CN114440053A - A robot for deformation monitoring of drainage pipes - Google Patents

Abstract

The invention discloses a robot for monitoring drainage pipeline deformation, which comprises a central shell, wherein a plurality of supporting legs are distributed on the periphery of the central shell in an annular array manner, and a signal acquisition end is fixedly arranged at one end of each supporting leg, which is far away from the central shell; the signal acquisition end comprises a pressure sensor, the pressure sensor is used for detecting pressure information in real time and transmitting the pressure information to the controller, and the other end of the movable rod is fixedly provided with an orientation wheel; at least one of the plurality of directional wheels is driven by a servo motor; the main rod is arranged into a telescopic structure. Compared with the traditional method for monitoring through a camera, the method for monitoring the pipeline deformation of the pipeline has the advantages that the workload of workers is reduced, the workers only need to judge the suspected area without paying attention to the internal information of the pipeline in the whole process, and the judgment difficulty and accuracy of the workers are improved due to the fact that the camera shoots the image deformation factor.

Description

A Robot for Deformation Monitoring of Drainage Pipes

technical field

The invention belongs to the technical field of smart water affairs, and in particular relates to a robot used for deformation monitoring of drainage pipes.

Background technique

Because the urban drainage pipeline is buried in the ground, the pipeline will be deformed under pressure. In order to find the location of these pressure and deformation in time, it needs to be checked and found in time, and the corresponding location should be adjusted and strengthened. A robot with a camera is placed in the pipeline, and the robot moves in the pipeline and takes pictures of the pipeline conditions along the road, and the staff analyzes and judges the situation inside the pipeline;

Among them, the rigid concrete pipe is difficult to see the deformation of the pipe under the general compression state. As long as the pressure reaches a certain level, the pipeline will be broken or foreign objects will enter, which can be easily captured by video. But at this time, the pipeline has been damaged and can only be repaired and replaced. There is no active early warning mechanism, and flexible plastic pipes will deform slightly under pressure. If the deformation amplitude and deformation position can be monitored, external excavation or internal support can be actively performed for protection.

However, the accuracy of judging whether the pipeline is damaged or not by using the camera to shoot video or photos is poor, and the staff needs to pay attention to the internal situation of the pipeline at all times. The workload is large and the work efficiency is low. In order to solve the above problems, the present invention provides the following technical solutions .

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a robot for monitoring the deformation of the drainage pipeline, which solves the problem that the method of judging whether the pipeline is damaged by taking a video or a photo with a camera in the prior art has poor accuracy, large workload and low work efficiency. The problem.

The object of the present invention can be realized through the following technical solutions:

A robot for monitoring the deformation of drainage pipes, comprising a central casing, a plurality of supporting legs are distributed in a circular array around the central casing, and a signal acquisition end is fixedly installed on one end of the supporting legs away from the central casing;

The signal acquisition end includes an outer cladding and a movable rod, the movable rod is slidably installed in the outer cladding, the outer cladding is a tubular structure with one end open, a pressure sensor is fixedly installed at the bottom of the outer cladding, and one end of the movable rod in the outer cladding is fixedly connected There is one end of the spring, the other end of the spring is fixedly connected with a pressure sensor, the pressure sensor is used to detect the pressure information in real time, and transmit it to the controller, and the other end of the movable rod is fixedly installed with a directional wheel;

At least one of several directional wheels is driven by a servo motor;

The main rod is configured as a retractable structure.

As a further solution of the present invention, the number of support legs is an even number, and during operation, several support legs are arranged symmetrically in the pipeline along the vertical direction of the normal section circle of the pipeline, and several support legs are arranged in the vertical direction of the normal section circle of the pipeline. both sides of the axis of symmetry.

As a further solution of the present invention, the orientation wheel includes a pedestal and at least two rollers mounted on the pedestal, and the connecting lines of the rotation shaft centers of the plurality of rollers are perpendicular to the movable rod.

As a further solution of the present invention, the support leg includes a main rod and a plurality of sleeves distributed in an annular array that are fixedly installed on the central casing, the sleeves are slidably sleeved on the main rod, and a ring gear and several sleeves are rotatably installed inside the central casing. a transmission gear, the transmission gear meshes with the ring gear, and the side wall of one end of the main rod inside the central shell is provided with a strip tooth, and the strip tooth meshes with the transmission gear;

An adjusting motor is fixedly installed in the central shell, and a gear meshing with the ring gear is fixedly sleeved on the shaft extension end of the adjusting motor.

As a further solution of the present invention, the robot includes a positioning module and a motion track acquisition module installed in the central casing, the robot is positioned in real time through the positioning module, and the motion track of the robot in the pipeline is recorded by the motion track acquisition module.

