CN114233978B - Carry on sonar and visual self-adaptation pipeline inspection robot - Google Patents
Carry on sonar and visual self-adaptation pipeline inspection robot Download PDFInfo
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- CN114233978B CN114233978B CN202111582905.0A CN202111582905A CN114233978B CN 114233978 B CN114233978 B CN 114233978B CN 202111582905 A CN202111582905 A CN 202111582905A CN 114233978 B CN114233978 B CN 114233978B
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- 238000007689 inspection Methods 0.000 title claims description 3
- 230000000007 visual effect Effects 0.000 title claims description 3
- 230000007246 mechanism Effects 0.000 claims abstract description 93
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 201000010099 disease Diseases 0.000 claims abstract description 8
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 claims abstract description 8
- 230000003044 adaptive effect Effects 0.000 claims 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 9
- 238000010009 beating Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 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
- 230000007547 defect Effects 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
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-carrying self-adaptive pipeline detection robot which comprises a holder module, a holder lifting mechanism control unit, a sonar module, a sonar lifting mechanism control unit and an electric appliance bin unit. The invention is provided with the double lifting mechanisms and the independent control system, has a compact lifting mechanism with a large lifting ratio, and the sonar and image self-adaptive recognition system, and can integrate sonar data and image data to construct a pipeline environment in real time. When the pipeline disease condition is detected, the pipeline disease condition is accurately judged by means of the large lifting ratio lifting mechanism, the sonar and image self-adaptive recognition system and the double-lifting independent control system, and simultaneously collecting pipeline image data and sonar data, and fusing the sonar data and the image data to construct the pipeline environment in real time.
Description
Technical Field
The invention relates to the field of pipeline robots, in particular to a sonar and vision carrying self-adaptive pipeline detection robot.
Background
The urban sewer pipe can appear a series of phenomena such as crackle, leak hole under the effect such as corruption, weight pressure, simultaneously, along with pipeline live time's increase, pipeline inner wall can take place scale deposit and the impurity adhesion of different degree, causes pipeline transportation efficiency to reduce, so in the use, the pipeline need regularly detect, maintain, clear up, guarantees pipeline transportation safety and efficiency. However, a pipe having a narrow space or a severe internal environment restricts access of workers to the inside of the pipe, and thus, a pipe robot has been developed as a crawling apparatus. The development of the pipeline robot provides a new technical means for pipeline detection and maintenance, and greatly improves the pipeline maintenance efficiency.
At present, the pipeline robot is used for singly shooting the pipeline environment through a carrying camera or singly scanning the pipeline environment through a carrying sonar to judge the pipeline diseases. However, there are a large number of pipelines which are not completely anhydrous and pipelines which are not completely full of water, and a single detection means cannot detect pipeline diseases completely and reliably. The existing pipeline robot has the defects of complex lifting structure, smaller lifting and larger occupied space.
Disclosure of Invention
The invention aims at providing a self-adaptive pipeline detection robot with sonar and vision.
In order to achieve the above purpose, the technical scheme provided by the invention is as follows:
a self-adaptive pipeline detection robot carrying sonar and vision comprises a tripod head module, a tripod head lifting mechanism control unit, a sonar module, a sonar lifting mechanism control unit and an electric appliance bin unit;
the cloud deck module and the sonar module are mounted on the robot body, and the robot body is provided with a cloud deck lifting mechanism control unit, a sonar lifting mechanism control unit and an electric appliance 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 the sonar lifting mechanism, and the sonar lifting mechanism is controlled by the sonar lifting mechanism control unit;
the cradle head module is provided with a cradle head supporting box which is arranged on the cradle head lifting mechanism; the cradle head lifting mechanism control unit is provided with a cradle head driving gear box, the cradle head driving gear box 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 which is arranged on the sonar lifting mechanism; the sonar lifting mechanism control unit is provided with a sonar driving gear box, the sonar driving gear box is connected with a sonar gear rotating shaft, and the sonar gear rotating shaft is connected with the sonar lifting mechanism, so that the sonar supporting box can vertically lift.
