CN112628561A - Pipeline video detection equipment - Google Patents

Pipeline video detection equipment Download PDF

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Publication number
CN112628561A
CN112628561A CN202110263191.0A CN202110263191A CN112628561A CN 112628561 A CN112628561 A CN 112628561A CN 202110263191 A CN202110263191 A CN 202110263191A CN 112628561 A CN112628561 A CN 112628561A
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China
Prior art keywords
rod
chain
pipeline
support
camera
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Granted
Application number
CN202110263191.0A
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Chinese (zh)
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CN112628561B (en
Inventor
潘国乔
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Shanghai Chenghong Robot Co ltd
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Shanghai Chenghong Robot Co ltd
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Priority to CN202110263191.0A priority Critical patent/CN112628561B/en
Publication of CN112628561A publication Critical patent/CN112628561A/en
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Publication of CN112628561B publication Critical patent/CN112628561B/en
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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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/046—Allowing translations adapted to upward-downward translation movement
    • 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
    • F16G—BELTS, CABLES, OR ROPES, PREDOMINANTLY USED FOR DRIVING PURPOSES; CHAINS; FITTINGS PREDOMINANTLY USED THEREFOR
    • F16G13/00—Chains
    • F16G13/18—Chains having special overall characteristics
    • F16G13/20—Chains having special overall characteristics stiff; Push-pull chains
    • 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
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
    • F16H19/064—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member the flexible push member uses a bended profile to generate stiffness, e.g. spreading belts
    • 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
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
    • F16H19/0645—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member the flexible push or pull member having guiding means, i.e. the flexible member being supported at least partially by a guide to transmit the reciprocating movement
    • 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
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • 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
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
    • F16H37/124—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types for interconverting rotary motion and reciprocating motion
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2014—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a vertical axis
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/0004—Gaseous mixtures, e.g. polluted air
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Food Science & Technology (AREA)
  • Medicinal Chemistry (AREA)
  • Combustion & Propulsion (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

Abstract

The invention discloses a pipeline video detection device, which comprises: the electric box and the antenna box of the pipeline video detection equipment are both arranged on the bracket; the supporting rod is arranged on the bracket in a sliding mode, and a camera of the pipeline video detection device is positioned at the bottom of the supporting rod; the chuck is fixedly arranged on the bracket and fixes the height of the support rod by clamping the support rod; the camera extends into the vertical shaft opening to take a picture by adjusting the height of the supporting rod; be equipped with radial extensible member in the bracing piece, the camera is fixed on the radial extensible member, through radial extensible member is in telescopic motion realizes that the camera is along its radial translation in the shaft mouth in the bracing piece. According to the pipeline video detection equipment, the condition shooting and the toxic gas detection in the vertical wells and the transverse wells at different depths are realized by controlling the cameras and the toxic gas detector in the wells, manual well descending is not needed, and the safety and the practicability are high.

Description

Pipeline video detection equipment
Technical Field
The invention relates to the technical field of pipeline construction, in particular to pipeline video detection equipment.
Background
Urban underground drainage pipelines are deeply buried under the ground, and workers need to enter the pipelines to know the conditions inside the pipelines. The long-time use of the pipeline causes various garbage siltation to generate CO and H2S、CH4Wait poisonous gas, the manual work gets into very dangerous, and secondly, the manual work gets into the pipeline and need borrow climbing tool climbing from top to bottom, especially when carrying out the relevant operation that the inside condition of pipeline was known in constrictive pipeline, very inconvenient.
Therefore, it is necessary to provide a pipeline video detection device to solve the above technical problems.
Disclosure of Invention
The invention aims to provide pipeline video detection equipment, aims to detect the internal condition of a pipeline and the content of toxic gas by using a camera and a toxic gas detector which can extend into the pipeline so as to replace manual operation of going into a well, and is used for solving the technical problems of potential safety hazards and inconvenience caused by the manual operation of going into the well in the prior art.
In order to solve the above technical problem, the present invention provides a pipeline video detection apparatus, including:
the electric box and the antenna box of the pipeline video detection equipment are both arranged on the bracket;
the supporting rod is arranged on the bracket in a sliding mode, and a camera of the pipeline video detection device is positioned at the bottom of the supporting rod;
the chuck is fixedly arranged on the bracket and fixes the height of the support rod by clamping the support rod; wherein:
the support is provided with two supporting parts which are used for supporting two sides outside the vertical shaft mouth, and the camera can extend into the vertical shaft mouth for shooting by adjusting the height of the supporting rod;
be equipped with radial extensible member in the bracing piece, the camera is fixed on the radial extensible member, through radial extensible member is in telescopic motion realizes the camera along its radial translation in the shaft mouth in the bracing piece to stretch into in the horizontal pipeline with the shaft mouth intercommunication.
