CN112394730A - Pipeline detection device - Google Patents
Pipeline detection device Download PDFInfo
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- CN112394730A CN112394730A CN202011271922.8A CN202011271922A CN112394730A CN 112394730 A CN112394730 A CN 112394730A CN 202011271922 A CN202011271922 A CN 202011271922A CN 112394730 A CN112394730 A CN 112394730A
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- 238000001514 detection method Methods 0.000 title claims abstract description 159
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- 238000009434 installation Methods 0.000 claims description 2
- 230000007704 transition Effects 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims 12
- 230000002093 peripheral effect Effects 0.000 claims 1
- 238000002360 preparation method Methods 0.000 claims 1
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- 238000000034 method Methods 0.000 description 8
- 230000007613 environmental effect Effects 0.000 description 7
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- 229920003023 plastic Polymers 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
Abstract
The application relates to a pipeline detection device, relates to the technical field of pipeline detection, and comprises a detection trolley, a wheel driving part, an obstacle avoidance mechanism and a first controller; keep away barrier mechanism includes: the obstacle detection assembly comprises an image collector and a distance sensor which are in signal connection with the first controller, the image collector collects and outputs an image signal in front of the running direction of the detection trolley, and the distance sensor measures the distance between an obstacle in front of the running direction of the detection trolley and outputs a distance detection signal; the obstacle avoidance executing assembly is in control connection with the first controller and is used for adjusting and detecting the relative position of wheels and a vehicle body on the trolley; the first controller receives the image signal and the distance detection signal and outputs a control signal to control the obstacle avoidance executing assembly to act; the wheel driving part is connected with the first controller in a control mode and is controlled by the first controller to act. This application has the effect that is convenient for detect dolly and detects the pipeline internal environment in the pipeline, avoids the barrier to go smoothly simultaneously.
Description
Technical Field
The application relates to the technical field of pipeline detection, in particular to a pipeline detection device.
Background
Urban water supply and drainage pipelines are one of the infrastructures for guaranteeing people's life. Therefore, the urban water supply and drainage pipelines need to be monitored and maintained regularly, and the water supply and drainage pipelines with cracks need to be early warned and repaired.
In the related art, a pipeline detection trolley is generally used, and is a pipeline crawler carrying a camera shooting assembly, an operator usually places the pipeline detection trolley on one side of a water supply and drainage pipeline and starts the pipeline detection trolley to enable the pipeline detection trolley to move forwards in the water supply and drainage pipeline, and meanwhile, the pipeline detection trolley performs camera shooting monitoring on the water supply and drainage pipeline to detect whether cracks exist.
In view of the above-mentioned related art, the inventors have considered that some foreign materials such as concrete fragments, crushed stones, garbage, etc. left behind by construction exist in the water supply and drainage pipeline. When the pipeline detection trolley runs in a water supply and drainage pipeline with sundries, the problem that the pipeline detection trolley cannot continue running due to the fact that the sundries prop against the lower end of the pipeline detection trolley is easily caused.
Disclosure of Invention
In order to facilitate the detection dolly to go smoothly in the pipeline, this application provides pipeline detection device.
The application provides a pipeline detection device adopts following technical scheme:
the pipeline detection device comprises a detection trolley, a wheel driving piece for driving wheels of the detection trolley to rotate, an obstacle avoidance mechanism and a first controller, wherein the obstacle avoidance mechanism is arranged on the detection trolley and used for driving the detection trolley to avoid obstacles in a pipeline;
keep away barrier mechanism includes:
the obstacle detection assembly comprises an image collector and a distance sensor, the image collector is in signal connection with the first controller, the image collector collects and outputs an image signal in front of the running direction of the detection trolley, and the distance sensor measures the distance between an obstacle in front of the running direction of the detection trolley and outputs a distance detection signal;
the obstacle avoidance executing assembly is in control connection with the first controller and is used for adjusting and detecting the relative position of wheels and a vehicle body on the trolley;
the first controller receives the image signal and the distance detection signal and outputs a control signal to control the obstacle avoidance executing assembly to act;
the wheel driving part is connected with the first controller in a control mode and is controlled by the first controller to act.
Through adopting above-mentioned technical scheme, when the staff need detect the environment of pipeline, will detect the dolly and place in the one end of pipeline to send control signal to the wheel driving piece through first controller, make the detection dolly can advance, with the inside environmental condition of detection pipeline. In the process of detecting the internal environment of the pipeline by the detection trolley, the image collector and the distance sensor output the environmental condition in front of the running detection trolley in real time, the first controller receives an image signal and a distance detection signal, the detection range in front of the running detection trolley is increased by the mutual matching of the image signal and the distance detection signal, and the real-time environment in the pipeline can be detected while the distance between the obstacle and the current position of the detection trolley is detected; in this process, the distance sensor is also capable of detecting the width of the crack on the inner sidewall of the pipe. The first controller sends a control signal according to the received image signal and the distance detection signal, and controls the obstacle avoidance executing assembly to adjust the relative position of the wheels and the vehicle body on the detection trolley, so that the wheels avoid the obstacle, and then the detection trolley can smoothly advance.