Further, the cradle head lifting mechanism comprises a cradle head rocker system, a cradle head lifting support block, a cradle head lifting guide piece, a first connecting rod and a second connecting rod; the cradle head rocker system comprises a first rocker, a second rocker, a third rocker and a fourth rocker;
the first rocker is connected with the cradle head supporting box and the cradle head lifting supporting block, and the second rocker is connected with the cradle head supporting box and the cradle head lifting supporting block to form a parallelogram link mechanism;
the third rocker is connected with the tripod head gear rotating shaft and the tripod head lifting supporting block, and the fourth rocker is connected with the tripod head driving gear box and the 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 a 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 opposite rotating directions.
Further, the control unit of the cradle 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 cradle head gear rotating shaft; the direct current brushless motor is connected with the electrical bin unit, and drives the first bevel gear, the second bevel gear, the tripod head gear rotating shaft and the third rocker to rotate, so that the tripod head supporting box lifts or descends.
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 supporting box and the sonar lifting supporting block, and the sixth rocker is connected with the sonar supporting box and the sonar lifting supporting block to form a parallelogram linkage mechanism;
the eighth rocker is connected with the sonar gear rotating shaft and the sonar lifting support block, and the seventh rocker is connected with the sonar driving gear box and the sonar lifting support block to form a parallelogram link mechanism;
the third connecting rod is connected with the sonar lifting guide piece, the fourth connecting rod is connected with the sonar lifting guide piece, and a guide shaft on the sonar lifting guide piece is inserted into the sonar lifting support block, so that the eighth rocker and the fifth rocker have equal rotating speeds and opposite rotating directions.
Further, 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 gearbox; the direct current brushless motor is driven to be connected with the electrical bin unit, and the direct current brushless motor drives the third bevel gear, the fourth bevel gear, the sonar gear rotating shaft and the eighth rocker to rotate, so that the sonar supporting box lifts or descends.
The cloud deck module and the sonar module collect pipeline environment data simultaneously, the data are transmitted into the electrical bin unit, the cloud deck lifting mechanism control unit and the sonar lifting mechanism control unit are driven to start through the arithmetic operation of the processor, the cloud deck lifting mechanism and the sonar lifting mechanism are driven to operate, the cloud deck module and the sonar module are driven to lift, image data and sonar scanning data are collected for the pipeline environment simultaneously, the pipeline environment is collected to the terminal processor, and the terminal processor fuses the sonar data and the image data to construct the pipeline environment in real time, so that the pipeline disease condition is accurately judged.
Compared with the prior art, the invention has the beneficial effects that:
the sonar and vision-mounted self-adaptive pipeline detection robot is provided with the double lifting mechanisms and the independent control system, has a compact mechanism, is provided with the lifting mechanism with a large lifting ratio, and is provided with the sonar and image self-adaptive recognition system, and the pipeline environment can be built in real time by fusing sonar data and image data. When the pipeline operation with water environment is detected, the pipeline environment is built in real time by means of the large lifting ratio lifting mechanism and the sonar and image self-adaptive recognition system and the double-lifting independent control system, and the pipeline disease condition is accurately judged by collecting the pipeline image data and the sonar data and fusing the sonar data and the image data.
Drawings
Fig. 1: the invention provides an overall structure schematic diagram of a sonar-and-vision-carrying self-adaptive pipeline detection robot.
Fig. 2: the connection structure of the cradle head module and the cradle head lifting mechanism control unit is schematically shown.
Fig. 3: the structure schematic diagram of the cradle head lifting mechanism.
Fig. 4: the structure schematic diagram of the control unit of the cradle head lifting mechanism.
Fig. 5: and a connecting structure schematic diagram of the sonar module and the sonar lifting mechanism control unit.
Fig. 6: and a structural schematic diagram of the sonar lifting mechanism.
Fig. 7: and a structural schematic diagram of a sonar lifting mechanism control unit.
Description of the embodiments
The above-described matters of the present invention will be further described in detail by way of examples, but it should not be construed that the scope of the above-described subject matter of the present invention is limited to the following examples, and all techniques realized based on the above-described matters of the present invention are within the scope of the present invention.
