level investigation. And traditional detection mode can only carry out video detection to intelligent box culvert inside, can't measure intelligent box culvert inner structure, can't fix a position row mouth and the defect that exists, can't gather the analysis to the bottom siltation state.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a box culvert detection robot positioning auxiliary device based on inertial navigation.
In order to achieve the purpose, the invention provides the following technical scheme:
an auxiliary device for box culvert detection robot positioning based on inertial navigation comprises: the pipeline sensor is positioned at the bottom of the detection robot and can transmit electromagnetic signals;
the signal receiving device is positioned on the ground, can receive the electromagnetic signal sent by the pipeline sensor and is used for sensing the strength of the electromagnetic signal so as to determine the position of the detection robot;
the detection robot comprises a robot main body ship, an air negative pressure type power system, a CCTV system, a sonar system, an autonomous power supply, a conversion joint, an integrated controller, a receiving antenna, a receiving unit, a speed regulation module, an air pressure alarm device and a radar device;
the upper surface of a tail deck of the robot main body ship is connected with an air negative pressure type power system, and the head of the robot main body ship is connected with an integrated controller;
the head of the integrated controller is connected with the CCTV system, and the tail of the integrated controller is connected with the adapter;
the bottom of the robot main body ship is connected with a sonar system;
the inner wall of the robot main body ship is connected with an autonomous power supply;
the autonomous power supply is respectively and electrically connected with the air negative pressure type power system, the CCTV system, the sonar system, the integrated controller, the speed regulation module, the receiving antenna and the receiving unit;
the receiving antenna is electrically connected with the receiving unit, and the receiving unit is electrically connected with the speed regulating module;
the receiving antenna is positioned inside the robot main body ship and connected with the inner wall of the robot main body ship;
the receiving unit and the speed regulating module are respectively positioned in the main ship;
an air pressure alarm device is fixedly arranged on the upper portion of the integrated controller, and a radar device is arranged at the front end of the air pressure alarm device.
Further: the robot main body ship is a catamaran, the catamaran comprises a left single-piece body and a right single-piece body, and the left single-piece body and the right single-piece body are connected through a fixed support;
the tail parts of the left single sheet body and the right single sheet body are connected with an air negative pressure type power system;
the top of the fixed bracket is connected with the integrated controller;
the sonar system is positioned at the bottom between the left single-chip body and the right single-chip body and connected between the left single-chip body and the right single-chip body;
the inner wall of the right single sheet body is connected with an autonomous power supply;
the autonomous power supply is respectively and electrically connected with the air negative pressure type power system, the CCTV system, the sonar system, the integrated controller, the speed regulation module, the receiving antenna and the receiving unit;
the receiving antenna is electrically connected with the receiving unit, and the receiving unit is electrically connected with the speed regulating module;
the receiving antenna is positioned inside the right single-chip body and is connected with the inner wall of the right single-chip body;
the receiving unit and the speed regulating module are respectively positioned inside the right single-sheet body.
Further: the air negative pressure type power system comprises an engine bracket, an engine, a propeller, a flow guide cap and a locking device;
the bottom of the engine support is connected with the upper surface of the robot main body ship, and the top of the engine support is connected with an engine through a locking device;
the propeller is connected with an output shaft of the engine through a diversion cap.
Further: the CCTV system comprises a CCTV lens, an LED floodlight source and an aviation plug ferrule;
the CCTV lens is rotationally connected with the integrated controller through the aviation plug card sleeve;
the LED floodlight source is positioned on one side of the CCTV lens and is connected with the integrated controller;
the CCTV lens and the LED floodlight source are respectively and electrically connected with the autonomous power supply.
Further: the sonar system comprises a sonar probe, a fixed hoop and a fixed plate;
the fixing plate, the fixing hoop and the sonar probe are sequentially connected from top to bottom;
the fixed plate is connected with the bottom of the robot main body ship.
Further: and an out-of-control alarm device is arranged on the robot main body ship and is electrically connected with the receiving unit.
Further: and an air pressure alarm device is arranged on the robot main body ship and is electrically connected with the receiving unit.
Further: the robot main body ship is internally provided with an on-site switch which is respectively electrically connected with an air negative pressure type power system, a CCTV system, a sonar system, an integrated controller, a speed regulation module, a receiving antenna and a receiving unit.