Preferably, arc grooves are formed in the bottom side positions of the two ends of the body of the detection trolley in the axial direction of the body;
the obstacle avoidance executing component comprises:
the rotating sheet is sleeved in the arc groove in a sliding mode, one side, far away from the vehicle body, of the rotating sheet is at least connected with one connecting rod, and one end, far away from the rotating sheet, of the connecting rod is connected with a wheel of the detection trolley;
and the sliding driving part is arranged in the detection trolley body, is in control connection with the first controller, and is controlled by a control signal output by the controller to drive the rotating sheet to slide along the arc groove.
By adopting the technical scheme, when the first controller outputs the control signal for adjusting the current position of the wheel of the detection trolley, the control signal is mainly received by the sliding driving piece, and then the sliding driving piece controls the rotating sheet to slide along the arc groove for setting the angle, so that the wheel of the detection trolley avoids the currently detected obstacle and can continuously move forward along the driving direction.
Preferably, the arc groove is a T-shaped groove, and the rotating sheet is movably clamped in the T-shaped groove;
one end of the rotating sheet, which is positioned in the arc groove, is provided with a passive magnetic part, and the inner side wall of the detection trolley body is correspondingly provided with a sliding groove along the arrangement direction of the arc groove;
the glide drive comprises:
the driving magnetic part is arranged in the sliding groove and is magnetically connected with the driven magnetic part;
and the rotating shaft of the sliding driving motor is fixedly connected with a transmission rod, one end of the transmission rod, which is far away from the sliding driving motor, is fixedly connected with the driving magnetic part and is controlled by a control signal of the first controller to drive the driving magnetic part to slide along the sliding groove.
Through adopting above-mentioned technical scheme, after the control signal of first controller is received to the driving piece that slides, the angle of setting for is rotated along control signal's the direction of setting for to the driving pole rotates with initiative magnetic part together, because the magnetism of initiative magnetic part and driven magnetic part is connected, initiative magnetic part can drive driven magnetic part and slide in the circular arc inslot, even the wheel that makes the detection dolly produces the position change for the detection dolly automobile body, thereby the wheel that detects the dolly avoids the barrier that detects at present.
Preferably, the connecting rod is divided into a fixed rod and a telescopic rod, the fixed rod is fixedly connected with the rotating sheet, a telescopic groove is formed in one end of the fixed rod, which is far away from the rotating sheet, along the axial direction of the fixed rod, and one section of the telescopic rod extends into the telescopic groove to be in telescopic fit with the fixed rod;
an elastic part is arranged between the bottom of the telescopic groove and the telescopic rod;
the periphery of the telescopic rod is provided with an annular flange, and a clamping ring matched with the annular flange and used for limiting the telescopic rod to slide out of the telescopic groove is arranged at the opening of the telescopic groove;
when the first controller detects that the height of the obstacle is smaller than a set value, the first controller does not act, the telescopic rod moves towards the direction close to the fixed rod, and the moving distance is the height of the obstacle.
Through adopting above-mentioned technical scheme, when first controller detects the height of barrier and is less than the setting value, first controller does not move, and at this moment, the telescopic link moves towards the direction that is close to the dead lever under the restriction of barrier for the wheel can pass through smoothly from the top of barrier. Wherein the set value is not more than the maximum distance that the telescopic rod can stretch out and draw back.
Preferably, one end of the connecting rod, which is far away from the rotating sheet, is hinged with an installation block;
the wheel drive member includes:
the power supply is configured inside the detection trolley body;
the wheel driving motor is arranged on the mounting block, is in control connection with the first controller and is electrically connected with the power supply, and a rotating shaft of the wheel driving motor is fixedly connected with the wheel and is controlled by a control signal of the controller to act;
and the rotation limiting part is arranged between the mounting block and the connecting rod and used for limiting the rotation angle of the mounting block.
Through adopting above-mentioned technical scheme, at the in-process that traveles of detection dolly, the power is the wheel driving motor energy supply, guarantees wheel driving motor's normal operating, and first controller output control signal to the rotation of control detection dolly wheel makes the detection dolly can be followed the length direction of pipeline and traveles. When the wheels of the detection trolley need to change the position relative to the body of the detection trolley, the hinged connection mode between the mounting block and the rotation limiting part ensures that the wheels of the detection trolley can continue to drive the body of the detection trolley to advance, and meanwhile, the rotation limiting part limits the maximum rotation angle of the wheels of the detection trolley, so that the probability that the wheels of the detection trolley can not continue to drive the body of the detection trolley to advance due to overlarge rotation angle is reduced.