In describing the present invention, it should also be noted that:
the orientation or positional relationship therein is based on the relationship shown in the drawings for convenience of description and simplification of the description only, and is not indicative or implying that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not 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, coupled" and the like should be construed broadly in this disclosure unless otherwise specifically indicated and defined. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art depending on the specific circumstances.
The invention provides a self-adaptive pipeline detection robot carrying sonar and vision, as shown in figure 1,
the intelligent control device comprises a tripod head module 1, a tripod head lifting mechanism 2, a tripod head lifting mechanism control unit 3, a sonar module 4, a sonar lifting mechanism 5, a sonar lifting mechanism control unit 6 and an electric appliance bin unit 7.
As shown in fig. 3, the hole 211 at one end of the third rocker 210 is connected with the tripod head gear rotating shaft 304 through a screw, two oilless bushings are installed in the hole 208 at the other end of the third rocker 210, the hole 213 at one end of the fourth rocker 214 is hinged with the tripod head lifting support block 216 through a stopper screw, two oilless bushings are installed in the hole 213 at one end of the fourth rocker 214, the hole 215 at the other end of the fourth rocker 214 is hinged with the tripod head driving gear box 305 through a stopper screw, and two oilless bushings are installed in the hole 215 at the other end of the fourth rocker 214, and the structure is hinged with the tripod head lifting support block 216 through a stopper screw.
Two oilless bushings are arranged in the hole 204 at one end of the second rocker 205 and hinged with the cradle head supporting box 101 through a stopper beating screw, two oilless bushings are arranged in the hole 207 at the other end of the second rocker 205 and hinged with the cradle head lifting supporting block 216 through a stopper beating screw, two oilless bushings are arranged in the hole 201 at one end of the first rocker 202 and hinged with the cradle head supporting box 101 through a stopper beating screw, two oilless bushings are arranged in the hole 203 at the other end of the first rocker 202 and hinged with the cradle head lifting supporting block 216 through a stopper beating screw, and the structure forms a parallelogram linkage mechanism.
The hole at one end of the first connecting rod 218 is hinged with the hole 209 at one end of the third rocker 210 through a plugging screw, two oilless bushings are arranged in the hole 209, two oilless bushings are arranged in the hole at the other end of the first connecting rod 218, and the hole is hinged with the cradle head lifting guide member 217 through the plugging screw; the hole at one end of the second connecting rod 219 is hinged with the hole 206 at one end of the second rocker 205 through a plugging screw, two oilless bushings are arranged in the hole 206, two oilless bushings are arranged in the hole at the other end of the second connecting rod 219, and the hole is hinged with the cradle head lifting guide member 217 through the plugging screw; a guide shaft on the holder lifting guide piece 217 is inserted into a middle hole of the holder lifting support block 216, and two oil-free bushings are arranged in the middle hole of the holder lifting support block 216; this configuration allows the third rocker 210 and the second rocker 205 to have the same rotational speed and to be turned to the opposite motion state.
As shown in fig. 4, the pan-tilt lifting mechanism control unit 3 is provided with a brushless dc 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 pan-tilt gear rotating shaft 304; the brushless DC motor 301 is connected with the electrical bin unit 7, and the brushless DC 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 supporting box 101 lifts or descends.
When the holder gear rotating shaft 304 rotates, the holder supporting box 101 is provided with a vertical lifting function and a large lifting ratio.
When the robot enters the water pipe for detection, when the cradle head module 1 is submerged under water, data are transmitted into the electrical bin unit 7, and are calculated by a processor algorithm, the direct current brushless motor 301 is driven to start, the first bevel gear 302 is driven to rotate, the second bevel gear 303 is driven to rotate, the cradle head gear rotating shaft 304 is further driven to rotate, and the third rocker 210 is further driven to rotate. The pan-tilt support box 101 is lifted, so that the pan-tilt module 1 is exposed out of the water surface to perform pipeline environment shooting.
