CN114233978A - Carry on sonar and self-adaptation pipeline inspection robot of vision - Google Patents
Carry on sonar and self-adaptation pipeline inspection robot of vision Download PDFInfo
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- CN114233978A CN114233978A CN202111582905.0A CN202111582905A CN114233978A CN 114233978 A CN114233978 A CN 114233978A CN 202111582905 A CN202111582905 A CN 202111582905A CN 114233978 A CN114233978 A CN 114233978A
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- 238000007689 inspection Methods 0.000 title claims description 9
- 230000003028 elevating effect Effects 0.000 claims abstract description 18
- 201000010099 disease Diseases 0.000 claims abstract description 7
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 claims abstract description 7
- 230000003044 adaptive effect Effects 0.000 claims description 7
- 238000013480 data collection Methods 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 2
- 208000037656 Respiratory Sounds Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The invention relates to a sonar and vision-carried self-adaptive pipeline detection robot which comprises a pan-tilt module, a pan-tilt lifting mechanism control unit, a sonar module, a sonar lifting mechanism control unit and an electrical cabin unit. The invention is provided with a double lifting mechanism and an independent control system, has a lifting mechanism with compact mechanism and large lifting ratio and a sonar and image self-adaptive identification system, and can construct a pipeline environment in real time by fusing sonar data and image data. Rely on big lift ratio elevating system when detecting, adopt sonar and image self-adaptation identification system and two lift independent control systems, gather pipeline image data and sonar data simultaneously, fuse sonar data and image data and construct the pipeline environment in real time, and then the accurate pipeline disease condition of judging.
Description
Technical Field
The invention relates to the field of pipeline robots, in particular to a sonar and vision-carried self-adaptive pipeline detection robot.
Background
Urban sewer pipe can appear a series of phenomena such as crackle, small opening under effects such as corruption, heavy pressure, simultaneously, along with the increase of pipeline live time, the scale deposit and the impurity adhesion of different degrees can take place for the pipeline inner wall, cause pipeline transportation efficiency to reduce, so in the use, the pipeline needs regularly to detect, maintain, clear up, guarantees pipeline transportation safety and efficiency. However, a pipeline having a narrow space or a bad internal environment restricts workers from entering the inside of the pipeline, and thus, the pipeline robot is gradually developed as a crawling apparatus. The development of the pipeline robot provides a new technical means for pipeline detection and maintenance, and the pipeline maintenance efficiency is greatly improved.
The existing pipeline robot singly carries a camera to shoot the pipeline environment or singly carries a sonar to scan the pipeline environment to judge the pipeline diseases. However, a large number of pipelines which are not completely water-free environments and pipelines which are not completely water-full environments exist, and the pipeline diseases cannot be detected by a single detection means completely and reliably. The existing pipeline robot is complex in lifting structure, small in lifting and large in occupied space.
Disclosure of Invention
The invention aims to provide a self-adaptive pipeline detection robot carrying sonar and vision aiming at the technical problems.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
a self-adaptive pipeline detection robot carrying sonar and vision comprises a pan-tilt module, a pan-tilt lifting mechanism control unit, a sonar module, a sonar lifting mechanism control unit and an electrical cabin unit;
the holder module and the sonar module are carried on the robot body, and the robot body is provided with a holder lifting mechanism control unit, a sonar lifting mechanism control unit and an electrical equipment bin unit; the cradle head module is connected to the cradle head lifting mechanism, and the cradle head lifting mechanism is controlled by the cradle head lifting mechanism control unit; the sonar module is connected to a sonar lifting mechanism, and the sonar lifting mechanism is controlled by a sonar lifting mechanism control unit;
the cradle head module is provided with a cradle head supporting box, and the cradle head supporting box is arranged on the cradle head lifting mechanism; the cradle head lifting mechanism control unit is provided with a cradle head driving gear box which is connected with a cradle head gear rotating shaft, and the cradle head gear rotating shaft is connected with the cradle head lifting mechanism so that the cradle head supporting box can vertically lift;
the sonar module is provided with a sonar supporting box, and the sonar supporting box is installed on a sonar lifting mechanism; sonar elevating system control unit be equipped with sonar drive gear box, sonar drive gear box connects sonar gear rotating shaft, and sonar gear rotating shaft is connected with sonar elevating system, makes sonar supporting box can the vertical lift.