Preferably, the wheel includes a connecting portion and an abutting portion, the connecting portion is fixedly connected to the connecting rod, and the abutting portion is fixedly connected to one end of the connecting portion away from the connecting rod;
the connecting part is arranged in a round cake shape, the abutting part is arranged in a hemispherical shape, and the joint of the connecting part and the abutting part is in smooth transition.
Through adopting above-mentioned technical scheme, when the relative position of wheel and automobile body changed, the butt portion that is hemispherical setting, the wheel of being convenient for continues to advance in the pipeline.
Preferably, the detection trolley is provided with at least three wheels, wherein one wheel is positioned at the head of the detection trolley, and two wheels are positioned at the tail of the detection trolley, or the other wheel is positioned at the head of the detection trolley, and one wheel is positioned at the tail of the detection trolley;
when one wheel is arranged, the rotating pieces are positioned at the bottom of the detection trolley body, when two wheels are arranged, the two rotating pieces are symmetrically arranged at the bottom of the detection trolley, and the symmetric plane is the central plane of the detection trolley along the circumferential direction of the detection trolley.
Through adopting above-mentioned technical scheme, three wheel forms stable triangular structure, ensures the stability of detecting the operation of dolly automobile body, and the staff can also add a plurality of wheels according to actual demand.
Preferably, the image collector is configured as a CCTV camera system, the CCTV camera system is configured in the detection trolley body, and a closed visible window is arranged in the camera range of the camera of the CCTV camera system in the detection trolley body;
the distance sensor is provided with a plurality of infrared sensors which are arranged towards the inner side wall of the pipeline.
Through adopting above-mentioned technical scheme, the visual window makes can real-time detection pipeline interior environmental condition as to CCTV camera system in the automobile body, and infrared sensor can realize detecting the purpose of the width of crack on distance between barrier and the detection dolly current position and the pipeline inside wall.
Preferably, the rear of a vehicle of the detection trolley is provided with a high-strength connecting wire, the high-strength connecting wire is movably wound on the rear of the vehicle of the detection trolley, and one end of the high-strength connecting wire is arranged at an inlet of the pipeline.
Through adopting above-mentioned technical scheme, the staff of being convenient for of high strength connecting wire directly pulls out the pipeline with the detection dolly in, need not the detection dolly and transfers the direction, and need not the consumption of electric energy.
Preferably, floating foam is arranged at the bottom of the detection trolley.
Through adopting above-mentioned technical scheme, ponding is more in the pipeline, is higher than when detecting the distance between dolly automobile body bottom and the pipeline promptly, and the foam that floats makes the automobile body that detects the dolly can float in the surface of ponding, reduces the probability that ponding got into the detection dolly to and each components and parts takes place the probability of electric leakage phenomenon.
Preferably, the first controller is in signal connection with a transmission optical fiber, the transmission optical fiber penetrates through the tail of the detection trolley and is in signal connection with a second controller, the second controller is configured at the inlet of the pipeline, the second controller is in control connection with the obstacle detection assembly and the obstacle avoidance execution assembly, and the control priority of the second controller is greater than that of the first controller;
the second controller is in signal connection with a display, and the second controller receives the image signal and/or the distance detection signal and reflects the image signal and/or the distance detection signal to the display screen.
By adopting the technical scheme, the working personnel can observe the environment state in the pipeline through the display screen, and can preferentially control the running state of the detection trolley, thereby ensuring the safety of the detection trolley.
In summary, the present application includes at least one of the following beneficial technical effects:
1. through the arrangement of the detection trolley, the wheel driving part, the obstacle avoidance mechanism and the first controller, when a worker needs to detect the environment of the pipeline, the detection trolley is placed at one end of the pipeline, and a control signal is sent to the wheel driving part through the first controller, so that the detection trolley can move forward to detect the environment state in the pipeline; in the process of detecting the internal environment of the pipeline by the detection trolley, the image collector and the distance sensor output the environmental condition in front of the running detection trolley in real time, the first controller receives an image signal and a distance detection signal, the detection range in front of the running detection trolley is increased by the mutual matching of the image signal and the distance detection signal, and the real-time environment in the pipeline can be detected while the distance between the obstacle and the current position of the detection trolley is detected; in the process, the distance sensor can also detect the width of a crack on the inner side wall of the pipeline; the first controller is used for sending a control signal according to the received image signal and the distance detection signal, controlling the obstacle avoidance executing assembly to adjust the relative position of the wheels on the detection trolley and the trolley body so that the wheels avoid obstacles, and then the detection trolley can smoothly advance;
2. further, through the setting of dead lever, telescopic link and elastic component etc. when first controller detects that the height of barrier is less than the setting value, first controller does not move, and at this moment, the telescopic link is under the restriction of barrier, moves towards the direction that is close to the dead lever for the wheel can follow the top of barrier and pass through smoothly. Wherein the set value is not more than the maximum telescopic distance of the telescopic rod;
3. further, through the setting of the foam that floats, ponding is more in the pipeline, is higher than when detecting the distance between dolly automobile body bottom and the pipeline promptly, and the foam that floats makes the automobile body that detects the dolly float in the surface of ponding, reduces the probability that ponding got into the detection dolly to and each components and parts takes place the probability of electric leakage phenomenon.
