CN113533340A

CN113533340A - Detection vehicle

Info

Publication number: CN113533340A
Application number: CN202110656010.0A
Authority: CN
Inventors: 富阳; 李勇; 李永亮; 崔伟全; 黄育杏; 林婷; 刘艳华; 吴阳; 许金超; 张娟; 褚钟锴; 何金科; 杨振峰
Original assignee: Zhongshan Polytechnic
Current assignee: Zhongshan Polytechnic
Priority date: 2021-06-11
Filing date: 2021-06-11
Publication date: 2021-10-22

Abstract

The invention discloses a detection vehicle, which comprises a chassis, a cradle head module, a camera module and an adsorption module, wherein the chassis is provided with the roller module, the roller module can drive the chassis to move, the cradle head module is arranged on the chassis, the camera module can be arranged on the cradle head module, the cradle head module can adjust the camera angle of the camera module, the adsorption module is arranged on the chassis, the adsorption module can be adsorbed on a walking surface and can be arranged on a vertical walking surface, and the adsorption module can be adsorbed on the walking surface, so that the detection vehicle cannot fall off from the walking surface, the detection vehicle is suitable for more detection environments, and can be applied to quality detection of pipeline environments, and the detection work is more convenient and efficient.

Description

Detection vehicle

Technical Field

The invention relates to the technical field of pipeline detection, in particular to a detection vehicle.

Background

Nondestructive testing is one of the emerging basic scientific technologies, and in the years, with the rapid development of the scientific technologies, more efficient automatic and mechanized testing vehicles become targets for the development of various scientific and technical branches. This is the same in the nondestructive testing technique, and therefore, the efficiency and speed can be further improved. At present, the detection vehicle is widely applied in the industrial field, more and more intensive researches can be carried out on the detection vehicle in the future, and the detection vehicle can be used in more, more difficult and more dangerous fields.

And in pipeline detection, the inspector often need go deep into in the pipeline to defect to the pipeline is surveyed, tries to use today and detects the car and detect pipeline inside, but because pipeline internal environment is very abominable, pipeline structure vertically and horizontally staggered, the labyrinth is complicated, detects the car and generally can only walk on the horizontal plane, to the plane of erectting, it is difficult to overcome self gravity to singly lean on the gyro wheel to detect the car, orders about and detects the car motion, thereby leads to can detect the environment and have great limitation.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a detection vehicle which can walk on a vertical plane and is compatible with more detection environments.

An inspection vehicle according to an embodiment of a first aspect of the present invention includes: the chassis is provided with a roller module which can drive the chassis to move; the holder module is arranged on the chassis; the camera shooting module can be arranged on the tripod head module, and the tripod head module can adjust the camera shooting angle of the camera shooting module; the adsorption module is arranged on the chassis and can be adsorbed on the walking surface.

The detection vehicle provided by the embodiment of the invention at least has the following beneficial effects:

the pipeline detection vehicle can be arranged on a vertical walking surface, the adsorption module can be adsorbed on the walking surface, the detection vehicle cannot fall off from the walking surface, the roller module rolls, the detection vehicle is driven to move on the walking surface and can reach each position, the pan-tilt module drives the camera module to shoot towards the corresponding position, and therefore the detection vehicle is suitable for more detection environments, can be applied to quality detection of pipeline environments, and enables detection work to be more convenient and efficient.

According to some embodiments of the invention, the suction module comprises a magnetic attraction component disposed on the chassis.

According to some embodiments of the present invention, the wheel module further includes a control module, the wheel module includes four mecanum wheel sets rotatably disposed on the chassis, and the control module is electrically connected to each mecanum wheel set respectively to control operation of each mecanum wheel set respectively.

According to some embodiments of the invention, the chassis further comprises an exhaust auxiliary module, the exhaust auxiliary module comprises a first air pump, a first air passage and a first exhaust port arranged above the chassis, one end of the first air passage is in butt joint communication with the first air pump, and the other end of the first air passage is in butt joint communication with the first exhaust port.

According to some embodiments of the present invention, the exhaust assisting module further includes a second air pump, a second air passage, and a second air outlet, the second air outlet is disposed on a side surface of the chassis, one end of the second air passage is in butt joint communication with the second air pump, and the other end of the second air passage is in butt joint communication with the second air outlet.