As shown in fig. 6, the hole 511 at one end of the eighth rocker 513 is connected with the sonar gear rotating shaft 604 through a screw, two oilless bushings are installed in the hole 515 at the other end of the eighth rocker 513, the hole 510 at one end of the seventh rocker 509 is hinged with the sonar lifting support block 517 through a stuffing screw, two oilless bushings are installed in the hole 508 at the other end of the seventh rocker 509, the hole 508 at the other end of the seventh rocker 509 is hinged with the sonar driving gearbox 605 through a stuffing screw, and the structure is formed into a parallelogram linkage mechanism through the stuffing screw and the sonar lifting support block 517.
Two oilless bushings are arranged in the hole 505 at one end of the sixth rocker 506 and hinged with the sonar supporting box 401 through a stopper-beating screw, two oilless bushings are arranged in the hole 507 at the other end of the sixth rocker 506 and hinged with the sonar supporting block 517 through a stopper-beating screw, two oilless bushings are arranged in the hole 501 at one end of the fifth rocker 502 and hinged with the sonar supporting box 401 through a stopper-beating screw, two oilless bushings are arranged in the hole 504 at the other end of the fifth rocker 502 and hinged with the sonar supporting block 517 through a stopper-beating screw, and the structure forms a parallelogram linkage mechanism.
The hole at one end of the third connecting rod 516 is hinged with the hole 514 at one end of the eighth rocker 513 through a plugged screw, two oilless bushings are arranged in the hole 514, two oilless bushings are arranged in the hole at the other end of the third connecting rod 516, and the hole is hinged with the sonar lifting guide 519 through the plugged screw; the hole at one end of the fourth connecting rod 522 is hinged with the hole 503 at one end of the fifth rocker 502 through a stuffing screw, two oilless bushings are arranged in the hole 503, two oilless bushings are arranged in the hole at the other end of the fourth connecting rod 522, and the hole is hinged with the sonar lifting guide 519 through the stuffing screw; the guide shaft on the sonar lifting guide piece 519 is inserted into the middle hole of the sonar lifting support block 517, and two oilless bushings 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 have equal rotational speeds and to turn in opposite motion.
As shown in fig. 7, the sonar lifting mechanism control unit 6 is provided with a brushless dc 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 a sonar driving gearbox 605; the brushless dc motor 601 is connected to the electrical bin unit 7, and the brushless dc 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 lifts or descends.
When the sonar gear rotating shaft 604 rotates, the sonar supporting box 401 is enabled to have a vertical lifting function and has a characteristic of a large lifting ratio.
When the robot enters the water pipe for detection, the sonar module 4 is exposed out of the water surface, data are transmitted into the electrical bin unit 7, and are calculated by a processor algorithm to drive the brushless DC motor 601 to start, drive the third bevel gear 602 to rotate, further drive the fourth bevel gear 603 to rotate, further drive the sonar gear rotating shaft 604 to rotate, and further drive the eighth rocker 513 to rotate. The sonar supporting box 401 is lowered so that the sonar module 4 is completely submerged under the water surface for pipeline environment scanning.
When a robot enters a water pipeline for detection, the holder module 1 and the sonar module 4 collect pipeline environment data at the same time, the data are transmitted into the electrical bin unit 7, the holder lifting mechanism control unit 3 and the sonar lifting mechanism control unit 6 are driven to start through the arithmetic operation of a processor, the holder lifting mechanism 2 and the sonar lifting mechanism 5 are driven to operate, the holder module 1 and the sonar module 4 are driven to lift, image data and sonar scanning data are collected on the pipeline environment at the same time, the pipeline environment is built by fusing the sonar data and the image data through the terminal processor, and then the pipeline disease condition is accurately judged.
The present invention is not limited to the preferred embodiments, and any simple modification, equivalent replacement, and improvement made to the above embodiments by those skilled in the art without departing from the technical scope of the present invention, will fall within the scope of the present invention.