Drawings
Fig. 1 is a schematic overall structure diagram (a transparent state of a visible window) of the structure of the embodiment of the present application;
FIG. 2 is a cross-sectional view of the detecting trolley showing the internal structure of the detecting trolley according to the embodiment of the present application (wherein all the connecting rods and the wheels are not cut);
fig. 3 is a schematic diagram for showing the connection relationship between the link obstacle avoidance actuating assembly and the vehicle body.
Reference numerals: 1. detecting a trolley; 11. a vehicle body; 111. an arc groove; 112. a sliding groove; 12. a wheel; 121. a connecting portion; 122. an abutting portion; 13. a connecting rod; 131. fixing the rod; 1311. a telescopic groove; 1312. a snap ring; 132. a telescopic rod; 1321. an annular flange; 1322. a limiting groove; 133. an elastic member; 14. mounting blocks; 15. a visual window; 16. a high-strength connecting wire; 17. floating foam; 2. a wheel drive; 21. a power source; 22. a wheel drive motor; 23. rotating the limiting piece; 3. an obstacle avoidance mechanism; 4. a first controller; 41. a positioner; 42. a transmission optical fiber; 5. a second controller; 51. a display screen; 6. an obstacle detection component; 61. an image collector; 62. a distance sensor; 7. an obstacle avoidance executing component; 71. a rotating sheet; 711. a passive magnetic element; 72. a sliding drive member; 721. an active magnetic member; 722. a slip drive motor; 723. and a transmission rod.
Detailed Description
The present application is described in further detail below with reference to figures 1-3.
The embodiment of the application discloses a pipeline detection device. Referring to fig. 1 and 2, mainly includes: the device comprises a detection trolley 1, a wheel driving piece 2 for driving wheels 12 of the detection trolley 1 to rotate, an obstacle avoidance mechanism 3 arranged on the detection trolley 1 and used for driving the detection trolley 1 to avoid obstacles in a pipeline, a first controller 4 and a second controller 5.
In detail, referring to fig. 1, the detection trolley 1 includes a trolley body 11 and wheels 12, the wheels 12 drive the trolley body 11 to move, the bottom of the trolley body 11 is set to be arc-shaped at the wheels 12, for example, the bottom of the trolley body 11 is set to be semi-ellipsoidal or semi-cylindrical along a vertical central plane of the trolley body 11, and the top of the trolley body is square, or the trolley body 11 is set to be ellipsoidal as a whole, preferably, the trolley body is set to be ellipsoidal.
Referring to fig. 2, the wheel 12 includes a connecting portion 121 and an abutting portion 122 fixedly connected to each other, the connecting portion 121 is disposed in a pie shape, the abutting portion 122 is disposed in a hemispherical shape, and a diameter of the connecting portion 121 is equal to a diameter of the abutting portion 122. The plane of the abutting portion 122 is fixedly connected to one side surface of the connecting portion 121, the joint of the connecting portion 121 and the abutting portion 122 is smoothly transited, a link 13 is disposed on one side of the connecting portion 121 away from the abutting portion 122, and one end of the link 13 away from the connecting portion 121 is connected to the vehicle body 11.
Further preferably, referring to fig. 1 and 3, the connecting rod 13 includes a fixing rod 131 and a telescopic rod 132 both of which are disposed in a cylindrical shape, one end of the fixing rod 131 is rotatably connected to the vehicle body 11, a telescopic groove 1311 is disposed along an axial direction of one end of the fixing rod 131 far away from the vehicle body 11, and one end of the telescopic rod 132 extends into the telescopic groove 1311 and forms a telescopic fit with the fixing rod 131.
And the elastic piece 133 is fixedly arranged between the bottom of the telescopic slot 1311 and the end face of the telescopic rod 132, in the embodiment of the present application, the elastic piece 133 is a spring, and can also be an elastic object such as a rubber column with excellent elasticity.
An annular flange 1321 is fixed to the circumferential side of one end of the telescopic rod 132 extending into the telescopic groove 1311, and may be fixed by welding or integrally fixing. A snap ring 1312 is provided at the notch of the telescopic groove 1311, and the snap ring 1312 is engaged with the annular flange 1321, and has a main function of limiting the maximum distance that the telescopic rod 132 can be far away from the fixing rod 131, and preventing the telescopic rod 132 from being separated from the fixing rod 131 in the embodiment.
When the first controller 4 detects that the height of the obstacle is smaller than the set value, the first controller 4 does not act, and at this time, the telescopic rod 132 moves toward the direction close to the fixed rod 131, and the moving distance is the height of the obstacle.