According to some embodiments of the present invention, the chassis further includes a gravity detection module and an air path adjustment module, the gravity detection module and the air path adjustment module are disposed on the chassis, the air path adjustment module includes an air inlet end and a plurality of air outlet ends, the air inlet end is in butt joint with the second air pump, the air outlet end is in butt joint with one end of the second air path, the second air outlets are arranged on the side surface of the chassis in a surrounding manner, the second air paths are in butt joint with the second air outlets in a one-to-one correspondence, each air outlet end is in one-to-one correspondence in butt joint with the second air outlet through the corresponding second air path, and the control module is electrically connected with the gravity detection module and the air path adjustment module respectively to control the air discharge of different second air outlets according to a gravity direction.

According to some embodiments of the present invention, the mecanum wheel set includes a wheel frame and a plurality of rollers rotatably disposed on the wheel frame, the wheel frame is rotatably disposed on the chassis, the plurality of rollers are circumferentially distributed around a wheel axle of the wheel frame, and an extending direction of a roller shaft of the roller is offset from an extending direction of the wheel axle of the wheel frame.

According to some embodiments of the invention, the magnetically attractive assembly is disposed within the roller.

According to some embodiments of the invention, the roller is constructed of an elastomeric material.

According to some embodiments of the present invention, a suction cup module and a lifting driving module are movably disposed on the chassis, and the lifting driving module is connected to the suction cup module to drive the suction cup module to approach or move away from a walking surface.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a block diagram of a schematic structure of one embodiment of the pipeline inspection vehicle of the present invention;

FIG. 2 is a side view of one embodiment of the pipeline inspection vehicle of the present invention;

FIG. 3 is a side view of the internal structure of one embodiment of the pipeline inspection vehicle of the present invention;

FIG. 4 is a top view of the internal structure of one embodiment of the pipeline inspection vehicle of the present invention;

fig. 5 is a diagram for analyzing a motion state of the pipeline inspection vehicle according to one embodiment of the present invention.

Reference numerals:

the device comprises a chassis 100, a holder module 200, a support frame 210, a holder 220, a camera module 300, an adsorption module 400, a roller module 500, a wheel frame 510, a roller 520, a control module 610, a wireless communication module 620, a suction cup module 710, a lifting drive module 720, an exhaust auxiliary module 800, a first air pump 810, a first air passage 820, a first exhaust port 830, a second air pump 840, a second air passage 850, a second exhaust port 860, a gravity detection module 910 and an air passage adjusting module 920.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the positional or orientational descriptions referred to, for example, the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., are based on the positional or orientational relationships shown in the drawings and are for convenience of description and simplicity of description only, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 to 5, an inspection vehicle according to an embodiment of the first aspect of the present invention includes a chassis 100, a pan/tilt module 200, a camera module 300, and an adsorption module 400, where the chassis 100 is provided with a roller module 500, the roller module 500 can drive the chassis 100 to move, the pan/tilt module 200 is disposed on the chassis 100, the camera module 300 can be disposed on the pan/tilt module 200, the pan/tilt module 200 can adjust a camera angle of the camera module 300, the adsorption module 400 is disposed on the chassis 100, and the adsorption module 400 can be adsorbed on a walking surface.

Wherein, chassis 100 can be selected in conventional bearing bracket, and chassis 100 can be flat, also can be for having the casing form of inner chamber, and this design is for the weight of minimize pipeline inspection car to the vertical crawling of pipeline inspection car, chassis 100, cloud platform module 200 etc. all can be supported by light metal such as aluminium even titanium.

The pan/tilt/zoom module 200 and the camera module 300 can be selected from conventional components, for example, the pan/tilt/zoom module 200 can include a support frame 210, a rotating shaft or a universal ball and a holder 220, the rotating shaft or the universal ball is disposed on the support frame 210, the camera module 300 can be detachably fixed on the holder 220, the holder 220 is disposed on the support frame 210 through the rotating shaft or the universal ball, so as to adjust the camera angle of the camera module 300, and further, a motor or an air cylinder can be disposed to automatically adjust the camera angle of the camera module 300 through an electric control manner.

The pipeline detection vehicle can be arranged on a vertical walking surface, the adsorption module 400 can be adsorbed on the walking surface, the detection vehicle cannot fall off from the walking surface, the roller module 500 rolls, the detection vehicle is driven to move on the walking surface and can reach various positions, the pan-tilt module 200 drives the camera module 300 to shoot towards the corresponding position, and therefore the detection vehicle is suitable for more detection environments, can be applied to quality detection of pipeline environments, and enables detection work to be more convenient and efficient.