Further, the holder lifting mechanism comprises a holder rocker system, a holder lifting support block, a holder lifting guide, a first connecting rod and a second connecting rod; the holder rocker system comprises a first rocker, a second rocker, a third rocker and a fourth rocker;
the first rocker is connected with the pan-tilt support box and the pan-tilt lifting support block, and the second rocker is connected with the pan-tilt support box and the pan-tilt lifting support block to form a parallelogram link mechanism;
the third rocker is connected with a tripod head gear rotating shaft and a tripod head lifting supporting block, and the fourth rocker is connected with a tripod head driving gear box and a tripod head lifting supporting block to form a parallelogram link mechanism;
the first connecting rod is connected with the third rocker and the cradle head lifting guide piece, the second connecting rod is connected with the second rocker and the cradle head lifting guide piece, and the guide shaft on the cradle head lifting guide piece is inserted into the cradle head lifting support block, so that the third rocker and the second rocker have the same rotating speed and the motion states with opposite rotating directions.
Furthermore, the control unit of the tripod head lifting mechanism is provided with a direct current brushless motor, a first bevel gear and a second bevel gear which are sequentially connected, and the second bevel gear is connected with a tripod head gear rotating shaft; the direct current brushless motor is connected with the electric appliance bin unit and drives the first bevel gear, the second bevel gear, the rotating shaft of the cradle head gear and the third rocker to rotate, so that the cradle head supporting box is lifted or lowered.
Further, the sonar lifting mechanism comprises a sonar lifting mechanism rocker system, a sonar lifting support block, a sonar lifting guide piece, a third connecting rod and a fourth connecting rod; the sonar lifting mechanism rocker system comprises a fifth rocker, a sixth rocker, a seventh rocker and an eighth rocker;
the fifth rocker is connected with the sonar support box and the sonar lifting support block, and the sixth rocker is connected with the sonar support box and the sonar lifting support block to form a parallelogram linkage mechanism;
the eighth rocker is connected with a sonar gear rotating shaft and a sonar lifting support block, and the seventh rocker is connected with a sonar driving gear box and a sonar lifting support block to form a parallelogram link mechanism;
the third connecting rod connect the sonar and lift the guide, the fourth connecting rod connect the sonar and lift the guide, the sonar lift guide on the guide shaft insert the sonar and lift in the supporting piece, make eighth rocker and fifth rocker possess equal rotational speed, turn to opposite motion state.
Furthermore, the sonar lifting mechanism control unit is provided with a direct current brushless motor, a third bevel gear and a fourth bevel gear which are sequentially connected, the fourth bevel gear is connected with a sonar gear rotating shaft, and the end part of the sonar lifting mechanism control unit is a sonar driving gear box; drive DC brushless motor and connect the electrical apparatus storehouse unit, DC brushless motor drive third bevel gear, fourth bevel gear, sonar gear axis of rotation, eighth rocker rotate, make sonar supporting box lift or descend.
Cloud platform unit and sonar unit gather pipeline environmental data simultaneously, during data spread into the electrical compartment unit, calculate through the treater algorithm, drive cloud platform elevating system control unit and sonar elevating system control unit start, drive cloud platform elevating system and sonar elevating system operation, and then drive cloud platform module and sonar module lift, carry out image data and sonar scanning data collection to pipeline environment simultaneously, collect for terminal treater, terminal treater fuses sonar data and image data and constructs pipeline environment in real time, and then the accurate pipeline disease condition of judging.
Compared with the prior art, the invention has the beneficial effects that:
the adaptive pipeline inspection robot with the sonar and the vision is provided with a double lifting mechanism and an independent control system, has a lifting mechanism with a compact mechanism and a large lifting ratio and a sonar and image adaptive identification system, and can construct a pipeline environment in real time by fusing sonar data and image data. When the operation of the pipeline in the water environment is detected, a large-lifting-ratio lifting mechanism is relied on, a sonar and image self-adaptive identification system and a double-lifting independent control system are adopted, pipeline image data and sonar data are collected simultaneously, the sonar data and the image data are fused to construct the pipeline environment in real time, and then the condition of pipeline diseases is accurately judged.