Referring to fig. 2 and 3, an end of the telescopic rod 132 away from the fixing rod 131 is hinged to a mounting block 14, and the mounting block 14 is used for mounting the wheel driving member 2, so as to facilitate connection between the telescopic rod 132 and the wheel driving member 2.
Referring to fig. 1 and 2, the wheel driver 2 is connected to the first controller 4 in a control manner, and is controlled by the first controller 4 to operate, and when the wheel driver 2 receives a control signal from the first controller 4, the wheel driver drives the wheel 12 to rotate, so that the detection trolley 1 can move in a desired driving direction.
In detail, the wheel driving member 2 includes a power source 21 for supplying power, a wheel driving motor 22 for driving the wheel 12, and a rotation limiting member 23.
Referring to fig. 1 and 3, the power source 21 is disposed in the vehicle body 11, and the embodiment of the present application may be disposed in the fixing rod 131, and the connection line of the power source 21 is electrically connected to the wheel driving motor 22 through the connecting rod 13 and the mounting block 14.
Referring to fig. 2, the fixed end of the wheel driving motor 22 is fixedly disposed on the side of the mounting block 14 away from the connecting rod 13, and is in control connection with the first controller 4. An output shaft of the wheel driving motor 22 is fixedly connected to the connecting portion 121 and is operated by a control signal of the controller.
Further, a rotation limiting member 23 is located between the mounting block 14 and the connecting rod 13 for limiting a rotation angle of the mounting block 14. The rotation limiting member 23 may be a plate obliquely disposed with the connecting rod 13, in this embodiment, a truncated cone-shaped limiting groove 1322 is directly formed at one end of the telescopic rod 132 away from the fixing rod 131, and the mounting block 14 is hinged to a bottom of the limiting groove 1322.
In order to facilitate the function of detecting the obstacle avoidance of the trolley 1 in the pipeline, the obstacle avoidance mechanism 3 is further described in detail in the following.
Referring to fig. 1 and 3, the obstacle avoidance mechanism 3 mainly includes an obstacle detection component 6 and an obstacle avoidance execution component 7.
Referring to fig. 1, the obstacle detecting assembly 6 includes an image collector 61 and a distance sensor 62, both of which are in signal connection with the first controller 4, wherein the image collector 61 is used for collecting and outputting an image signal in front of the detecting trolley 1 in the driving direction, and the distance sensor 62 is mainly used for measuring the distance between the obstacle in front of the detecting trolley 1 in the driving direction and the detecting trolley 1 and outputting a distance detecting signal.
In detail, the image collector 61 is configured as a CCTV imaging system, and the CCTV imaging system is configured at a head portion in the vehicle body 11. Meanwhile, in order to ensure that the camera of the CCTV camera system can collect the environmental conditions in the pipeline, a visible window 15 hermetically connected with the vehicle body 11 is arranged in the camera range of the camera of the CCTV camera system on the vehicle body 11; the viewing window 15 may be one of a transparent member such as a colorless transparent glass or a colorless transparent plastic plate.
In the embodiment of the present application, since the CCTV camera system mainly has a function of monitoring a state image in a pipeline, the CCTV camera system in the embodiment of the present application mainly includes a front-end video acquisition part, an intermediate transmission part, and a rear-end storage part. A simplified system may be arranged camera to switch to video recorder.
And distance sensor 62 disposes infrared sensor, and infrared sensor is provided with a plurality ofly, and a plurality of infrared sensor are the circumference array around the axial of automobile body 11 and distribute, and set up towards the inside wall of pipeline, and the infrared sensor of being convenient for detects the distance between automobile body 11 and/or wheel 12 and the pipeline inside wall.
The first controller 4 receives the image signal and the distance detection signal, and then outputs a control signal to control the action of the obstacle avoidance executing component 7.
The obstacle avoidance executing component 7 is in control connection with the first controller 4, and aims to adjust the relative position of the wheels 12 and the vehicle body 11 so as to enable the wheels 12 to avoid the currently detected obstacle.
In order to realize the function of the wheel 12 avoiding obstacles, the following is a detailed description of the obstacle avoidance actuating assembly 7.
Firstly, in order to facilitate the wheel 12 to be rotatably connected to the vehicle body 11, the bottom sides of the two ends of the vehicle body 11 are provided with arc grooves 111 around the axial direction of the vehicle body 11, the cross section of each arc groove 111 is T-shaped, and thus the arc grooves 111 are T-shaped.
Referring to fig. 2 and 3, the obstacle avoidance actuator assembly 7 includes a rotary piece 71 and a slip driving piece 72.
The rotating sheet 71 is slidably sleeved in the arc groove 111, and one side of the rotating sheet 71, which is far away from the vehicle body 11, is fixedly connected with one end of the fixed rod 131, which is far away from the telescopic rod 132; in order to match the arrangement of the arc groove 111, the part of the rotating sheet 71 extending into the arc groove 111 is also arranged in a T shape, and a plurality of balls for reducing friction force can be arranged on the contact surface of the rotating sheet 71 and the arc groove 111.