Further: the adapter is a three-way adapter.
Further: the pipeline sensor is a carbon rod, and the signal receiving device is a pipeline instrument.
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
the robot main part sets out with the unmanned ship design theory of aerodynamic force, when effectively guaranteeing that the robot main part can shuttle freely in muddy oily water, the high water level pipe network of easy jam, combine to take on CCTV detection module, sonar detection module under water, laser radar measuring module, pipeline assistance-localization real-time module that the mode was equipped with the modularization to the realization touches row to the inside video that carries on of intelligent box culvert, row's mouth and defective structure measure, arrange the accurate location of mouth and defect.
Drawings
FIG. 1 is a schematic perspective view of the entire inspection robot of the present invention;
FIG. 2 is a top view of FIG. 1 in accordance with the present invention;
FIG. 3 is a schematic perspective view of the left monolithic body of the present invention with the outer shell removed;
FIG. 4 is a left side view of FIG. 1 in accordance with the present invention;
FIG. 5 is a bottom schematic view of FIG. 1 in accordance with the present invention;
FIG. 6 is a right side view of FIG. 1 in accordance with the present invention;
fig. 7 is a schematic diagram of the positioning of the present invention.
Wherein: 1. a robot main body vessel; 11. a left monolithic body; 12. a right sheet body; 13. fixing a bracket; 14. a manhole base plate; 15. sealing the access hole; 16. a manhole cover plate; 2. an air negative pressure type power system; 21. an engine mount; 22. an engine; 23. a locking device; 24. a propeller; 25. a flow guide cap; 3. a CCTV system; 31. a CCTV lens; 32. an LED flood light source; 33. an aviation plug card sleeve; 4. a sonar system; 41. a sonar probe; 42. fixing the anchor ear; 43. a fixing plate; 44. a sonar protection cover; 5. an autonomous power supply; 6. a crossover sub; 7. an integrated controller; 8. a receiving antenna; 9. a receiving unit; 10. a speed regulation module; 17. an out-of-control alarm device; 18. an air pressure alarm device; 19. switching on and off in situ; 20. an air duct, 26, a radar device; 27. a pipeline sensor.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
example 1
As shown in fig. 1-5, a self-propelled dark culvert CCTV sonar detection robot includes: the pipeline sensor 27 is positioned at the bottom of the detection robot and can emit electromagnetic signals;
the signal receiving device is positioned on the ground, can receive the electromagnetic signal sent by the pipeline sensor 27 and is used for sensing the strength of the electromagnetic signal so as to determine the position of the detection robot;
the detection robot comprises a robot main body ship 1, an air negative pressure type power system 2, a CCTV system 3, a sonar system 4, an autonomous power supply 5, a conversion joint 6, an integrated controller 7, a receiving antenna 8, a receiving unit 9, a speed regulation module 10, an air pressure alarm device 18 and a radar device 26;
the upper surface of a tail deck of the robot main body ship 1 is connected with an air negative pressure type power system 2, and the head of the robot main body ship 1 is connected with an integrated controller 7;
the head of the integrated controller 7 is connected with the CCTV system 3, and the tail of the integrated controller 7 is connected with the adapter 6;
the bottom of the robot main body ship 1 is connected with a sonar system 4;
the inner wall of the robot main body ship 1 is connected with an autonomous power supply 5;
the autonomous power supply 5 is respectively and electrically connected with the air negative pressure type power system 2, the CCTV system 3, the sonar system 4, the integrated controller 7, the speed regulation module 10, the receiving antenna 8 and the receiving unit 9;
the receiving antenna 8 is electrically connected with the receiving unit 9, and the receiving unit 9 is electrically connected with the speed regulating module 10;
the receiving antenna 8 is positioned inside the robot main body ship 1 and is connected with the inner wall of the robot main body ship 1;
the receiving unit 9 and the speed regulating module 10 are respectively positioned in the main ship;
an air pressure alarm device 18 is fixedly arranged at the upper part of the integrated controller 7, and a radar device 26 is arranged at the front end of the air pressure alarm device 18.