In some embodiments of the present invention, the adsorption module 400 includes a magnetic attraction component disposed on the chassis 100, specifically, since the pipeline is generally made of iron, the magnetic attraction component can generate a relative magnetic attraction force with the pipeline, so that the pipeline detection vehicle is adsorbed on the walking surface, and the magnetic attraction component can select the neodymium iron boron strong magnetic with a large magnetic attraction force in the alloy permanent magnet. The magnet is selected from 50 × 20 × 5mm oblong magnet, which is fixed on the bottom of the chassis 100, and the number of layers of the magnet can be increased or decreased according to the attraction force of the ferromagnetic material. Certain space is needed between the magnet and the wall surface of the pipeline, and a space with certain width is reserved at the bottom, so that the trolley can pass through most single-point obstacles, and the obstacle crossing capability of the trolley is greatly improved. The pipeline detection vehicle can be stably adsorbed on the wall surface only by the strong adsorption force of the magnet to the wall surface of the ferromagnetic material.

In some embodiments of the present invention, in order to improve the driving force of the pipeline inspection vehicle on the vertical pipeline running surface, as shown in fig. 1, 4 and 5, the present design further includes a control module 610, the roller module 500 includes four mecanum wheel sets rotatably disposed on the chassis 100, and the control module 610 is respectively electrically connected to each mecanum wheel set to respectively control the operation of each mecanum wheel set.

Mecanum wheelset is a kind of omnidirectional wheel similar to the universal wheel, but Mecanum wheelset can regard as the drive wheel, can carry out more nimble more quick omnidirectional removal function.

Specifically, as shown in fig. 4, the mecanum wheel set includes a wheel frame 510 and a plurality of rollers 520 rotatably disposed on the wheel frame 510, the wheel frame 510 is rotatably disposed on the chassis 100, the plurality of rollers 520 are circumferentially distributed around an axle of the wheel frame 510, and an extending direction of a roller shaft of the roller 520 is offset from an extending direction of the axle of the wheel frame 510.

The wheel frame 510 is substantially cylindrical, a plurality of roller shafts are uniformly arranged on the side wall, the roller shafts are correspondingly arranged on the rollers 520 in a penetrating mode, the direction of the wheel shaft of the wheel frame 510 is used as the x axis, the radial direction of the wheel shaft is used as the y axis, the roller shafts are offset on the x axis and the y axis, and the offset of each roller shaft is consistent.

This structure makes mecanum wheelset place in walking face and rotation in-process, the walking face acts on mecanum wheelset and can applys mecanum wheelset circumferencial tangential direction's component and the component force of shaft direction, thereby can be under the condition that turns to about need not to control mecanum wheelset, can be through the motion of controlling each mecanum wheelset respectively, realize the vehicle translation, turn to actions such as, the motion is nimble, reduce the subversion, make the pipeline detect the car and attached on the walking face more steadily at the removal in-process.

In some embodiments of the present invention, the magnetic attraction component is disposed in the roller 520, and the roller 520 is closer to the wall surface of the pipeline than the chassis 100, and the magnetic attraction component is disposed in the roller 520, and on the basis that the magnetic attraction component and the wall surface of the pipeline have a spacing within a reasonable range, the magnetic attraction component can be as close to the wall surface of the pipeline as possible, so that the attraction is more stable.

According to some embodiments of the present invention, the roller 520 is made of an elastic material, and in particular, the roller 520 may be made of a resin or rubber material, the wall surface of the pipe is not completely flat, and under the magnetic attraction force of the magnetic attraction component, the surface of the roller 520 may elastically deform so as to be closely attached to the wall surface of the pipe, thereby providing a friction force during movement, and the magnetic attraction component may be annular and embedded in the roller 520.

In some embodiments of the present invention, the control module 610 includes a main control unit and driving units paired with the mecanum wheel sets one by one, the main control unit may be formed by a CPU or a MCU and peripheral circuits thereof, the driving units may be motors or rotary cylinders, and the like, the main control unit is connected to the driving units, and drives the mecanum wheel sets through the driving units, so as to realize start-stop control, speed-regulation control, and the like of each mecanum wheel set.

In some embodiments of the present invention, the wireless communication module 620 connected to the control module 610 is further included, and the wireless communication module 620 may be a 4G/5G mobile communication chip, or may also be a bluetooth or wi F i chip, and can wirelessly transmit a control signal to the pipeline inspection vehicle.

Specifically, the mecanum wheel sets may be selected according to actual situations, for example, as shown in fig. 5, in the mecanum wheel set adopted in the present design, a component force that drives the chassis 100 forward and rightward is generated when the mecanum wheel set located on the left side of the chassis 100 rotates in the forward direction, symmetrically, a component force that drives the chassis 100 forward and leftward is generated when the mecanum wheel set located on the right side of the chassis 100 rotates in the forward direction, it should be noted that the rotation speeds of the four mecanum wheel sets are different and may also have an influence on the movement of the detection vehicle, and the motion analysis indicates that the motion analysis is performed when the rotation speeds of the four mecanum wheel sets are the same.