Drawings
FIG. 1: the invention discloses an overall structure schematic diagram of a sonar and vision-carried self-adaptive pipeline detection robot.
FIG. 2: the connecting structure schematic diagram of the cradle head module and the cradle head lifting mechanism control unit.
FIG. 3: the structure schematic diagram of the cloud platform elevating system.
FIG. 4: the structure schematic diagram of the control unit of the tripod head lifting mechanism.
FIG. 5: the sonar module is with sonar elevating system control unit's connection structure sketch map.
FIG. 6: the sonar lifting mechanism is structurally schematic.
FIG. 7: the sonar lifting mechanism control unit is a schematic structural diagram.
Detailed Description
The above-mentioned contents of the present invention are further described in detail by way of examples below, but it should not be understood that the scope of the above-mentioned subject matter of the present invention is limited to the following examples, and any technique realized based on the above-mentioned contents of the present invention falls within the scope of the present invention.
In the description of the present invention, it is also to be noted that:
the positional or orientational relationships are those illustrated in the drawings for ease of description and simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must be in a particular orientation, constructed and operative in a particular orientation and are not to be construed as limiting the present invention.
Furthermore, terms such as "first, second, or third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Terms such as "mounted, connected" and the like are to be construed broadly unless expressly stated or limited otherwise herein. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
The invention provides a sonar and vision-carried self-adaptive pipeline detection robot, which comprises a pan-tilt module 1, a pan-tilt lifting mechanism 2, a pan-tilt lifting mechanism control unit 3, a sonar module 4, a sonar lifting mechanism 5, a sonar lifting mechanism control unit 6 and an electrical cabin unit 7 as shown in figure 1.
As shown in fig. 3, a hole 211 at one end of the third rocker 210 is connected with a pan-tilt gear rotating shaft 304 through a screw, two oil-free bushings are arranged in a hole 208 at the other end of the third rocker 210 and hinged with a pan-tilt lifting support block 216 through a plug screw, two oil-free bushings are arranged in a hole 213 at one end of the fourth rocker 214 and hinged with a pan-tilt driving gear box 305 through a plug screw, two oil-free bushings are arranged in a hole 215 at the other end of the fourth rocker 214 and hinged with the pan-tilt lifting support block 216 through a plug screw, and the structure forms a parallelogram link mechanism.
Two oilless bushes are installed in the hole 204 of second rocker 205 one end, it is articulated with cloud platform supporting box 101 to beat the screw through the stopper, two oilless bushes are installed in the hole 207 of the second rocker 205 other end, it is articulated with cloud platform lifting supporting block 216 to beat the screw through the stopper, two oilless bushes are installed in the hole 201 of first rocker 202 one end, it is articulated with cloud platform supporting box 101 to beat the screw through the stopper, two oilless bushes are installed in the hole 203 of the first rocker 202 other end, it is articulated with cloud platform lifting supporting block 216 to beat the screw through the stopper, this structure constitutes parallelogram link mechanism.
A hole at one end of the first connecting rod 218 is hinged with a hole 209 at one end of the third rocker 210 through a plug screw, two oilless bushings are arranged in the hole 209, two oilless bushings are arranged in a hole at the other end of the first connecting rod 218, and the hole is hinged with a tripod head lifting guide 217 through the plug screw; a hole at one end of the second connecting rod 219 is hinged with a hole 206 at one end of the second rocker 205 through a plug screw, two oilless bushings are arranged in the hole 206, two oilless bushings are arranged in a hole at the other end of the second connecting rod 219, and the hole is hinged with the tripod head lifting guide 217 through the plug screw; a guide shaft on the tripod head lifting guide 217 is inserted into a middle hole of the tripod head lifting support block 216, and two oilless bushings are arranged in the middle hole of the tripod head lifting support block 216; this configuration allows the third rocker 210 and the second rocker 205 to rotate at the same speed and in opposite directions.
As shown in fig. 4, the pan-tilt head elevating mechanism control unit 3 is provided with a dc brushless motor 301, a first bevel gear 302 and a second bevel gear 303 which are connected in sequence, wherein the second bevel gear 303 is connected with a pan-tilt head gear rotating shaft 304; the dc brushless motor 301 is connected to the electrical cabin unit 7, and the dc brushless motor 301 drives the first bevel gear 302, the second bevel gear 303, the rotational shaft 304 of the cradle head gear, and the third rocker 210 to rotate, so as to lift or lower the cradle head support box 101.