Further, the robot main body ship 1 is a catamaran, the catamaran comprises a left monolithic body 11 and a right monolithic body 12, and the left monolithic body 11 and the right monolithic body 12 are connected through a fixed support 13;
the tail parts of the left single-chip body 11 and the right single-chip body 12 are connected with the air negative pressure type power system 2;
the top of the fixed bracket 13 is connected with the integrated controller 7;
the sonar system 4 is positioned at the bottom between the left single-chip body 11 and the right single-chip body 12, and the sonar system 4 is connected between the left single-chip body 11 and the right single-chip body 12;
the inner wall of the right single-sheet body 12 is connected with the autonomous power supply 5;
the autonomous power supply 5 is respectively and electrically connected with the air negative pressure type power system 2, the CCTV system 3, the sonar system 4, the integrated controller 7, the speed regulation module 10, the receiving antenna 8 and the receiving unit 9;
the receiving antenna 8 is electrically connected with the receiving unit 9, and the receiving unit 9 is electrically connected with the speed regulating module 10;
the receiving antenna 8 is positioned inside the right single chip 12 and is connected with the inner wall of the right single chip 12;
the receiving unit 9 and the speed regulating module 10 are respectively positioned inside the right single-chip body 12.
Further, the air negative pressure type power system 2 comprises an engine bracket 21, an engine 22, a propeller 24, a deflector cap 25 and a locking device 23;
the bottom of the engine bracket 21 is connected with the upper surface of the robot main body ship 1, and the top of the engine bracket 21 is connected with the engine 22 through a locking device 23;
the propeller 24 is connected to an output shaft of the engine 22 via a deflector cap 25.
Further, the CCTV system 3 includes a CCTV lens 31, an LED flood light source 32, and an aviation plug sleeve 33;
the CCTV lens 31 is rotationally connected with the integrated controller 7 through an aviation plug ferrule 33;
the LED floodlight source 32 is positioned at one side of the CCTV lens 31 and is connected with the integrated controller 7;
the CCTV lens 31 and the LED floodlight source 32 are respectively electrically connected with the autonomous power supply 5.
Further, the sonar system 4 includes a sonar probe 41, a fixing hoop 42, and a fixing plate 43;
the fixing plate 43, the fixing hoop 42 and the sonar probe 41 are sequentially connected from top to bottom;
the fixing plate 43 is connected to the bottom of the robot main body boat 1.
Further, an out-of-control alarm device 17 is arranged on the robot main body ship 1, and the out-of-control alarm device 17 is electrically connected with the receiving unit 9.
Further, an air pressure alarm device 18 is arranged on the robot main body ship 1, and the air pressure alarm device 18 is electrically connected with the receiving unit 9.
Further, a local switch 19 is arranged inside the robot main body vessel 1, and the local switch 19 is electrically connected with the air negative pressure type power system 2, the CCTV system 3, the sonar system 4, the integrated controller 7, the speed regulation module 10, the receiving antenna 8 and the receiving unit 9, respectively.
Further, the adapter 6 is a three-way adapter.
Further, the pipeline sensor 27 is a carbon rod, and the signal receiving device is a pipeline instrument.
As shown in fig. 7, the pipeline sensor 27 is powered on to generate a magnetic field after being lowered into the well, the detector moves the pipeline instrument receiver on the ground, and when the axis of the horizontal coil is perpendicular to the powered conductor and is positioned right above the powered conductor, the horizontal coil signal is strongest, and the point with the maximum response of the pipeline instrument is determined, so that the positioning information of the row opening and the defect inside the intelligent box culvert is determined.
The transmitting device in fig. 7 is a pipeline sensor 27, the pipeline sensor 27 is a carbon rod, and is installed at the bottom of the detection robot, and the transmitting frequency: 19KHz and 30 KHz; detecting depth: testing 23 meters of ground data; the external dimension is as follows: 3cm (diameter) × 38cm (length); weight: 0.68 KG; waterproofing: IP 67.
The signal receiving device is a pipeline instrument, adopts an electromagnetic method to detect the position, the burial depth, the trend and the signal current intensity of an underground pipeline, consists of a liquid crystal display, and can quickly, intuitively and accurately track and guide the frequency modulation signal transmitted by the transmitting device.