Preferably, the radial expansion piece comprises a guide channel, a unidirectional expansion chain, an inner screw block and an adjusting screw, wherein:
the guide channel is formed in the support rod, the unidirectional telescopic chain is slidably arranged in the guide channel, the inner screw block is positioned in the guide channel and connected to the top end of the unidirectional telescopic chain, the adjusting screw rod is rotatably arranged in the guide channel in a state of being parallel to the inner screw block, the top end of the adjusting screw rod extends to the outer side of the support rod, and the adjusting screw rod can be in threaded connection with the inner screw block;
the direction passageway have with one-way flexible chain and the plane of interior spiral shell piece both sides face parallel and contact, direction passageway's export one side is fixed with to bracing piece one side crooked guide part, works as one-way flexible chain's bottom is followed when direction passageway's export stretches out, makes one-way flexible chain's bottom to one side of bracing piece is stretched out, and makes one-way flexible chain extension portion is the horizontality.
Preferably, the unidirectional telescopic chain comprises a plurality of chain links which are sequentially and rotatably connected, a chain baffle is arranged on one side of each chain link, and when two adjacent chain links are linearly unfolded, the chain baffles corresponding to the two chain links are contacted.
Preferably, the bottom of the guide part has a horizontal section, and the horizontal section supports the bottom of the chain guard on the first chain link in a horizontal state along the extending direction of the unidirectional telescopic chain.
Preferably, when the unidirectional telescopic chain is in an initial state, the chain link at the bottommost part is in a horizontal state and supported on the horizontal segment, wherein:
the top of the camera is connected to the chain link at the bottommost part through a cross-shaped limiting rod, a through groove for the limiting rod to penetrate through is formed in the guide part, and the horizontal section of the limiting rod is in contact with the bottom of the guide part.
Preferably, the surface of the support rod is provided with a limit groove extending along the axial direction, and the jaws of the chuck are inserted into the limit grooves at corresponding positions;
the top of the support is provided with a rotatable bedplate, the chuck is fixed on the bedplate, a fastening bolt penetrating through the support is connected to the side face of the support in a threaded mode, and the fastening bolt tightly abuts against the bedplate through the end portion to fix the bedplate.
Preferably, the guide channel is communicated with the outside through a through hole formed in one side surface of the support rod;
the chuck is connected with an outer screw block through a support plate, and the outer screw block is slidably arranged on the support plate along the radial direction of the adjusting screw rod, so that the outer screw block can be inserted into the support rod through the through hole and is in threaded connection with the adjusting screw rod;
the inner screw block is arranged at the top end of the one-way telescopic chain in a sliding mode along the radial direction of the adjusting screw rod.
Preferably, a first square rod is vertically fixed on one side of the inner screw block, a sliding sleeve is sleeved at one end of the first square rod, a track groove is axially formed in the surface of the supporting rod, and the sliding sleeve is slidably arranged in the track groove;
and a second square rod is vertically fixed on one side of the outer screw block, and one end of the second square rod is inserted into a rod groove formed in the support plate.
Preferably, one side of the sliding sleeve is in threaded connection with a first adjusting bolt, and the end of the first adjusting bolt is rotatably connected with one end of the first square rod inserted into the sliding sleeve;
one side of the support plate is in threaded connection with a second adjusting bolt, and one end of the second adjusting bolt is inserted into the rod groove and is rotatably connected with the end of the second square rod.
Preferably, the support rod is integrally in a square steel tube shape.
The utility model provides a pipeline video detection equipment is through installing camera and toxic gas detector on the bracing piece of height-adjustable festival for adjust the height of bracing piece and can stretch into the shaft with camera and toxic gas detector, shoot and the toxic gas detects the condition in the well, just can be with pipeline video and (CO, H with workman's lower pipeline2S、CH4) The three kinds of gas concentration information are transmitted to the remote control terminal in real time, the pipeline condition is remotely observed in real time, the safety of the operation in the well is improved, in addition, the operation condition of the robot is observed in real time when the desilting robot works, the operation is convenient and easy to use, the detection of main gas components in the pipeline is provided, the construction safety is guaranteed, and the defects existing in the operation of entering the pipeline at present are overcome.
This application is through setting up one-way extensible member and guide part and installing camera and toxic gas detector in the bottom of one-way extensible member for camera and toxic gas detector have the side direction and stretch out the function, be used for stretching into in the horizontal pipeline with the shaft intercommunication, directly make a video recording and toxic gas detects to the condition in the horizontal pipeline, very big improvement this pipeline video check out test set's function, with make things convenient for the workman more comprehensive understanding to the well internal conditions outside the well more.
This application can be for support rotation and the one-way expansion piece's that stretches out length is adjustable through height-adjustable, the bracing piece that sets up the bracing piece for applicable in the shaft of the different degree of depth, can make a video recording and toxic gas detection to each direction in shaft and the horizontal well, further make things convenient for the workman to know the condition of different positions in the well more comprehensively outside the well.
This application through set up in the spiral shell piece and the outer spiral shell piece accessible slide realize with adjusting screw between the separation state and the switching of threaded connection state for adjusting screw not only has the function of control bracing piece height, has the function that the one-way extensible member of control stretches out moreover, has the advantage of modern design, simple structure, easily operation.
Drawings
Fig. 1 is a schematic structural diagram of the pipeline video detection device of the present invention.
Fig. 2 is a right side view of the support bar of fig. 1 of the video pipeline inspection device of the present invention.