As a further solution of the present invention, a camera is fixedly installed on the central casing, and the camera collects image information in the pipeline and transmits it to the monitoring center; the central casing is also fixedly installed with a lighting lamp.

As a further scheme of the present invention, the working method of the robot comprises the following steps:

The first step is to adjust the length of the support leg outside the central housing according to the diameter of the measured pipe, so that any support leg fits the inner wall of the pipe to be measured;

The second step is to place the robot in the pipeline to be tested, and record the pressure data F1, F2, ... Fn collected by the pressure sensors on the n support legs after stabilization;

The third step is to drive the robot to move forward at a predetermined speed along the preset route by driving the motor at a constant speed. During this process, the controller collects the pressure data f1, f2, ... fn collected by the pressure sensors on each support leg in real time, and Calculate the pressure difference pi according to the formula pi=Fi-fi, where 1≤i≤8, compare pi with the preset value p and p1, where p>p1, when p1≤pi≤p, start timing, if t time If p1≤pi≤p still holds, mark the area as a suspect area. If p1≤pi≤p does not hold after time t, no processing will be done;

When pi is greater than p, the area is marked as a suspect area.

Beneficial effects of the present invention:

(1) The present invention can detect the deformed part of the pipeline in time by monitoring the pressure. Compared with the traditional monitoring method through the camera, the requirements for the camera can be reduced, the workload of the staff can be reduced, and the staff only needs to Judging the suspected area without paying attention to the internal information of the pipeline in the whole process, and due to the image deformation factor when the camera is shooting, it will also improve the difficulty and accuracy of the staff judgment;

(2) The support leg structure of the present invention can simultaneously adjust a plurality of support legs, which can improve the overall adjustment efficiency and reduce the adjustment difficulty;

(3) The present invention will not be affected by the sediment at the bottom of the drainage pipe during the moving process, and the driving is stable, which is conducive to improving the stability of the video captured by the camera and facilitates the observation of the staff.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings.

1 is a schematic structural diagram of a robot for monitoring deformation of drainage pipes according to the present invention;

FIG. 2 is a schematic partial structure diagram of a robot for monitoring deformation of drainage pipes according to the present invention;

Fig. 3 is the structural schematic diagram of the signal acquisition terminal of the present invention;

Fig. 4 is the structural representation of the directional wheel of the present invention;

In the figure: 1. Central housing; 2. Supporting legs; 3. Signal acquisition end; 4. Camera; 21. Main rod; 22. Sleeve; 23. Ring gear; 24. Transmission gear; 25. Adjusting motor; 31. Outer layer; 32, pressure sensor; 33, spring; 34, movable rod; 35, directional wheel; 36, limit slider; 351, axle frame; 352, roller.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

A robot for monitoring the deformation of drainage pipes, as shown in Figures 1 to 3, comprises a central casing 1, and a plurality of supporting legs 2 are distributed in an annular array around the central casing 1, and the supporting legs 2 are on one end away from the central casing 1. A signal acquisition terminal 3 is fixedly installed;

In an embodiment of the present invention, the number of support legs 2 is an even number, and a plurality of support legs 2 are arranged in the pipe and are symmetrically arranged along the vertical direction of the pipe's normal section circle;

It should be noted that when the robot travels in the pipeline, any support leg 2 should avoid moving at the bottom of the pipeline, so as to avoid the sediment at the bottom of the pipeline causing obvious interference to the detection results; therefore, further, several support legs 2 are arranged on both sides of the vertical axis of symmetry of the normal section circle of the pipeline;

In an embodiment of the present invention, the number of support legs 2 is set to eight, which can perform a more comprehensive detection of the inner wall area of the pipeline, and the structure is stable during the movement process, and there will be no obvious rotation after long-term movement. The accuracy of the test results is negatively affected;

The signal acquisition end 3 includes an outer layer 31 and a movable rod 34, the movable rod 34 is slidably installed in the outer layer 31, and the outer layer 31 is a tubular structure with one end open. A pressure sensor 32 is fixedly installed at the bottom of the movable rod 34, one end of the movable rod 34 in the outer layer 31 is fixedly connected with one end of a spring 33, and the other end of the spring 33 is fixedly connected with a pressure sensor 32. The pressure sensor 32 can detect pressure information in real time, and It is transmitted to the controller, and a directional wheel 35 is fixedly installed on the other end of the movable rod 34;

It should be noted that at least one of the several directional wheels 35 is driven by a servo motor to provide power for the movement of the robot inside the pipeline;