The invention abandons the method that the prior detection unit positions according to the cable winding and unwinding of the pipeline winding and unwinding vehicle, and realizes the function that the interior of the box culvert has no various signal transmission to accurately position various defects and discharge ports.
The operation process of the detection robot positioning auxiliary device comprises the following steps:
(1) a set of non-metallic pipeline sensors is fixedly installed on the ship body, and the pipeline sensors are electrified to generate a magnetic field after being put into a well;
(2) opening the well cover, enabling an operator to match with the lower derrick through a telescopic traction guide rod, safely conveying the unmanned ship body with the non-metal sensor fixed to the bottom of the pipe, and performing traction and fixation on the cable through the traction guide rod; meanwhile, the mobile power supply supplies power to the cable car; meanwhile, the ground control station is connected to the cable car receiving controller by adopting a network cable; and starting the ground control station, starting each detection functional module, adjusting light, and operating the unmanned ship body of the robot to detect.
(3) The detection personnel move the pipeline instrument receiver on the ground, when the axis of the horizontal coil is vertical to the electrified lead and is positioned right above the electrified lead, the signal of the horizontal coil is strongest, the point with the maximum response of the pipeline instrument is determined, and then the positioning information of the internal row opening and the defect of the intelligent box culvert is determined.
(4) And measuring personnel measures the ground point position by using the measurement GPS-RTK according to the positioning information to obtain accurate positioning GIS data of the row openings and the defects.
Example 2
As shown in fig. 1-3, a self-propelled dark culvert CCTV sonar detection robot includes a robot main ship 1, an air negative pressure type power system 2, a CCTV system 3, a sonar system 4, an autonomous power supply 5, a conversion joint 6, an integrated controller 7, a receiving antenna 8, a receiving unit 9, and a speed regulation module 10.
The robot main body ship 1 is a catamaran, and the catamaran comprises a left monolithic body 11 and a right monolithic body 12.
Each single sheet body is formed by processing an aluminum alloy sheet metal, the forward and aft looking directions are respectively in a bow-warp shape and a stern-warp arc shape, the forward and stern looking directions are respectively in inner arc transition, the middle end of the bottom is in a straight shape, and the buoyancy of the main body is improved while the resistance of water flow during navigation is reduced.
And a manhole, a manhole seat plate 14, a manhole seal 15 and a manhole cover plate 16 are respectively arranged on the top deck surface of each single-piece body in the midship of the single-piece body stern.
The manhole base plate 14 is formed by machining an aluminum alloy machine, inner screw threads are uniformly distributed in a circle, a plurality of sealing lines are machined on the upper contact surface by a milling cutter and are fixed with the robot main body catamaran through welding.
The manhole seal 15 is a nitrile rubber sealing gasket, has the thickness of 3mm, and is in pressing contact with a sealing surface of the manhole seat plate 14 and a sealing surface of the manhole cover plate 16 to realize sealing.
The manhole cover plate 16 is formed by machining an aluminum alloy, a circle of uniformly distributed unthreaded holes are used for fixing through locking nuts, the contact end of the manhole cover plate and the contact end of the manhole seal 15 are sealed through a machining boss, and the manhole cover plate 16 is fixedly connected with the manhole seat plate 14 through the locking nuts.
Referring to fig. 1 and 4, the upper surfaces of the tail deck of the left monolithic body 11 and the right monolithic body 12 are connected with an air negative pressure type power system 2, the air negative pressure type power system 2 comprises an engine bracket 21, an engine 22, a propeller 24, a deflector cap 25 and a locking device 23, and the engine bracket 21 and the engine 22 are fixed through the locking device 23.
The engine support 21 is two bilaterally symmetrical, the whole body is formed by 3D printing, the structure of the engine support is composed of an upper square motor fixing seat and a lower cable through a square tube, the upper square motor fixing seat is fixed with the engine 22 through a locking device 23, and the lower square tube is welded and fixed with the robot main body catamaran.
The engine 22 is a brushless motor, outputs power for the robot to walk, is two in total and is symmetrical left and right, and the engine 22 and the propeller 24 are fixed through a flow guide cap 25.
The propeller 24 is made of carbon fiber composite materials, the diameter of the propeller is eight inches, the thread pitch is 4mm, the propeller is two in total and is symmetrical left and right, and the propeller 24 and an output shaft of the engine 22 are fixed through a flow guide cap 25.