Fig. 3 is an enlarged view of a portion a of the pipeline video inspection apparatus of the present invention shown in fig. 2.
Fig. 4 is an enlarged view of a portion B of fig. 1 of the video pipeline inspection apparatus according to the present invention.
Fig. 5 is a schematic structural diagram of the sliding sleeve in fig. 4 of the pipeline video detection device of the present invention.
Fig. 6 is an enlarged view of the portion C of fig. 1 of the video pipeline inspection apparatus according to the present invention.
Fig. 7 is an enlarged view of a portion D of fig. 1 of the video pipeline inspection apparatus according to the present invention.
Fig. 8 is a partial perspective view of the pipeline video inspection apparatus of the present invention.
Fig. 9 is a cross-sectional schematic view of the support bar in fig. 8 of the video pipeline inspection device of the present invention.
Fig. 10 is a schematic view of the pipeline video inspection device of the present invention with the support bar cut away.
Fig. 11 is an enlarged view of part E of fig. 10 of the video pipeline inspection apparatus of the present invention.
Fig. 12 is an enlarged view of part F of fig. 10 of the video pipeline inspection apparatus according to the present invention.
Fig. 13 is an enlarged view of the portion G of fig. 1 of the video pipeline inspection apparatus according to the present invention.
The reference numbers illustrate:
1. a support; 2. an electrical box; 3. an antenna box; 4. a support bar; 5. a camera; 6. a chuck; 7. a radial expansion member; 8. an external screw block; 9. a slide plate;
11. a support portion; 12. a platen; 13. fastening a bolt;
41. a limiting groove; 42. a port;
61. a support plate;
71. a guide channel; 72. a one-way telescopic chain; 73. an inner screw block 74 and an adjusting screw rod; 75. a guide portion;
81. a second square rod; 82. a rod groove; 83. adjusting a second bolt;
91. a lateral bolt;
101. a sheave; 102. jacking the bolt; 103. a wire rope;
721. a chain link; 722. a chain guard;
731. a first square rod; 732. a sliding sleeve; 733. a track groove; 734. adjusting a first bolt;
751. a horizontal segment; 752. a limiting rod; 753. a through groove.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and 2, the present invention is directed to providing a pipeline inspection video apparatus, which can perform video processing of pipelines without using workers to descend pipelines to sum (CO, H)2S、CH4) Three kinds of gas concentration information real-time transmission to remote control terminal, the real-time remote observation pipeline condition improves the security of operation in the pit, and this pipeline video detection equipment mainly includes support 1, bracing piece 4, camera 5, chuck 6, electric box 2 and antenna box 3, wherein:
the support 1 is mainly used for supporting the pipeline video detection equipment outside a vertical shaft mouth so as to support the whole equipment;
the support rod 4 is mainly used for adjusting the depth of the camera 5 inserted into the shaft by adjusting the depth of the support rod inserted into the shaft;
the camera 5 is mainly used for shooting the condition in the pipeline and forming image information to be transmitted to the remote control terminal;
the chuck 6 is mainly used for fixing the support rod 4;
the main function of the electrical box 2 is for electrical connection of the device, and the main function of the antenna box 3 is to enhance the stability of the remote control signal; specifically, the method comprises the following steps:
an electrical box 2 and an antenna box 3 of the pipeline video detection device are both arranged on a support 1, the antenna box 3 is arranged on the support 1 at a position close to a vertical shaft mouth so as to better improve the signal intensity of a camera 5, and the electrical box 2 is arranged on the support 1 at a position far away from the vertical shaft mouth so as to be more convenient to maintain;
the supporting rod 4 is arranged on the bracket 1 in a sliding mode, and the camera 5 of the pipeline video detection device is positioned at the bottom of the supporting rod 4, so that the depth of the camera 5 entering a well can be adjusted by adjusting the height of the supporting rod 4;
the chuck 6 is fixedly arranged on the support 1, the bottom end of the support rod 4 sequentially penetrates through the chuck 6 and the support 1, the support rod 4 can be connected with the support 1 in an axially sliding mode, the chuck 6 is provided with a disk body and a clamping jaw, the clamping jaw is clamped on the surface of the support rod 4 to fix the support rod 4, and particularly, the chuck 6 can be a three-jaw chuck; wherein:
the support 1 is provided with two supporting parts 11 which are used for supporting two sides outside a vertical shaft mouth, and the camera 5 extends into the vertical shaft mouth for shooting by adjusting the height of the supporting rod 4;
be equipped with radial extensible member 7 in the bracing piece 4, camera 5 is fixed on radial extensible member 7, and telescopic motion realizes camera 5 along its radial translation in the shaft mouth through radial extensible member 7 in bracing piece 4 to stretch into in the horizontal pipeline with the shaft mouth intercommunication.
After adopting above-mentioned technical scheme, not only the height of bracing piece 4 is adjusted to the accessible, in order to realize inserting the shaft with camera 5 in make a video recording and toxic gas detection to the pipeline, still can be after camera 5 gos deep into the height of shaft to horizontal pipeline, stretch out bracing piece 4 through radial extensible member 7, stretch into horizontal pipeline with camera 5 in the pipeline mouth of horizontal pipeline, make a video recording and toxic gas detection with the better condition to in the horizontal pipeline, pipeline video detection equipment's effect has been improved.