Claims (5)
1. Carry on sonar and visual self-adaptation pipeline inspection robot, its characterized in that: the intelligent control device comprises a tripod head module (1), a tripod head lifting mechanism (2), a tripod head lifting mechanism control unit (3), a sonar module (4), a sonar lifting mechanism (5), a sonar lifting mechanism control unit (6) and an electric appliance bin unit (7);
the cloud deck module (1) and the sonar module (4) are mounted on a robot body, and the robot body is provided with a cloud deck lifting mechanism control unit (3), a sonar lifting mechanism control unit (6) and an electric appliance bin unit (7); the cradle head module (1) is connected to the cradle head lifting mechanism (2), and the cradle head lifting mechanism (2) is controlled by the cradle head lifting mechanism control unit (3); the sonar module (4) is connected to the sonar lifting mechanism (5), and the sonar lifting mechanism (5) is controlled by the 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 arranged on the sonar lifting mechanism (5); the control unit (6) of the sonar lifting mechanism 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 the sonar lifting mechanism (5) so that the sonar supporting box (401) can vertically lift;
the cradle head lifting mechanism (2) comprises a cradle head rocker system, a cradle head lifting supporting block (216), a cradle head lifting guide piece (217), a first connecting rod (218) and a second connecting rod (219); the cradle head 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 cradle head supporting box (101) and the cradle head lifting supporting block (216), and the second rocker (205) is connected with the cradle head supporting box (101) and the cradle head lifting supporting block (216) to form a parallelogram link mechanism;
the third rocker (210) is connected with a tripod head gear rotating shaft (304) and a tripod head lifting supporting block (216), and the fourth rocker (214) is connected with a tripod head driving gear box (305) and the tripod head lifting supporting block (216) to form a parallelogram link mechanism;
the first connecting rod (218) is connected with the third rocking rod (210) and the cradle head lifting guide piece (217), the second connecting rod (219) is connected with the second rocking rod (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 rocking rod (210) and the second rocking rod (205) have the same rotating speed and opposite rotating directions.
2. The sonar and vision-equipped adaptive duct detection robot according to claim 1, wherein: 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 electrical 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 supporting box (101) is lifted or lowered.
3. The sonar and vision-equipped adaptive duct detection robot according to claim 1, wherein: 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 supporting box (401) and the sonar lifting supporting block (517), and the sixth rocker (506) is connected with the sonar supporting box (401) and the sonar lifting supporting 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 support block (517), and the seventh rocker (509) is connected with a sonar driving gearbox (605) and the sonar lifting support block (517) to form a parallelogram linkage mechanism;
third connecting rod (516) connect sonar and lift guide (519), fourth connecting rod (522) connect sonar and lift guide (519), the guide shaft on sonar lift guide (519) insert in sonar and lift supporting shoe (517), make eighth rocker (513) and fifth rocker (502) possess the same rotational speed, turn to opposite motion state.
4. The sonar and vision equipped adaptive duct detection robot according to claim 3, wherein: 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 direct current brushless motor (601) is driven to be connected with the electrical bin unit (7), 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.
5. The sonar and vision-equipped adaptive duct detection robot according to claim 1, wherein: the cloud deck module (1) and the sonar module (4) collect pipeline environment data simultaneously, the data are transmitted into the electrical bin unit (7), the cloud deck lifting mechanism control unit (3) and the sonar lifting mechanism control unit (6) are driven to start through the arithmetic operation of the processor, the cloud deck lifting mechanism (2) and the sonar lifting mechanism (5) are driven to operate, the cloud deck module (1) and the sonar module (4) are driven to lift, meanwhile, image data and sonar scanning data are collected for the pipeline environment, the pipeline environment is built in real time by fusing the sonar data and the image data through the terminal processor, and then the pipeline disease condition is accurately judged.
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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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| CN202111582905.0A CN114233978B (en) | 2021-12-22 | 2021-12-22 | Carry on sonar and visual self-adaptation pipeline inspection robot |
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| CN114233978A CN114233978A (en) | 2022-03-25 |
| CN114233978B true CN114233978B (en) | 2023-12-22 |
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| KR101494644B1 (en) * | 2014-08-20 | 2015-02-25 | 포테닛 주식회사 | Inspecting robot for regenerating superannuated pipes |
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| CN110594525A (en) * | 2019-09-23 | 2019-12-20 | 北京建筑大学 | Pipeline inspection robot |
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