If the outer cladding 31 is a round tube structure, the inner wall of the outer cladding 31 is provided with a limit chute, and a limit slider 36 is provided on the movable rod 34 corresponding to the limit chute, and the limit slider 36 is slidably matched with the limit chute. , to avoid the relative rotation of the outer layer 31 and the movable rod 34;

In an embodiment of the present invention, as shown in FIG. 4 , the directional wheel 35 includes a pedestal 351 and at least two rollers 352 mounted on the pedestal 351 , and the connecting lines of the rotation shaft centers of the plurality of rollers 352 are perpendicular to the The movable rod 34 can improve the stability of the robot running in the pipeline;

The support leg 2 includes a main rod 21 and a plurality of sleeves 22 distributed in an annular array that are fixedly installed on the central housing 1. The sleeves 22 are slidably sleeved on the main rod 21, and a ring gear is rotatably installed inside the central housing 1. 23 and several transmission gears 24, the transmission gear 24 meshes with the ring gear 23, the main rod 21 is provided with a bar-shaped tooth on the side wall of one end inside the central housing 1, the bar-shaped tooth meshes with the transmission gear 24, and passes through the ring gear 23. The rotation can drive several transmission gears 24 to rotate at the same time, and drive the main rod 21 to slide back and forth in the sleeve 22 through the transmission gears 24;

An adjusting motor 25 is fixedly installed in the center shell 1, and the shaft extension end of the adjusting motor 25 is fixedly sleeved with a gear meshing with the ring gear 23, and the adjusting motor 25 is used to provide power for the rotation of the ring gear 23;

This structure can realize the simultaneous adjustment of all the support legs 2 at the same time, reduce the difficulty of adjustment, and improve the adjustment efficiency;

In an embodiment of the present invention, the main rod 21 is configured as a retractable structure, which facilitates detailed adjustment of the length of each support leg 2 outside the central housing 1, so that each signal collection end 3 can fit with the inner wall of the pipe Specifically, the main rod 21 is made up of two parts that are fixedly connected by bolts. Both parts of the main rod 21 are provided with a row of screw holes. By adjusting the position of the screw holes when the two parts of the main rod 21 are fixedly connected, the main rod The length of 21 is adjusted, thereby improving the detection range of the robot of the present invention;

A battery is also fixedly installed inside the central housing 1 to supply power to all power-consuming equipment of the robot;

The robot also includes a positioning module and a motion trajectory acquisition module installed in the central housing 1, the positioning module can realize real-time positioning of the robot, and the motion trajectory acquisition module can record the motion trajectory of the robot in the pipeline;

A camera 4 is also fixedly installed on the central housing 1, and the image information in the pipeline is collected by the camera 4 and transmitted to the monitoring center;

Preferably, a lighting lamp is also fixedly installed on the central housing 1, which is used to illuminate the interior of the pipeline, improve the quality of the captured video, and facilitate the observation and judgment of the staff;

The working method of the robot for monitoring the deformation of the drainage pipeline according to the present invention is as follows:

The first step is to adjust the length of the support leg 2 outside the central housing 1 according to the diameter of the measured pipe, so that any support leg 2 is fitted with the inner wall of the pipe to be measured;

The second step is to place the robot in the pipeline to be tested, and record the pressure data F1, F2, . . . Fn collected by the pressure sensors 32 on the n support legs 2 after stabilization;

It should be noted that when the robot is placed in the pipeline to be tested, at the initial point where the robot enters the pipeline to be tested, the diameter of the pipeline to be tested should be uniform, and there should be no deformation under pressure or other factors;

The third step is to drive the robot to advance along the preset route at a constant speed along the preset route. During this process, the controller collects the pressure data f1, f2, . . . fn collected by the pressure sensors 32 on each support leg 2 in real time. , and calculate the pressure difference pi according to the formula pi=Fi-fi, where 1≤i≤8, compare pi with the preset value p and p1, where p>p1, when p1≤pi≤p, start timing, if If p1≤pi≤p still holds after time t, the area will be marked as a suspect area. If p1≤pi≤p does not hold true after time t, no processing will be done;

When pi is greater than p, the area is marked as a suspect area;

For the suspected area, the staff will check the video information to further determine whether it is a deformed area that needs to be processed;

This method can detect the deformed part of the pipeline in time by monitoring the pressure. Compared with the traditional method of monitoring through the camera, it can reduce the requirements for the camera and reduce the workload of the staff. It is not necessary to pay attention to the internal information of the pipeline in the whole process, and due to the factors of image deformation when the camera is shooting, it will also improve the difficulty and accuracy of the staff's judgment.