The above-mentioned radial expansion element 7 of the present application is described in detail below, in particular:
the radial expansion element 7 comprises a guide channel 71, a unidirectional expansion chain 72, an internal screw 73 and an adjusting screw 74, wherein:
referring to fig. 8 and 9, at this time, fig. 9 is a schematic view of fig. 8 with the front side and the top of the supporting rod 4 cut away, a guide channel 71 is formed in the supporting rod 4, it can be understood that the guide channel 71 is an inner cavity of the supporting rod 4, a one-way retractable chain 72 is slidably disposed in the guide channel 71, an inner screw 73 is disposed in the guide channel 71 and connected to the top end of the one-way retractable chain 72, an adjusting screw 74 is rotatably disposed in the guide channel 71 in a state of being parallel to the inner screw 73, the top end of the adjusting screw 74 extends to the outer side of the supporting rod 4, the adjusting screw 74 can be in threaded connection with the inner screw 73, the adjusting screw 74 and the one-way retractable chain 72 are respectively disposed at two sides in the guide channel 71, as shown in fig. 9 is a state of the supporting rod 4 being horizontal, the adjusting screw 74 is disposed in the guide channel 71 and vertically distributed relative to the one-, at this time, the bottom of the one-way telescopic chain 72 is in contact with the inner bottom wall of the guide channel 71, and the thread of the inner screw block 73 faces the adjusting screw 74, and in the state shown in fig. 9, the adjusting screw 74 is located right above the inner screw block 73, and the thread of the inner screw block 73 faces the adjusting screw 74;
the guide channel 71 is provided with a plane parallel to and in contact with two side surfaces of the one-way telescopic chain 72 and the inner screw block 73, so that the guide channel 71 can limit two sides of the inner screw block 73 and the one-way telescopic chain 72, the inner screw block 73 and the one-way telescopic chain 72 are prevented from rotating in the guide channel 71, furthermore, after the inner screw block 73 is in threaded connection with the adjusting screw 74, the adjusting screw 74 is rotated, the inner screw block 73 can move in the guide channel 71, the one-way telescopic chain 72 is driven to move in the guide channel 71, a guide part 75 bent towards one side of the support rod 4 is fixed on one side of an outlet of the guide channel 71, when the bottom end of the one-way telescopic chain 72 extends out of the outlet of the guide channel 71, the bottom end of the one-way telescopic chain 72 extends out towards one side of the support rod 4, and the extending part of the one-way telescopic chain 72 is in a horizontal state, thereby, the longitudinal position adjustment and the transverse, not only the income well degree of depth of adjustable camera 5 in the shaft, but also can adjust the income pipe degree of depth of camera 5 in horizontal pipeline to the two sets of accessible, in order being applicable to the horizontal pipeline of burying the degree of depth difference underground, very big improvement this pipeline video detection equipment's performance, especially one-way flexible chain 72 can effectually accomodate to the guide way 71 of bracing piece 4 formation in, make this pipeline video detection equipment not only the function comprehensive, overall structure is compact moreover.
Referring to fig. 6, the unidirectional telescopic chain 72 includes a plurality of chain links 721 sequentially rotatably connected, a chain guard 722 is disposed on one side of each chain link 721, when two adjacent chain links 721 are linearly unfolded, the chain guards 722 corresponding to the two chain links 721 are in contact with each other, after the chain links 721 extend out from the guide channel 71, the chain guards 722 are disposed at the bottom of the corresponding chain links 721, and the ends of the two adjacent chain guards 722 are in contact with each other, so that the chain links 721 cannot rotate downward, and the chain links 721 extending out of the guide channel 71 are kept in a horizontal state by matching with the gravity of the camera 5 and the gravity of the camera 5, thereby driving the camera 5 to extend horizontally and keeping the height of the camera 5 inconvenient.
Referring to fig. 6, the bottom of the guide portion 75 has a horizontal segment 751, and the horizontal segment 751 is supported on the bottom of the chain baffle 722 of the first horizontal link 721 along the extending direction of the one-way telescopic chain 72, in this way, on one hand, the horizontal segment 751 can support the extending portion of the one-way telescopic chain 72 from the guide channel 71 to be horizontal, and cooperate with the action of the gravity of the camera 5 at the end of the one-way telescopic chain 72 to better keep the extending portion of the one-way telescopic chain 72 to be horizontal, and in addition, the horizontal segment 751 is supported on the first horizontal link 721, which has the advantages of small lateral extending distance of the guide portion 75 to the support rod 4 and compact structure.