When the pan/tilt gear rotating shaft 304 rotates, the pan/tilt support box 101 has a vertical lifting function and a large lifting ratio.
When the robot enters a water pipeline for detection, when the holder module 1 is submerged underwater, data are transmitted into the electrical bin unit 7, the direct current brushless motor 301 is driven to start through arithmetic operation of the processor, the first bevel gear 302 is driven to rotate, the second bevel gear 303 is driven to rotate, the holder gear rotating shaft 304 is further driven to rotate, and the third rocker 210 is further driven to rotate. The cradle head supporting box 101 is lifted, so that the cradle head module 1 is exposed out of the water surface to shoot the pipeline environment.
As shown in fig. 6, the hole 511 of eighth rocker 513 one end is connected with sonar gear rotating shaft 604 through the screw, two oil-free bushes are equipped with in the hole 515 of the eighth rocker 513 other end, it is articulated with sonar lifting support block 517 through the stopper screw to beat, two oil-free bushes are equipped with in the hole 510 of seventh rocker 509 one end, it is articulated with sonar drive gear case 605 through the stopper screw to beat, two oil-free bushes are equipped with in the hole 508 of the seventh rocker 509 other end, it is articulated with sonar lifting support block through the stopper screw, this structure constitutes parallelogram link mechanism.
Two oil-free bushes are equipped with in the hole 505 of sixth rocker 506 one end, it is articulated with sonar support box 401 to beat the screw through the stopper, two oil-free bushes are equipped with in the hole 507 of the sixth rocker 506 other end, it is articulated with sonar lifting support block 517 through the stopper screw to beat, two oil-free bushes are equipped with in the hole 501 of fifth rocker 502 one end, it is articulated with sonar support box 401 through the stopper screw to beat, two oil-free bushes are equipped with in the hole 504 of the fifth rocker 502 other end, it is articulated with sonar lifting support block 517 through the stopper screw, this structure constitutes parallelogram link mechanism.
A hole at one end of the third connecting rod 516 is hinged with a hole 514 at one end of the eighth rocker 513 through a plug screw, two oilless bushings are arranged in the hole 514, two oilless bushings are arranged in a hole at the other end of the third connecting rod 516, and the hole is hinged with a sonar lifting guide member 519 through a plug screw; a hole at one end of the fourth connecting rod 522 is hinged with a hole 503 at one end of the fifth rocker 502 through a plug screw, two oilless bushings are arranged in the hole 503, two oilless bushings are arranged in a hole at the other end of the fourth connecting rod 522, and the hole is hinged with a sonar lifting guide member 519 through the plug screw; a guide shaft on the sonar lifting guide member 519 is inserted into a middle hole of the sonar lifting support block 517, and two oil-free bushes are arranged in the middle hole of the sonar lifting support block 517; this configuration allows the eighth rocker 513 and the fifth rocker 502 to rotate at the same speed and to rotate in opposite directions.
As shown in fig. 7, the sonar lifting mechanism control unit 6 is provided with a dc brushless motor 601, a third bevel gear 602 and a fourth bevel gear 603 which are connected in sequence, the fourth bevel gear 603 is connected with a sonar gear rotating shaft 604, and the end part of the sonar lifting mechanism control unit 6 is a sonar driving gear box 605; the dc brushless motor 601 is connected to the electrical cabin unit 7, and the dc brushless motor 601 drives the third bevel gear 602, the fourth bevel gear 603, the sonar gear rotating shaft 604 and the eighth rocker 513 to rotate, so that the sonar support box 401 is lifted or lowered.
When sonar gear rotating shaft 604 rotates, sonar support box 401 has a vertical lifting function and a large lifting ratio.
When the robot enters a water pipeline for detection, when the sonar module 4 is exposed above the water surface, data are transmitted into the electrical bin unit 7, and are calculated by a processor algorithm, the direct-current brushless motor 601 is driven to start, the third bevel gear 602 is driven to rotate, the fourth bevel gear 603 is driven to rotate, the sonar gear rotating shaft 604 is further driven to rotate, and the eighth rocker 513 is further driven to rotate. The sonar support box 401 descends so that the sonar module 4 is completely submerged below the water surface to scan the pipeline environment.