The diversion cap 25 is made of aluminum alloy, is arc-shaped, has an inner thread structure inside, and is connected with the output shaft of the engine 22 to compress and fix the propeller 24.
The air duct 20 is welded on the upper surfaces of the tails of the left single-piece body 11 and the right single-piece body 12, the air duct 20 is formed by processing aluminum alloy sheet metal and is formed by two arcs with inner middle holes and an integral structure with a certain thickness, and the tops of two peripheral sides are wide and the bottoms of the two arcs are narrow and arc-shaped.
The air duct 20 is used as a channel for outputting aerodynamic force and is matched with a double-air negative pressure power system, and the middle bottom of the air duct is folded in a conical arc shape so that the connecting cable of the adapter 6 can pass through the air duct.
The left single-piece body 11 and the right single-piece body 12 are welded and fixed through a fixing support 13, the fixing support 13 is an aluminum alloy sheet metal workpiece, eight internal thread holes are respectively tapped at positions, corresponding to the base of the integrated controller 7, of two sides, and the integrated controller 7 and the fixing support 13 are fixed through locking nuts.
An attitude sensor, an air pressure sensor and a temperature sensor are arranged in the integrated controller 7 to protect the driving and navigation of the robot control system; the head part of the integrated controller 7 is connected with the CCTV system 3, the tail part is connected with the adapter 6, and the adapter 6 is preferably a three-way adapter 6.
Tee bend crossover sub 6 is as CCTV system 3 and sonar system 4's data processing and transfer center, and integrated control ware 7 is connected through cutting ferrule joint to the front end, and the bottom is connected with sonar system 4 through the cutting ferrule joint of taking the cable, and the tail end is connected with the electronic car that receive and releases in bank through the cutting ferrule joint of taking the cable, realizes bank power, control signal, data transmission's mutual feedback and transmission.
The CCTV system 3 includes a CCTV lens 31, a LED flood light source 32, and an airline hosel sleeve 33.
The CCTV lens 31 is rotationally connected with the integrated controller 7 through the aviation plug ferrule 33, and the lens can rotate 360 degrees and turn over 220 degrees up and down.
The two LED floodlight sources 32 are positioned on two sides of the CCTV lens 31 and fixed with the integrated controller 7 through bolts, so that the device can adapt to the internal illumination of all culverts with the width of less than 10 meters, and the video quality is clear and reliable.
The CCTV lens 31 and the LED floodlight source 32 are respectively electrically connected with the autonomous power supply 5.
Referring to fig. 5, the sonar system 4 includes a sonar probe 41, a fixing hoop 42, and a fixing plate 43.
The sonar probe 41 detects and feeds back parts below the water surface by emitting ultrasonic waves, collects various functional defects, sludge distribution and the like below the water surface, and feeds back the functional defects, the sludge distribution and the like to the shore control visual end through the tee joint adapter 6.
The fixing plate 43 includes a first fixing plate and a second fixing plate, the first fixing plate is located at the tail between the left single body 11 and the right single body 12, one end of the first fixing plate is welded to the side wall of the left single body 11, and the other end of the first fixing plate is welded to the side wall of the right single body 12.
The second fixed plate is located at the head part between the left single piece body 11 and the right single piece body 12, one end of the second fixed plate is welded with the side wall of the left single piece body 11, and the other end of the second fixed plate is welded with the side wall of the right single piece body 12.
The fixing hoop 42 includes a front fixing hoop and a rear fixing hoop.
The rear fixing hoop is sleeved at the tail part of the sonar probe 41 and is fixed with the first fixing plate through a locking nut.
The preceding fixed staple bolt cover is fixed with the second fixed plate through lock nut at sonar probe 41's prelude.
The right single chip body 12 is internally provided with a cavity for accommodating the autonomous power supply 5, the speed regulating module 10 and the receiving unit 9.
The autonomous power supply 5 is electrically connected with the motor, the CCTV lens 31, the sonar lens, the integrated controller 7, the speed regulation module 10, the receiving antenna 8, and the receiving unit 9, respectively.