Referring to fig. 6, when the one-way retractable chain 72 is in the initial state, the bottom-most link 721 is in the horizontal state and supported on the horizontal segment 751, so that the horizontal segment 751 can effectively support the camera 5 in the initial state, wherein:
referring to fig. 1 and 6, the top of the camera 5 is connected to the chain link 721 at the bottommost part through a cross-shaped stopper 752, and the guide part 75 is provided with a through groove 753 for the stopper 752 to pass through, wherein a horizontal section of the stopper 752 contacts with the bottom of the guide part 75, and specifically, a horizontal section 751 of the stopper 752 is arranged parallel to the width direction of the through groove 753, in such a way that, in an initial state, the stopper 752 cooperates with the corresponding chain link 721 to form a limiting function between the upper and lower surfaces of the guide part 75 and the guide part 75, respectively, so that the connection is kept stable in the height direction, and at the same time, the unidirectional telescopic chain 72 is stationary, so that the chain link 721 is fixed in the horizontal extending direction, thereby, the camera 5 has sufficient stability when being in a shooting state in a shaft.
Referring to fig. 2 and 3, the surface of the support rod 4 is provided with a limit groove 41 extending along the axial direction, and the jaws of the chuck 6 are inserted into the limit grooves 41 at corresponding positions;
referring to fig. 1 and 2, a rotatable platen 12 is disposed at the top of the bracket 1, the chuck 6 is fixed on the platen 12, a fastening bolt 13 penetrating through the bracket 1 is connected to the side surface of the bracket 1 by a thread, the fastening bolt 13 tightly supports the platen 12 through the end portion to fix the platen 12, and through the cooperation of the limiting groove 41 and the platen 12, the jaw of the chuck 6 is loosened and always located in the range of the limiting groove 41, so that the height of the supporting rod 4 can be adjusted, and the supporting rod 4 is prevented from rotating relative to the chuck 6, and therefore, the rotation of the supporting rod 4 can be realized by the rotation of the platen 12, and when the supporting rod 4 is operated to rotate, the supporting rod 4 and the chuck 6 are in a relatively static state, and in cooperation with the state, the application is designed as follows:
referring to fig. 2 and 3, the guide channel 71 is connected to the outside through a through hole 42 formed on one side of the support rod 4, as shown in fig. 1, the chuck 6 is connected to an outer screw block 8 through a support plate 61, the outer screw block 8 is slidably mounted on the support plate 61 along the radial direction of the adjusting screw 74, so that the outer screw block 8 can be inserted into the support rod 4 through the through hole 42 and threadedly connected to the adjusting screw 74, in this way, the height of the support rod 4 can be adjusted by screwing the outer screw block 8 to the adjusting screw 74 and rotating the adjusting screw 74, and the height of the support rod 4 can be supported by the threaded connection between the outer screw block 8 and the adjusting screw 74 during the adjustment of the height of the support rod 4, and the support rod 4 can be fixed by the threaded connection between the outer screw block 8 and the adjusting screw 74, so that the height of the support rod 4 can be adjusted with high stability, Convenient operation, advantage that controllability is strong, refer to fig. 1 and fig. 7, it is concrete, one side vertical fixation of outer spiral shell piece 8 has two square bars 81, the one end of two square bars 81 is inserted and is seted up in the pole groove 82 on the extension board 61, two square bars 81 support outer spiral shell piece 8 through inserting pole groove 82, simultaneously, cooperation two flexible of 81 square bars in pole groove 82 realizes the translation of outer spiral shell piece 8, and then make between outer spiral shell piece 8 and adjusting screw 74 at separation state and the switching of threaded connection state support 1.
Referring to fig. 3, 4 and 5, the inner screw block 73 is arranged at the top end of the unidirectional telescopic chain 72 in a manner of sliding along the radial direction of the adjusting screw 74, specifically, a square bar 731 is vertically fixed at one side of the inner screw block 73, a sliding sleeve 732 is sleeved at one end of the square bar 731, a track groove 733 is axially formed in the surface of the support rod 4, the sliding sleeve 732 is slidably arranged in the track groove 733, when the inner screw block 73 drives the unidirectional telescopic chain 72 to slide, the sliding sleeve 732 synchronously moves along the inner screw block 73 in the track groove 733, the inner screw block 73 is supported by the square bar 731 and the sliding sleeve 732, and meanwhile, the square bar 731 is slidable in the sliding sleeve 732 to realize translation of the inner screw block 73, so that the inner screw block 73 and the adjusting screw 74 are switched between a separation state and a threaded connection state;
adopt this mode, make interior spiral shell piece 73 all have with adjusting screw 74 separation and threaded connection's two kinds of states with outer spiral shell piece 8, and then make two processes of the high-speed governing of stretching out and retracting and bracing piece 4 of one-way flexible chain 72 go on alone, of course, also can be through with interior spiral shell piece 73 and the equal threaded connection of outer spiral shell piece 8 on adjusting screw 74, make two processes of flexible and the high-speed governing of bracing piece 4 of one-way flexible chain 72 go on in step, in order to improve work efficiency, and need explain, in this kind of working method, only need ensure that camera 5 carries out the in-process that two kinds of motions of direction of height and horizontal direction go on in step, do not collide pipeline or shaft inner wall can.
After adopting above-mentioned scheme, the height control of bracing piece 4 and the length adjustment that unidirectional expansion chain 72 stretches out from guide channel 71 all can be realized through rotating adjusting screw 74 to utilize the translation of interior spiral shell piece 73 and outer spiral shell piece 8 to realize the switching of the separation state between the two and adjusting screw 74 and threaded connection state, in order to make things convenient for the workman to operate as required can, simple structure, reasonable in design.