When the robot gets into there is the water piping to examine time measuring, cloud platform unit 1 and sonar unit 4 gather pipeline environmental data simultaneously, data spread into in electrical storehouse unit 7, through the operation of treater algorithm, drive cloud platform elevating system control unit 3 and sonar elevating system control unit 6 start, drive cloud platform elevating system 2 and sonar elevating system 5 operation, and then drive cloud platform module 1 and sonar module 4 lift, carry out image data and sonar scanning data collection to pipeline environment simultaneously, gather for terminal treater, terminal treater fuses sonar data and image data and constructs pipeline environment in real time, and then the accurate pipeline disease condition of judging.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention in any way, and any person skilled in the art can make any simple modification, equivalent replacement, and improvement on the above embodiment without departing from the technical spirit of the present invention, and still fall within the protection scope of the technical solution of the present invention.
Claims (6)
1. The utility model provides a carry on self-adaptation pipeline inspection robot of sonar and vision which characterized in that: the device comprises a holder module (1), a holder lifting mechanism (2), a holder lifting mechanism control unit (3), a sonar module (4), a sonar lifting mechanism (5), a sonar lifting mechanism control unit (6) and an electrical bin unit (7);
the tripod head module (1) and the sonar module (4) are carried on a robot body, and the robot body is provided with a tripod head lifting mechanism control unit (3), a sonar lifting mechanism control unit (6) and an electrical bin unit (7); the cradle head module (1) is connected to a cradle head lifting mechanism (2), and the cradle head lifting mechanism (2) is controlled by a cradle head lifting mechanism control unit (3); the sonar module (4) is connected to a sonar lifting mechanism (5), and the sonar lifting mechanism (5) is controlled by a sonar lifting mechanism control unit (6);
the cradle head module (1) is provided with a cradle head supporting box (101), and the cradle head supporting box (101) is arranged on the cradle head lifting mechanism (2); the cradle head lifting mechanism control unit (3) is provided with a cradle head driving gear box (305), the cradle head driving gear box (305) is connected with a cradle head gear rotating shaft (304), and the cradle head gear rotating shaft (304) is connected with the cradle head lifting mechanism (2) so that the cradle head supporting box (101) can vertically lift;
the sonar module (4) is provided with a sonar supporting box (401), and the sonar supporting box (401) is installed on a sonar lifting mechanism (5); the sonar lifting mechanism control unit (6) is provided with a sonar driving gear box (605), the sonar driving gear box (605) is connected with a sonar gear rotating shaft (604), and the sonar gear rotating shaft (604) is connected with a sonar lifting mechanism (5) so that the sonar supporting box (401) can vertically lift.
2. The adaptive pipeline inspection robot with sonar and vision according to claim 1, comprising: the holder lifting mechanism (2) comprises a holder rocker system, a holder lifting support block (216), a holder lifting guide piece (217), a first connecting rod (218) and a second connecting rod (219); the holder rocker system comprises a first rocker (202), a second rocker (205), a third rocker (210) and a fourth rocker (214);
the first rocker (202) is connected with the holder support box (101) and the holder lifting support block (216), and the second rocker (205) is connected with the holder support box (101) and the holder lifting support block (216) to form a parallelogram link mechanism;
the third rocker (210) is connected with a pan head gear rotating shaft (304) and a pan head lifting supporting block (216), and the fourth rocker (214) is connected with a pan head driving gear box (305) and the pan head lifting supporting block (216) to form a parallelogram link mechanism;
the first connecting rod (218) is connected with the third rocker (210) and the cradle head lifting guide piece (217), the second connecting rod (219) is connected with the second rocker (205) and the cradle head lifting guide piece (217), and a guide shaft on the cradle head lifting guide piece (217) is inserted into the cradle head lifting support block (216), so that the third rocker (210) and the second rocker (205) have the same rotating speed and the opposite rotating directions.