In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for convenience The invention is described and simplified without indicating or implying that the device or element referred to must have a particular orientation, as well as a particular orientation configuration and operation, and therefore should not be construed as limiting the invention. In addition, "first" and "second" are for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

In the description of the present invention, it should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrally connected; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or the internal communication between the two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

An embodiment of the present invention has been described in detail above, but the content is only a preferred embodiment of the present invention, and cannot be considered to limit the scope of the present invention. All equivalent changes and improvements made according to the scope of the application of the present invention should still belong to the scope of the patent of the present invention.

Claims (7)

1. A robot for monitoring drainage pipeline deformation is characterized by comprising a central shell (1), wherein a plurality of supporting legs (2) are distributed on the periphery of the central shell (1) in an annular array manner, and a signal acquisition end (3) is fixedly arranged at one end, far away from the central shell (1), of each supporting leg (2);

the signal acquisition end (3) comprises an outer cladding layer (31) and a movable rod (34), the movable rod (34) is slidably mounted in the outer cladding layer (31), the outer cladding layer (31) is of a tubular structure with an opening at one end, a pressure sensor (32) is fixedly mounted at the bottom of the outer cladding layer (31), one end, located in the outer cladding layer (31), of the movable rod (34) is fixedly connected with one end of a spring (33), the other end of the spring (33) is fixedly connected with a pressure sensor (32), the pressure sensor (32) is used for detecting pressure information in real time and transmitting the pressure information to a controller, and a directional wheel (35) is fixedly mounted at the other end of the movable rod (34);

at least one of the plurality of directional wheels (35) is driven by a servo motor;

the main rod (21) is arranged into a telescopic structure.

2. The robot for monitoring the deformation of the drainage pipeline according to the claim 1, wherein the number of the supporting legs (2) is even, when in use, the supporting legs (2) are symmetrically arranged in the pipeline along the vertical direction symmetry axis of the normal cross section circle of the pipeline, and the supporting legs (2) are arranged on two sides of the vertical direction symmetry axis of the normal cross section circle of the pipeline.

3. Robot for monitoring the deformation of drainage pipelines according to claim 1, characterized in that the orientation wheel (35) comprises a shaft bracket (351) and at least two rollers (352) mounted on the shaft bracket (351), and the central connection line of the rotation axes of the rollers (352) is perpendicular to the movable rod (34).

4. The robot for monitoring the deformation of the drainage pipeline according to claim 1, wherein the supporting leg (2) comprises a main rod (21) and a plurality of sleeves (22) which are fixedly arranged on the central shell (1) and distributed in an annular array, the sleeves (22) are sleeved on the main rod (21) in a sliding manner, a ring gear (23) and a plurality of transmission gears (24) are rotatably arranged in the central shell (1), the transmission gears (24) are meshed with the ring gear (23), and a strip-shaped tooth is arranged on the side wall of one end, positioned in the central shell (1), of the main rod (21) and meshed with the transmission gears (24);

an adjusting motor (25) is fixedly installed in the center shell (1), and a gear meshed with the ring gear (23) is fixedly sleeved on the shaft extending end of the adjusting motor (25).

5. The robot for monitoring the deformation of the drainage pipeline according to claim 1, which comprises a positioning module and a motion trail acquisition module which are installed in the central pivot shell (1), wherein the robot is positioned in real time through the positioning module, and the motion trail of the robot in the pipeline is recorded through the motion trail acquisition module.

6. The robot for monitoring the deformation of the drainage pipeline according to the claim 1, wherein a camera (4) is fixedly installed on the central pivot housing (1), and the camera (4) collects image information in the pipeline and transmits the image information to a monitoring center; the central shell (1) is also fixedly provided with a lighting lamp.

7. The robot for monitoring the deformation of the drainage pipeline according to claim 1, wherein the working method of the robot comprises the following steps:

firstly, adjusting the length of the support legs (2) outside the central shell (1) according to the diameter of the measured pipeline to ensure that any support leg (2) is attached to the inner wall of the pipeline to be measured;

secondly, placing the robot in a pipeline to be tested, and recording pressure data F1, F2,. Fn collected by pressure sensors (32) on n support legs (2) after the robot is stable;

thirdly, the robot is driven to move forwards at a constant speed along a preset route by a driving motor, in the process, pressure data f1, f2,.. fn acquired by a pressure sensor (32) on each supporting leg (2) are acquired by a controller in real time, a pressure difference pi is calculated according to a formula pi-Fi-Fi, wherein i is more than or equal to 1 and less than or equal to 8, pi is compared with a preset value p and p1, wherein p is more than p1, when p1 is more than or equal to pi and less than or equal to p, timing is started, if p1 is more than or equal to pi and less than or equal to p after t time, the area is marked as a suspicious area, and if p1 is not more than or equal to pi and less than or equal to p after t time, no processing is performed;

when pi is greater than p, the region is marked as suspect.

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