As shown in (r) of fig. 5, when the front and rear wheels on the left side of the chassis 100 rotate in the forward direction with the front and rear wheels on the right side of the chassis 100, the detection vehicle translates forward;

as shown in the second embodiment of fig. 5, when the front wheels on the left side of the chassis 100 and the rear wheels on the right side of the chassis 100 rotate in the forward direction, the rear wheels on the left side of the chassis 100 and the front wheels on the right side of the chassis 100 rotate in the reverse direction, and the detection vehicle translates to the right;

as shown in fig. 5 c, when the front wheels on the left side of the chassis 100 and the rear wheels on the right side of the chassis 100 rotate in the forward direction, the rear wheels on the left side of the chassis 100 and the right side of the chassis 100 are stationary, and the inspection vehicle translates to the right and forward;

as shown in the fourth part of fig. 5, when the front and rear wheels on the left side of the chassis 100 rotate in the forward direction, the front and rear wheels on the right side of the chassis 100 are stationary, and the detection vehicle rotates clockwise with the rear wheels on the right side of the chassis 100 as the rotation center;

as shown in fig. 5, when the front and rear wheels on the left side of the chassis 100 rotate in the forward direction and the front and rear wheels on the right side of the chassis 100 rotate in the reverse direction, the inspection vehicle rotates clockwise with the middle of the chassis 100 as the rotation center;

as shown in the sixth section of fig. 5, when the front wheels on the left side of the chassis 100 rotate in the forward direction, the rear wheels on the right side of the chassis 100 rotate in the reverse direction, the front and rear wheels rotate in the reverse direction, and the test vehicle rotates clockwise with the middle portions of the left and right rear wheels as the rotation center.

Therefore, the control of each Mecanum wheel set can realize the actions of translation, steering and the like of the vehicle, and the movement is flexible, so that the camera module 300 can shoot a wider position.

In some embodiments of the present invention, the chassis 100 is movably disposed with a suction module 710 and a lifting driving module 720, wherein the lifting driving module 720 is connected to the suction module 710 to drive the suction module 710 to approach or move away from the walking surface.

Specifically, lift drive module 720 can be linear electric motor or cylinder, can set up in chassis 100, control module 610 is connected with lift drive module 720 electricity in order to control its operation, lift drive module 720 is connected with a actuating lever, the actuating lever wears to establish on chassis 100, actuating lever and sucking disc module 710 fixed connection, thereby can order about sucking disc module 710 to be close to or keep away from the walking face, when needs static shooting, can order about sucking disc module 710 to be close to the walking face, make sucking disc module 710 adsorb on the walking face, thereby keep detecting the car and steadily static on erectting the wall, and when needing to remove, then can order about sucking disc module 710 to keep away from the walking face, remove the adsorption state, be convenient for detect the car and remove.

In some embodiments of the present invention, in order to enable the mecanum wheel set of the inspection vehicle to cling to the walking surface without tilting backwards, as shown in fig. 1 and 3, the inspection vehicle further includes an exhaust assisting module 800, where the exhaust assisting module 800 includes a first air pump 810, a first air duct 820 and a first exhaust port 830 disposed above the chassis 100, one end of the first air duct 820 is in butt joint with the first air pump 810, and the other end of the first air duct 820 is in butt joint with the first exhaust port 830, where the first air pump 810 may be selected from a pressure pump or a cross-flow fan, the first air pump 810 and the first air duct 820 may be made of light metal, the number of the first exhaust ports 830 is plural, and the plural first exhaust ports are respectively disposed at each position on the upper surface of the chassis 100, and the chassis 100 may be urged to cling to the walking surface by an outward exhaust reaction force, so that the inspection vehicle walks more stably.

In some embodiments of the present invention, the detection vehicle travels on the wall surface of the pipeline, the detection vehicle still receives the action of gravity, if the detection vehicle travels upwards, it needs to overcome the gravity to do work, and the load on the roller module 500 is large, therefore, as shown in fig. 1, 2, and 3, the exhaust auxiliary module 800 further includes a second air pump 840, a second air duct 850, and a second exhaust port 860, the second exhaust port 860 is disposed on the side surface of the chassis 100, one end of the second air duct 850 is in butt communication with the second air pump 840, the other end of the second air duct 850 is in butt communication with the second exhaust port 860, similarly, the second air pump 840 may be selected from a pressure pump or a cross-flow fan, both the second air pump 840 and the second air duct 850 may be made of light metal, and by exhausting air to the rear side of the chassis 100, when the detection vehicle travels upwards, the reaction force of the exhausted air can counteract a part of the gravity of the detection vehicle, the load of the roller module 500 is reduced.