3. The adaptive pipeline inspection robot with sonar and vision according to claim 2, comprising: the cradle head lifting mechanism control unit (3) is provided with a direct current brushless motor (301), a first bevel gear (302) and a second bevel gear (303) which are sequentially connected, and the second bevel gear (303) is connected with a cradle head gear rotating shaft (304); the direct current brushless motor (301) is connected with the electric appliance bin unit (7), and the direct current brushless motor (301) drives the first bevel gear (302), the second bevel gear (303), the tripod head gear rotating shaft (304) and the third rocker (210) to rotate, so that the tripod head support box (101) is lifted or lowered.
4. The adaptive pipeline inspection robot with sonar and vision according to claim 1, comprising: the sonar lifting mechanism (5) comprises a sonar lifting mechanism rocker system, a sonar lifting support block (517), a sonar lifting guide piece (519), a third connecting rod (516) and a fourth connecting rod (522); the sonar lifting mechanism rocker system comprises a fifth rocker (502), a sixth rocker (506), a seventh rocker (509) and an eighth rocker (513);
the fifth rocker (502) is connected with the sonar support box (401) and the sonar lifting support block (517), and the sixth rocker (506) is connected with the sonar support box (401) and the sonar lifting support block (517) to form a parallelogram linkage mechanism;
the eighth rocker (513) is connected with a sonar gear rotating shaft (604) and a sonar lifting supporting block (517), and the seventh rocker (509) is connected with a sonar driving gear box (605) and the sonar lifting supporting block (517) to form a parallelogram link mechanism;
the third connecting rod (516) is connected with a sonar lifting guide piece (519), the fourth connecting rod (522) is connected with the sonar lifting guide piece (519), a guide shaft on the sonar lifting guide piece (519) is inserted into a sonar lifting supporting block (517), and the eighth rocker (513) and the fifth rocker (502) have the same rotating speed and the opposite rotating motion states.
5. The adaptive sonar-and-vision-equipped pipeline inspection robot according to claim 4, characterized in that: the sonar lifting mechanism control unit (6) is provided with a direct current brushless motor (601), a third bevel gear (602) and a fourth bevel gear (603) which are sequentially connected, the fourth bevel gear (603) is connected with a sonar gear rotating shaft (604), and the end part of the sonar lifting mechanism control unit (6) is provided with a sonar driving gear box (605); the driving direct current brushless motor (601) is connected with the electric bin unit (7), and the direct current brushless motor (601) drives the third bevel gear (602), the fourth bevel gear (603), the sonar gear rotating shaft (604) and the eighth rocker (513) to rotate, so that the sonar supporting box (401) is lifted or lowered.
6. The adaptive pipeline inspection robot with sonar and vision according to claim 1, comprising: cloud platform unit (1) and sonar unit (4) gather pipeline environmental data simultaneously, data spread into in electrical apparatus storehouse unit (7), through the operation of treater algorithm, drive cloud platform elevating system control unit (3) and sonar elevating system control unit (6) start, drive cloud platform elevating system (2) and sonar elevating system (5) operation, and then drive cloud platform module (1) and sonar module (4) go up and down, carry out image data and sonar scanning data collection to pipeline environment simultaneously, collect for the terminal treater, the terminal treater fuses sonar data and image data and constructs pipeline environment in real time, and then the accurate pipeline disease condition of judging.
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| CN202111582905.0A CN114233978B (en) | 2021-12-22 | 2021-12-22 | Carry on sonar and visual self-adaptation pipeline inspection robot |
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| KR101494644B1 (en) * | 2014-08-20 | 2015-02-25 | 포테닛 주식회사 | Inspecting robot for regenerating superannuated pipes |
| CN109882681A (en) * | 2019-03-25 | 2019-06-14 | 武汉交通职业学院 | A kind of intelligent pipeline detection robot, control system and control method |
| CN110594525A (en) * | 2019-09-23 | 2019-12-20 | 北京建筑大学 | Pipeline inspection robot |
| CN211779676U (en) * | 2019-12-26 | 2020-10-27 | 四川鑫和信探测工程技术服务有限公司 | Sonar detection device for urban rain and sewage pipelines |
| CN112747191A (en) * | 2020-12-28 | 2021-05-04 | 苏州江创智能科技有限公司 | Pipeline robot that many senses fuse |
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| CN114233978B (en) | 2023-12-22 |
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