The end face of the rotating sheet 71 located at one end of the arc groove 111 is fixedly provided with a passive magnetic component 711, in this embodiment, the passive magnetic component 711 may be a magnetic block or other specific magnetic objects. The inner side wall of the vehicle body 11 is provided with a sliding groove 112, the arrangement direction of the sliding groove 112 corresponds to the arrangement direction of the arc groove 111, and the sliding groove 112 is convenient for limiting the rotation angle of the driving part of the sliding driving piece 72, so that the maximum moving distance of the driven magnetic piece 711 is matched. The contact surface of the passive magnetic member 711 with the sliding groove 112 may be provided with a plurality of balls for changing sliding friction into rolling friction, thereby reducing friction.
The sliding driving part 72 is located inside the vehicle body 11 and is in control connection with the first controller 4, and the sliding driving part 72 receives and responds to the control signal output by the first controller 4, and then drives the rotating sheet 71 to perform sliding motion along the arc groove 111.
In detail, the slip driving member 72 includes an active magnetic member 721 and a slip driving motor 722.
The driving magnetic element 721 is slidably disposed in the sliding slot 112 and magnetically connected to the passive magnetic element 711, and the driving magnetic element 721 may be a magnetic block or other magnetic objects capable of driving the passive magnetic element 711 to move together.
The driving magnetic member 721 is fixedly connected with a transmission rod 723, and one end of the transmission rod 723 far away from the driving magnetic member 721 is fixedly connected with a rotating shaft of the sliding driving motor 722. The sliding driving member 72 receives and responds to the control signal of the first controller 4, and the main purpose is to drive the active magnetic member 721 to slide along the sliding groove 112.
In a more optimized arrangement, at least three wheels 12 of the detection trolley 1 are arranged, wherein one wheel is arranged at the head of the trolley body 11, and two wheels are arranged at the tail of the trolley body 11, or two wheels are arranged at the head of the trolley body 11, and one wheel is arranged at the tail of the trolley body 11. In the embodiment of the present application, the three wheels 12 form a stable triangular structure, which can maintain the stable movement of the vehicle body 11. When one wheel 12 is arranged, the rotating sheet 71 is positioned at the bottom of the body 11 of the detection trolley 1, and when two wheels 12 are arranged, the two rotating sheets 71 are symmetrically arranged at the bottom of the detection trolley 1, and the symmetrical plane is the central plane of the detection trolley 1 along the circumferential direction of the detection trolley. The staff can also add a plurality of wheels 12 according to the requirement of actual operating mode.
When two wheels 12 are provided, the same slip driving motor 722 may drive two wheels 12 at the same time, or two wheels 12 may be respectively provided with one slip driving motor 722, and in the embodiment of the present application, each slip driving motor 722 drives one wheel 12. Correspondingly, when the same slip driving motor 722 can drive two wheels 12 at the same time, the two wheels 12 are connected to the same rotating sheet 71; when one slip drive motor 722 is provided for each of the two wheels 12, one rotor 71 is connected to each of the two wheels 12.
In a further optimized arrangement, the circular arc groove 111 is provided as an annular groove, and correspondingly, the rotating sheet 71 is configured in a circular ring shape, and at this time, the first controller 4 needs to ensure that the three wheels 12 are not located on the same straight line at the same time.
In order to facilitate the staff to take out the detection trolley 1 fast, the tail of the vehicle body 11 is also provided with a coiled high-strength connecting line 16, one end of the high-strength connecting line 16, which is far away from the vehicle body 11, is fixed at the inlet of the pipeline, so that the staff can pull the detection trolley 1 to leave the pipeline directly.
Because ponding easily exists in the pipeline, this application embodiment is provided with floating foam 17 in the bottom of automobile body 11, and floating foam 17 sets up the opening in circular arc groove 111 department, avoids hindering the rotational motion of rotating plate 71.
The first controller 4 comprises a data processing module and a data storage module, wherein the data processing module is configured to receive the image signal and the distance detection signal, and output a control signal according to the two signals to control the operation states of the wheel driving motor 22 and the obstacle avoidance performing assembly 7. The data storage module is used for storing signals output by the image collector 61 and the distance sensor 62.
The first controller 4 is also connected with a positioner 41 through signals, and when the CCTV camera system detects cracks and damages, the positioner 41 is used for positioning the current position of the detection trolley 1 and sending the position to the second controller 5. The position located by the locator 41 can be obtained by calculating the speed and time, and in the embodiment of the present application, the position may be set as one of other positioning devices such as a GPS, a beidou satellite navigation, a galileo satellite navigation, and a russian global satellite navigation.