The autonomous power supply 5 is of a direct-insertion type clamping groove structure and is directly inserted and fixed with a female clamping groove formed in the right single-piece body 12, and a power system and a control system of the robot are connected to a shore field power supply through a three-way adapter 6 to supply power and transmit data during normal operation.
The speed regulating module 10 comprises a speed regulating unit which is directly connected with the engine 22 in a control mode, a shore action command feeds back a signal to the receiving unit 9 through the receiving antenna 8, the receiving unit 9 feeds back the action command to the speed regulating unit, and when the speed regulating unit controls the engine 22 to rotate forwards and backwards, the robot achieves the functions of advancing and retreating.
The speed regulating unit is programmed through a preset speed difference logic, when the left engine rotates forwards gradually and rapidly and the right engine rotates backwards synchronously and rapidly, the robot realizes a left-turning function; otherwise, the right-turn function is realized.
An out-of-control alarm device 17 is fixed on the upper surface of the robot main body ship 1 through bolts, the out-of-control alarm device 17 comprises an out-of-control sensor, the out-of-control sensor is located inside the right single chip 12 and connected with the receiving unit 9, and when an action command is stronger due to an internal shielding signal or fails to feed back the action command to the speed regulating module 10, the fault alarm is automatically fed back to the onshore control end, so that the timely early warning effect is achieved.
An out-of-control alarm device 17 is fixed on the robot main body ship 1 through bolts, an air pressure sensor is arranged on each of the left single chip 11 and the right single chip 12, when the robot collides and runs into water or is damaged in a dark culvert, the air pressure sensor presets an air pressure interval in normal work, at the moment, the air pressure is lower than a normal air pressure value, and an alarm signal is fed back to a shore control station through the receiving unit 9 so as to give an early warning in time.
The robot main body ship 1 is internally provided with an on-site switch 19, the inside lithium battery that is equipped with of the robot main body switches on an autonomous emergency power supply through the on-site switch 19 when the emergency use, and can continue several barrels of navigation power for the robot.
Claims (10)
1. The utility model provides an auxiliary device that box culvert detection robot was fixed a position based on inertial navigation which characterized in that includes: the pipeline sensor (27) is positioned at the bottom of the detection robot and can transmit electromagnetic signals;
the signal receiving device is positioned on the ground and can receive the electromagnetic signal sent by the pipeline sensor (27) so as to sense the strength of the electromagnetic signal to determine the position of the detection robot;
the detection robot comprises a robot main body ship (1), an air negative pressure type power system (2), a CCTV system (3), a sonar system (4), an autonomous power supply (5), a conversion joint (6), an integrated controller (7), a receiving antenna (8), a receiving unit (9), a speed regulation module (10), an air pressure alarm device (18) and a radar device (26);
the upper surface of a tail deck of the robot main body ship (1) is connected with an air negative pressure type power system (2), and the head of the robot main body ship (1) is connected with an integrated controller (7);
the head of the integrated controller (7) is connected with the CCTV system (3), and the tail of the integrated controller (7) is connected with the adapter (6);
the bottom of the robot main body ship (1) is connected with a sonar system (4);
the inner wall of the robot main body ship (1) is connected with an autonomous power supply (5);
the autonomous power supply (5) is respectively and electrically connected with the air negative pressure type power system (2), the CCTV system (3), the sonar system (4), the integrated controller (7), the speed regulation module (10), the receiving antenna (8) and the receiving unit (9);
the receiving antenna (8) is electrically connected with the receiving unit (9), and the receiving unit (9) is electrically connected with the speed regulating module (10);
the receiving antenna (8) is positioned inside the robot main body ship (1) and is connected with the inner wall of the robot main body ship (1);
the receiving unit (9) and the speed regulating module (10) are respectively positioned in the main body ship;
an air pressure alarm device (18) is fixedly arranged on the upper portion of the integrated controller (7), and a radar device (26) is arranged at the front end of the air pressure alarm device (18).