In some embodiments of the present invention, since the detection vehicle may deflect during moving, which results in a change of gravity direction, the design further includes a gravity detection module 910 and an air path adjustment module 920 disposed on the chassis 100, the air path adjustment module includes an air inlet and a plurality of air outlets, the air inlet is in butt joint communication with the second air pump 840, the air outlet is in butt joint communication with one end of the second air path 850, the second air outlets 860 are arranged around the side of the chassis 100, the second air path 850 has a plurality of air outlets and is in butt joint communication with the second air outlets 860 in one-to-one correspondence, each air outlet is in butt joint communication with the second air outlets 860 through the corresponding second air path 850, the control module 610 is electrically connected with the gravity detection module 910 and the air path adjustment module respectively to control the air discharge of different second air outlets 860 according to the gravity direction, specifically, the suction ports of the first and

second air pumps

810 and 840 may be provided at the bottom of the chassis 100.

Specifically, gravity detection module 910 can be the gyroscope or the multiaxis acceleration sensor of setting on chassis 100, gas circuit regulation module 920 can select in conventional gas circuit switching valve, be provided with the valve block in the gas circuit switching valve, the valve block can be sheltered from in order to restrict giving vent to anger to the end of giving vent to anger of difference, control module 610 can select suitable second gas vent 860 according to the gravity direction of gravity detection module 910 feedback, thereby can make the reaction force of airing exhaust reverse with gravity, the supplementary car that detects removes.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An inspection vehicle, comprising:

the chassis is provided with a roller module which can drive the chassis to move;

the holder module is arranged on the chassis;

the camera shooting module can be arranged on the tripod head module, and the tripod head module can adjust the camera shooting angle of the camera shooting module;

the adsorption module is arranged on the chassis and can be adsorbed on the walking surface.

2. The inspection vehicle of claim 1, wherein: the adsorption module comprises a magnetic component arranged on the chassis.

3. The inspection vehicle of claim 2, wherein: the roller module comprises four Mecanum wheel sets rotatably arranged on the chassis, and the control module is respectively electrically connected with each Mecanum wheel set to respectively control the operation of each Mecanum wheel set.

4. The inspection vehicle of claim 3, wherein: still include the supplementary module of exhaust, the supplementary module of exhaust includes first air pump, first air flue and sets up the first exhaust port of the top on chassis, the one end of first air flue with first air pump butt joint intercommunication, the other end of first air flue with first exhaust port butt joint intercommunication.

5. The inspection vehicle of claim 4, wherein: the exhaust auxiliary module further comprises a second air pump, a second air passage and a second air outlet, the second air outlet is formed in the side face of the chassis, one end of the second air passage is in butt joint communication with the second air pump, and the other end of the second air passage is in butt joint communication with the second air outlet.

6. The inspection vehicle of claim 5, wherein: the air path adjusting module comprises an air inlet end and a plurality of air outlet ends, the air inlet end is in butt joint communication with the second air pump, the air outlet ends are in butt joint communication with one ends of the second air passages, the second air outlets are arranged on the side face of the chassis in a surrounding mode, the second air passages are in multi-strip one-to-one correspondence with the second air outlets in butt joint communication, each air outlet end is correspondingly in butt joint communication with the second air outlets in one-to-one correspondence, and the control module is respectively in electric connection with the gravity detecting module and the air path adjusting module to control exhaust of different second air outlets according to the gravity direction.

7. The inspection vehicle of claim 3, wherein: the Mecanum wheel set comprises a wheel frame and a plurality of rollers rotatably arranged on the wheel frame, the wheel frame is rotatably arranged on the chassis, the rollers are circumferentially distributed around a wheel axle of the wheel frame, and a deviation angle exists between the extending direction of a roller shaft of each roller and the extending direction of the wheel axle of the wheel frame.

8. The inspection vehicle of claim 7, wherein: the magnetic attraction component is arranged in the roller.

9. The inspection vehicle of claim 8, wherein: the roller is made of elastic materials.

10. The inspection vehicle of claim 1, wherein: the chassis is movably provided with a sucker module and a lifting driving module, and the lifting driving module is connected with the sucker module so as to drive the sucker module to be close to or far away from a walking surface.