The first controller 4 is connected with a transmission optical fiber 42 through signals, the transmission optical fiber 42 is arranged in the vehicle body 11 in a winding mode, one end, far away from the first controller 4, of the transmission optical fiber 42 penetrates through the vehicle body 11 and then is connected with the second controller 5 through signals, and the second controller 5 is arranged at an inlet of a pipeline. The second controller 5 is connected with the obstacle detection component 6 and the obstacle avoidance executing component 7 in a control mode, and the control priority of the second controller 5 is higher than that of the first controller 4.
The functions that can be implemented by the second controller 5 include the functions that can be implemented by the first controller 4, but the functions that can be implemented by the second controller 5 do not include the functions that can be implemented by the positioner 41. In addition, the second controller 5 is also connected with a display through signals, and the second controller 5 receives the image signal and/or the distance detection signal and reflects the image signal and/or the distance detection signal on the display screen 51. Meanwhile, a manual control module can be further arranged in the second control, at this time, the display screen 51 is set as the touch display screen 51, the manual control module is set as a virtual button, and the control instruction is displayed and received through the touch display screen 51.
The implementation principle of the pipeline detection device in the embodiment of the application is as follows: when the staff need detect the environment of pipeline, place measuring trolley 1 in the one end of pipeline, fixed high strength connecting wire 16 is in the pipeline mouth simultaneously. First, the first controller 4 is activated to send a control signal to the wheel drive 2 so that the detection trolley 1 can advance to detect the environmental state inside the pipeline. In the process of detecting the internal environment of the pipeline of the trolley 1, the image collector 61 and the distance sensor 62 output the environmental condition of the running front of the trolley 1 in real time, the first controller 4 receives the image signal and the distance detection signal, the first controller 4 sends a control signal according to the received image signal and the distance detection signal, and the control obstacle avoidance executing component 7 adjusts the relative position of the wheels 12 and the trolley body 11 on the detection trolley 1, so that the wheels 12 avoid obstacles, and then the detection trolley 1 can smoothly advance.
In the process of detecting that the tail of the vehicle is in the pipe, the image information acquired by the CCTV camera system can detect whether the pipeline has cracks or damages, and when the CCTV camera system detects the cracks or damages, the current position of the detection trolley 1 is positioned by the positioner 41 and is sent to the second controller 5; in the process of detecting the movement of the trolley 1, the environment state in the pipeline is detected through the CCTV camera system and the infrared sensor, transmitted to the second controller 5 through the transmission optical fiber 42 and displayed through the display; when the infrared sensor detects a large obstacle, the connecting rod 13 and the wheel 12 are driven to rotate by the sliding driving piece 72, so that the wheel 12 can avoid the obstacle; when the infrared sensor detects an obstacle with a small block, the telescopic rod 132 moves towards the fixed rod 131 to achieve the purpose that the wheels 12 avoid the obstacle.
When the CCTV camera system detects that there is more water in the pipeline, the wheels are moved away from the low position of the pipeline by sliding the driving member 72, and the detection trolley 1 is floated on the water surface by the floating foam 17.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (10)
1. The pipeline detection device comprises a detection trolley (1), a wheel driving piece (2) for driving wheels (12) of the detection trolley (1) to rotate, an obstacle avoidance mechanism (3) arranged on the detection trolley (1) and used for driving the detection trolley (1) to avoid obstacles in a pipeline, and a first controller (4); it is characterized in that the preparation method is characterized in that,
keep away barrier mechanism (3) and include:
the obstacle detection assembly (6) comprises an image collector (61) and a distance sensor (62), the image collector (61) is in signal connection with the first controller (4), the image collector (61) collects and outputs an image signal in front of the driving direction of the detection trolley (1), the distance sensor (62) measures the distance between an obstacle in front of the driving direction of the detection trolley (1) and the detection trolley (1), and outputs a distance detection signal;
the obstacle avoidance executing component (7) is in control connection with the first controller (4) and is used for adjusting and detecting the relative position of wheels (12) on the trolley (1) and a trolley body (11);
the first controller (4) receives the image signal and the distance detection signal and outputs a control signal to control the obstacle avoidance executing component (7) to act;
the wheel driving part (2) is connected with the first controller (4) in a control mode and is controlled by the first controller (4) to act.
2. The pipeline detection device according to claim 1, wherein the bottom side positions of the two ends of the body (11) of the detection trolley (1) are provided with arc grooves (111) around the axial direction of the body (11);
the obstacle avoidance executing component (7) comprises:
the rotating sheet (71) is sleeved in the arc groove (111) in a sliding manner, at least one connecting rod (13) is connected and arranged on one side of the rotating sheet (71) far away from the vehicle body (11), and one end, far away from the rotating sheet (71), of the connecting rod (13) is connected with a wheel (12) of the detection trolley (1);
and the sliding driving piece (72) is arranged in the body (11) of the detection trolley (1), is in control connection with the first controller (4), and is controlled by a control signal output by the controller to drive the rotating piece (71) to slide along the arc groove (111).