In the above manner, the first and second square bars 731 and 81 can have a limiting effect in the circumferential direction with the sliding sleeve 732 and the bar groove 82, so as to effectively prevent the inner screw block 73 and the outer screw block 8 from rotating, improve the transmission performance between the two and the adjusting screw 74, and improve the manual controllability, thereby mainly preventing the outer screw block 8 from rotating in the telescopic process, which causes inconvenience in the threaded connection process with the adjusting screw 74.
In combination with the arrangement of the inner screw block 73 and the outer screw block 8, one side of the sliding sleeve 732 is in threaded connection with a first adjusting bolt 734, the end of the first adjusting bolt 734 is rotatably connected with one end of a first square rod 731 inserted into the sliding sleeve 732, one side of the support plate 61 is in threaded connection with a second adjusting bolt 83, one end of the second adjusting bolt 83 is inserted into the rod groove 82 and is rotatably connected with the end of a second square rod 81, the inner screw block 73 and the outer screw block 8 can be switched between a separated state and a threaded connection state with the adjusting screw 74 by rotating the first adjusting bolt 83 and the second adjusting bolt 83 respectively, and meanwhile, the positions of the inner screw block 73 and the outer screw block 8 can be fixed in real time by utilizing the threaded connection between the first adjusting bolt 734 and the second adjusting bolt 83 and the sliding sleeve 732 and the support plate 61 respectively.
The supporting rod 4 is integrally in a square steel tube shape, the mode enables the formation of the guide channel 71 and the arrangement of the inner screw block 73 and the outer screw block 8 to be simple, and the jaws of the chuck 6 can be respectively arranged corresponding to four side faces of the supporting rod 4 by matching with the position relation between the jaws of the limiting groove 41 and the chuck 6, and meanwhile, the limiting position is directly formed between the supporting rod 4 and the bedplate 12 along the circumferential direction.
The pipeline video detection device is further described in detail by the following operation process of the pipeline video detection device of the present application:
the method comprises the following steps of firstly, moving the equipment to the position near a wellhead of a vertical wellhead, supporting the equipment on two sides of the wellhead by using a supporting part 11, and enabling a camera 5 to be positioned right above the wellhead;
step two, rotating the second adjusting bolt 83 to enable the outer screw block 8 to move towards the direction of the adjusting screw 74 until the outer screw block 8 is in threaded connection with the adjusting screw 74;
step three, loosening the chuck 6 and then rotating the adjusting screw 74, wherein the adjusting screw 74 drives the supporting rod 4 to descend through the outer screw block 8, at the moment, the supporting rod 4 carries the camera 5 to enter the shaft from the shaft mouth, and a user can determine the height required by the camera 5 according to the video picture returned by the camera 5;
step four, after the height of the camera 5 in the shaft is adjusted, the chuck 6 is recovered to clamp and fix the support rod 4;
known through the above-mentioned four steps, the threaded connection mode between usable outer spiral shell piece 8 and the adjusting screw 74, and through rotating adjusting screw 74, can reach the regulation to camera 5 income well degree of depth, need not artifical operation of going into the well, can adopt camera 5 and toxic gas detector to gather the condition in the shaft, compared with prior art, rely on the mode of artifical operation of going into the well, it is simpler, safety, effective, it needs to explain, the toxic gas detector of this scheme can directly be installed on camera 5's casing, specific toxic gas detector model, belong to the common gas detector that has toxic gas to detect in the pipeline of prior art, and simultaneously, camera 5 also can adopt the common equipment of framing camera shooting in the prior art pipeline maintenance, and be the well-known technology, no longer describe here.
And in the in-process is arranged to actual well, the side direction of shaft can communicate horizontal pipeline, detects and maintains the in-process at the well usually, and the condition collection in the horizontal well is also crucial, consequently, combines above scheme, can carry out following operation, further perfects and improves this pipeline video check out test set's function, and more thorough realization need not the advantage of artifical operation of going into the well, specifically as follows:
step five, repeating the step three and the step four to enable the height of the camera 5 to be within the height range of the pipe orifice of the transverse pipeline;
step six, loosening the fastening bolts 13 and rotating the bedplate 12 to enable the guide parts 75 to face to the pipe orifices of the transverse pipelines to be collected;
step seven, operating the adjusting bolt 734 to enable the inner screw block 73 to be in threaded connection with the adjusting screw 74 and ensure that the outer screw block 8 is separated from the adjusting screw 74;
step eight, rotating the adjusting screw 74 to enable the inner screw block 73 to move in the guide channel 71, and pushing the unidirectional telescopic chain 72 downwards from the top end of the unidirectional telescopic chain 72 to enable the unidirectional telescopic chain 72 to continuously extend outwards from the bottom outlet of the guide channel 71, wherein in the process, each extending chain link 721 passes through the guide part 75 and then is guided to be in a horizontal state, so that the bottom end of the unidirectional telescopic chain 72 extends into the transverse pipeline along the horizontal direction, and the camera 5 is driven to extend into the transverse channel;
through the steps, the pipeline video detection equipment can extend into each transverse pipeline communicated with the vertical shaft to acquire information so as to more comprehensively acquire the conditions and toxic gas in the vertical shaft;
in addition, the horizontal extending direction of the camera 5 carried by the unidirectional telescopic chain 72 can be switched by rotating the bedplate 12, so that the camera 5 can extend into the transverse pipelines at different sides in the shaft, particularly after the camera 5 extends into the transverse pipelines, the height adjusting function of the supporting rod 4 is matched, the height of the camera 5 in the transverse pipelines can be adjusted, meanwhile, the position and the orientation of the camera 5 in the transverse pipelines along the pipelines can be adjusted by utilizing the rotation of the bedplate 12, the better lighting of the camera 5 is facilitated, the camera shooting performance is improved, further, the camera 5 can radially displace in the transverse pipelines by rotating the bedplate 12, so that the bracket 1 does not need to be moved in the moving process of the camera 5 in the transverse pipelines along the width direction, the operation is simple, the rotating connection relationship between the bedplate 12 and the bracket 1 is fully utilized, and further, the extension length of the one-way telescopic chain 72 from the guide channel 71 is adjusted, the depth of the camera 5 extending into the transverse pipeline can be adjusted, and the bedplate 12 rotates in a matching mode, so that better lighting of the camera 5 is facilitated.