2. The auxiliary device for box culvert detection robot positioning based on inertial navigation is characterized in that the robot main body ship (1) is a catamaran, the catamaran comprises a left monolithic body (11) and a right monolithic body (12), and the left monolithic body (11) and the right monolithic body (12) are connected through a fixed support (13);
the tail parts of the left single sheet body (11) and the right single sheet body (12) are connected with an air negative pressure type power system (2);
the top of the fixed support (13) is connected with the integrated controller (7);
the sonar system (4) is positioned at the bottom between the left single-sheet body (11) and the right single-sheet body (12), and the sonar system (4) is connected between the left single-sheet body (11) and the right single-sheet body (12);
the inner wall of the right single sheet body (12) is connected with an autonomous power supply (5);
the autonomous power supply (5) is respectively and electrically connected with the air negative pressure type power system (2), the CCTV system (3), the sonar system (4), the integrated controller (7), the speed regulation module (10), the receiving antenna (8) and the receiving unit (9);
the receiving antenna (8) is electrically connected with the receiving unit (9), and the receiving unit (9) is electrically connected with the speed regulating module (10);
the receiving antenna (8) is positioned inside the right single-chip body (12) and is connected with the inner wall of the right single-chip body (12);
the receiving unit (9) and the speed regulating module (10) are respectively positioned in the right single chip body (12)
3. The auxiliary device for box culvert detection robot positioning based on inertial navigation is characterized in that the air negative pressure type power system (2) comprises an engine bracket (21), an engine (22), a propeller (24), a diversion cap (25) and a locking device (23); the bottom of the engine support (21) is connected with the upper surface of the robot main body ship (1), and the top of the engine support (21) is connected with an engine (22) through a locking device (23);
the propeller (24) is connected with an output shaft of the engine (22) through a diversion cap (25).
4. The auxiliary device for box culvert detection robot positioning based on inertial navigation is characterized in that the CCTV system (3) comprises a CCTV lens (31), an LED floodlight source (32) and an aviation plug sleeve (33);
the CCTV lens (31) is rotationally connected with the integrated controller (7) through an aviation plug ferrule (33);
the LED floodlight source (32) is positioned on one side of the CCTV lens (31) and is connected with the integrated controller (7);
the CCTV lens (31) and the LED floodlight source (32) are respectively electrically connected with the autonomous power supply (5).
5. The auxiliary device for box culvert detection robot positioning based on inertial navigation is characterized in that the sonar system (4) comprises a sonar probe (41), a fixed hoop (42) and a fixed plate (43);
the fixing plate (43), the fixing hoop (42) and the sonar probe (41) are sequentially connected from top to bottom;
the fixing plate (43) is connected with the bottom of the robot main body ship (1).
6. The auxiliary device for box culvert detection robot positioning based on inertial navigation is characterized in that an out-of-control alarm device (17) is arranged on the robot main body ship (1), and the out-of-control alarm device (17) is electrically connected with a receiving unit (9).
7. The auxiliary device for box culvert detection robot positioning based on inertial navigation is characterized in that an air pressure alarm device (18) is arranged on the robot main body ship (1), and the air pressure alarm device (18) is electrically connected with a receiving unit (9).
8. The auxiliary device for box culvert detection robot positioning based on inertial navigation according to claim 1, characterized in that a local switch (19) is arranged inside the robot main body ship (1), and the local switch (19) is electrically connected with the air negative pressure type power system (2), the CCTV system (3), the sonar system (4), the integrated controller (7), the speed regulation module (10), the receiving antenna (8) and the receiving unit (9) respectively.
9. The auxiliary device for box culvert detection robot positioning based on inertial navigation is characterized in that the adapter (6) is a three-way adapter.
10. The auxiliary device for box culvert detection robot positioning based on inertial navigation is characterized in that the pipeline sensor (27) is a carbon rod, and the signal receiving device is a pipeline instrument.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011126561.8A CN112361122A (en) | 2020-10-20 | 2020-10-20 | Box culvert detection robot fixes a position auxiliary device based on inertial navigation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011126561.8A CN112361122A (en) | 2020-10-20 | 2020-10-20 | Box culvert detection robot fixes a position auxiliary device based on inertial navigation |
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| CN112361122A true CN112361122A (en) | 2021-02-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011126561.8A Pending CN112361122A (en) | 2020-10-20 | 2020-10-20 | Box culvert detection robot fixes a position auxiliary device based on inertial navigation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118011447A (en) * | 2024-02-01 | 2024-05-10 | 惠州市自然资源规划勘测院 | Active RTK underground pipeline measurement method and system |
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