3. The pipeline detection device according to claim 2, wherein the arc groove (111) is a T-shaped groove, and the rotating sheet (71) is movably clamped in the T-shaped groove;
one end of the rotating sheet (71) positioned in the arc groove (111) is provided with a passive magnetic part (711), and the inner side wall of the body (11) of the detection trolley (1) is correspondingly provided with a sliding groove (112) along the arrangement direction of the arc groove (111);
the skid drive (72) comprises:
an active magnetic member (721) disposed in the sliding groove (112) and magnetically connected to the passive magnetic member (711);
and a rotating shaft of the sliding driving motor (722) is fixedly connected with a transmission rod (723), one end, far away from the sliding driving motor (722), of the transmission rod (723) is fixedly connected with the driving magnetic part (721), and the driving magnetic part (721) is driven to slide along the sliding groove (112) under the control of a control signal of the first controller (4).
4. The pipeline detection device according to claim 2, wherein the connecting rod (13) is divided into a fixing rod (131) and a telescopic rod (132), the fixing rod (131) is fixedly connected with the rotating sheet (71), one end of the fixing rod (131) far away from the rotating sheet (71) is provided with a telescopic groove (1311) along the axial direction thereof, and one section of the telescopic rod (132) extends into the telescopic groove (1311) to be matched with the fixing rod (131) in a telescopic way;
an elastic part (133) is arranged between the bottom of the telescopic groove (1311) and the telescopic rod (132);
an annular flange (1321) is arranged on the peripheral side of the telescopic rod (132), and a clamping ring (1312) which is matched with the annular flange (1321) to limit the telescopic rod (132) to slide out of the telescopic groove (1311) is arranged at the notch of the telescopic groove (1311);
when the first controller (4) detects that the height of the obstacle is smaller than a set value, the first controller (4) does not act, the telescopic rod (132) moves towards the direction close to the fixed rod (131), and the moving distance is the height of the obstacle.
5. The pipeline inspection device of claim 2,
one end of the connecting rod (13) far away from the rotating sheet (71) is hinged with an installation block (14);
the wheel drive (2) comprises:
a power supply (21) which is configured inside the detection trolley (1);
the wheel driving motor (22) is arranged on the mounting block (14), is in control connection with the first controller (4), is electrically connected with the power supply (21), has a rotating shaft fixedly connected with the wheel (12), and is controlled by a control signal of the controller to act;
and the rotation limiting piece (23) is arranged between the mounting block (14) and the connecting rod (13) and is used for limiting the rotation angle of the mounting block (14).
6. The pipeline detection device according to claim 5, wherein the wheel (12) comprises a connecting portion (121) and an abutting portion (122), the connecting portion (121) is fixedly connected to the connecting rod (13), and the abutting portion (122) is fixedly connected to one end of the connecting portion (121) far away from the connecting rod (13);
the connecting part (121) is arranged in a round cake shape, the abutting part (122) is arranged in a hemispherical shape, and the joint of the connecting part (121) and the abutting part (122) is in smooth transition.
7. The pipeline inspection device according to claim 6, characterized in that the inspection trolley (1) is provided with at least three wheels (12), one of which is located at the head of the inspection trolley (1), two of which are located at the tail of the inspection trolley (1), or the other is located at the head of the inspection trolley (1), and one of which is located at the tail of the inspection trolley (1);
when one wheel (12) is arranged, the rotating sheets (71) are positioned at the bottom of the body (11) of the detection trolley (1), when two wheels (12) are arranged, the two rotating sheets (71) are symmetrically arranged at the bottom of the detection trolley (1), and the symmetric plane is the central plane of the detection trolley (1) along the circumferential direction of the detection trolley.
8. The pipeline inspection device according to claim 1, wherein the image collector (61) is configured as a CCTV camera system, the CCTV camera system is configured in the body (11) of the inspection trolley (1), and the body (11) of the inspection trolley (1) is provided with a closed visual window (15) within a camera range of a camera of the CCTV camera system;
the distance sensor (62) is provided with a plurality of infrared sensors which are arranged towards the inner side wall of the pipeline.
9. The pipeline detection device according to claim 1, wherein a high-strength connecting line (16) is arranged at the tail of the detection trolley (1), the high-strength connecting line (16) is movably and spirally arranged at the tail of the detection trolley (1), and one end of the high-strength connecting line (16) is arranged at the inlet of the pipeline.
10. The pipeline inspection device according to claim 1, characterized in that the bottom of the inspection trolley (1) is provided with floating foam (17).
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| CN202011271922.8A CN112394730A (en) | 2020-11-14 | 2020-11-14 | Pipeline detection device |
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| CN202011271922.8A CN112394730A (en) | 2020-11-14 | 2020-11-14 | Pipeline detection device |
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| CN112394730A true CN112394730A (en) | 2021-02-23 |
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| WO2023040104A1 (en) * | 2021-09-15 | 2023-03-23 | 中航华东光电（上海）有限公司 | Pipeline foreign matter detection device and detection method |
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