To sum up, the pipeline video check out test set of this application not only can realize need not artifical the well descending and can make a video recording and toxic gas detection in the shaft, can stretch into the horizontal pipeline with shaft side direction intercommunication after getting into the shaft moreover in, make a video recording and toxic gas detection to it, the effect is obvious, the advantage is outstanding, and overall structure is comparatively simple.
In order to fix the unidirectional telescopic chain 72 after extending for a certain length, the following technical scheme can be adopted in the application:
as shown in fig. 13, a steel wire rope 103 is provided, one end of the steel wire rope 103 is fixed on the top of the inner screw block 73, the other end of the steel wire rope 103 is fixed on a rope pulley 101, and the steel wire is wound on the rope pulley 101 for a certain length to satisfy the requirement of complete extension of the one-way telescopic chain 72, the inner screw block 73 descends, the rope pulley 101 is rotatably installed on the support rod 4, a puller bolt 102 is provided on the support rod 4, the puller bolt 102 is in threaded connection with the support rod, the rope pulley 101 can be pulled tightly during screwing in to fix the rope pulley, the inner screw block 73 and the one-way telescopic chain 72 are supported by the steel wire rope 103, and the one-way telescopic chain 72 is fixed when being in any extension state by matching with gravity.
Referring to fig. 10 to 12, as another embodiment of the present invention, the adjusting screw 74, the inner screw 73 and the outer screw 8 of the present application may be designed as follows:
the inner screw block 73 is fixed on the top end of the one-way telescopic chain 72, the adjusting screw 74 is arranged in the guide channel 71 at one side of the one-way telescopic chain 72, the outer screw block 8 is fixed on the chuck 6, and one side of the outer screw block 8 with screw threads extends into the guide channel 71 through the through hole 42, here, as shown in fig. 8, the through hole 42 is arranged on the surface of the support rod 4; two sliding plates 9 are rotatably connected to the adjusting screw 74, wherein one sliding plate 9 is located at the bottom of the adjusting screw 74 and is slidably disposed on the inner wall of the guide channel 71, as shown in fig. 11; another sliding plate 9 is slidably disposed at the top end of the supporting rod 4, here, as shown in fig. 12, the top end of the adjusting screw 74 penetrates through the sliding plate 9 located above, the adjusting screw 74 is moved toward the inner screw block 73, so that the adjusting screw 74 is in threaded connection with the inner screw block 73, and similarly, the adjusting screw 74 is moved toward the outer screw block 8, so that the adjusting screw 74 is in threaded connection with the outer screw block 8, so that the inner screw block 73 and the outer screw block 8 can be switched between the separated state and the threaded connection state with the adjusting screw 74;
in this manner, a lateral bolt 91 is screwed on the top of the side of the support bar 4, the end of the lateral bolt 91 is movably connected to the upper slide plate 9, and further, the adjustment screw 74 can be moved between the inner screw block 73 and the outer screw block 8 by rotating the lateral bolt 91, so as to switch between the separation state and the screwing state between the outer screw block 8 and the inner screw block 73 and the adjustment screw 74;
compared with the previous embodiment, the embodiment has simpler structure and outstanding advantages;
it should be further noted that, unless otherwise specified, the positional relationship of the present application shall be based on the upright state of the support rod 4 in the state shown in fig. 1.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. A pipeline video inspection device, comprising:
the pipeline video detection equipment comprises a support (1), wherein an electric box (2) and an antenna box (3) of the pipeline video detection equipment are both arranged on the support (1);
the supporting rod (4) is arranged on the bracket (1) in a sliding mode, and a camera (5) of the pipeline video detection equipment is positioned at the bottom of the supporting rod (4);
the chuck (6) is fixedly arranged on the bracket (1) and is used for fixing the height of the support rod (4) by clamping; wherein:
the support (1) is provided with two supporting parts (11) which are used for supporting two sides outside a vertical shaft opening, and the camera (5) is enabled to extend into the vertical shaft opening for shooting by adjusting the height of the supporting rod (4);
be equipped with radial extensible member (7) in bracing piece (4), camera (5) are fixed on radial extensible member (7), through radial extensible member (7) are in telescopic motion realizes camera (5) along its radial translation in vertical shaft mouth in bracing piece (4) to stretch into in the horizontal pipeline with vertical shaft mouth intercommunication.
2. The pipeline video inspection device according to claim 1, characterized in that the radial expansion element (7) comprises a guide channel (71), a unidirectional expansion chain (72), an inner screw (73) and an adjusting screw (74), wherein:
the guide channel (71) is formed in the support rod (4), the one-way telescopic chain (72) is slidably arranged in the guide channel (71), the inner screw block (73) is positioned in the guide channel (71) and connected to the top end of the one-way telescopic chain (72), the adjusting screw rod (74) is rotatably arranged in the guide channel (71) in a state of being parallel to the inner screw block (73), the top end of the adjusting screw rod (74) extends to the outer side of the support rod (4), and the adjusting screw rod (74) can be in threaded connection with the inner screw block (73);
the utility model discloses a support bar, including support bar (4), guide way (71), one side of the export of guide way (71) is fixed with one side of the crooked guide part (75) of bracing piece (4), and when the bottom of one way flexible chain (72) was followed when the export of guide way (71) was stretched out, the bottom of one way flexible chain (72) was stretched out to one side of bracing piece (4), and made one way flexible chain (72) extension is the horizontality.
3. The pipeline video detection device according to claim 2, characterized in that the unidirectional telescopic chain (72) comprises a plurality of chain links (721) which are sequentially and rotatably connected, a chain baffle (722) is arranged on one side of each chain link (721), and when two adjacent chain links (721) are linearly unfolded, the chain baffles (722) corresponding to the two chain links (721) are contacted.
4. The video pipeline inspection apparatus according to claim 3, wherein the guide portion (75) has a horizontal section (751) at the bottom thereof, and the horizontal section (751) is supported at the bottom of a chain stopper (722) of the first horizontal link (721) in the extending direction of the one-way telescopic chain (72).
5. The pipeline video detection apparatus according to claim 4, wherein when the unidirectional telescopic chain (72) is in an initial state, the chain link (721) at the bottommost thereof is in a horizontal state and supported on the horizontal section (751), wherein:
the top of the camera (5) is connected to the chain link (721) at the bottommost part through a cross-shaped limiting rod (752), a through groove (753) for the limiting rod (752) to penetrate through is formed in the guide part (75), and the horizontal section of the limiting rod (752) is in contact with the bottom of the guide part (75).
6. The pipeline video detection device according to claim 2, characterized in that the surface of the support rod (4) is provided with a limit groove (41) extending along the axial direction, and the jaws of the chuck (6) are inserted into the limit grooves (41) at the corresponding positions;
the top of the support (1) is provided with a rotatable bedplate (12), the chuck (6) is fixed on the bedplate (12), a fastening bolt (13) penetrating through the support (1) is connected to the side face of the support (1) in a threaded mode, and the bedplate (12) is abutted through the end portion of the fastening bolt (13) so as to fix the bedplate (12).
7. The video pipeline inspection device according to claim 6, characterized in that the guide channel (71) is communicated with the outside through a through opening (42) formed on one side of the support rod (4);
the chuck (6) is connected with an outer screw block (8) through a support plate (61), the outer screw block (8) is slidably mounted on the support plate (61) along the radial direction of the adjusting screw rod (74), so that the outer screw block (8) can be inserted into the inside of the support rod (4) through the through hole (42) to be in threaded connection with the adjusting screw rod (74);
the inner screw block (73) is arranged at the top end of the one-way telescopic chain (72) in a sliding manner along the radial direction of the adjusting screw rod (74).
8. The pipeline video detection device as claimed in claim 7, wherein a first square bar (731) is vertically fixed on one side of the inner screw block (73), a sliding sleeve (732) is sleeved on one end of the first square bar (731), a track groove (733) is axially formed in the surface of the support rod (4), and the sliding sleeve (732) is slidably arranged in the track groove (733);
and a second square rod (81) is vertically fixed on one side of the outer screw block (8), and one end of the second square rod (81) is inserted into a rod groove (82) formed in the support plate (61).
9. The pipeline video detection device as claimed in claim 8, wherein an adjusting bolt I (734) is threadedly connected to one side of the sliding sleeve (732), and an end of the adjusting bolt I (734) is rotatably connected with one end of the square bar I (731) inserted into the sliding sleeve (732);
one side of the support plate (61) is in threaded connection with a second adjusting bolt (83), and one end of the second adjusting bolt (83) is inserted into the rod groove (82) and is in rotating connection with the end of the second square rod (81).
10. The pipeline video inspection device according to claim 8, characterized in that the support rod (4) is in the shape of a square steel tube as a whole.
CN202110263191.0A 2021-03-11 2021-03-11 Pipeline video detection equipment Active CN112628561B (en)

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