CN114440054A - Spiral propelling type all-terrain pipeline detection robot - Google Patents
Spiral propelling type all-terrain pipeline detection robot Download PDFInfo
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- CN114440054A CN114440054A CN202210128557.8A CN202210128557A CN114440054A CN 114440054 A CN114440054 A CN 114440054A CN 202210128557 A CN202210128557 A CN 202210128557A CN 114440054 A CN114440054 A CN 114440054A
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- screw
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- plc control
- casing
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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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a spiral propulsion type all-terrain pipeline detection robot which comprises a shell, spiral propellers, a monitoring module, a PLC (programmable logic controller) control module and a database, wherein the spiral propellers are fixedly arranged on two sides of the shell respectively, the two spiral propellers are arranged in parallel, the monitoring module comprises a laser radar, a sonar probe and a high-definition camera, and the laser radar is fixedly arranged at the middle position of one side of the shell. According to the invention, the traditional moving structure is changed, the spiral propellers are arranged on two sides of the shell, the high-definition camera is suitable for an environment with more sludge or higher water level, the high-definition camera is driven to rotate by the first motor and the second motor respectively, the direction and the angle of the high-definition camera can be adjusted in multiple directions, the pipeline model is created by carrying the laser radar and the sonar probe, and the inner wall profile of the pipeline above the water surface can be synchronized in the CCTV detection process and combining the sonar.
Description
Technical Field
The invention relates to the technical field of pipeline detection equipment, in particular to a spiral propulsion type all-terrain pipeline detection robot.
Background
Due to the continuous expansion of urban scale, the water consumption of urban residents is continuously increased, the water discharge is also increased, and the tasks of pipeline dredging, pipeline repairing and pipeline dredging are also heavier and heavier. Especially, the pipeline silt-eliminating work is just a considerable important work in the daily detection work of the drainage pipeline department. A large amount of sundries can be discharged into the drainage pipeline in the running process, and the problem of pipeline blockage can be caused by the precipitation and sedimentation of cement sand in the capital construction site. The excessive flow of sewage can be caused without pipeline desilting and dredging, the environment is polluted, and troubles are brought to the life of citizens.
Although many kinds of pipeline detection robots are available on the market, for pipelines with complex terrain, the traditional robot with wheels as a moving structure is easy to trap in the pipelines, especially pipelines with particularly large deposits and silt.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a spiral propulsion type all-terrain pipeline detection robot, which has the following specific technical scheme:
spiral impulse type all-terrain pipeline inspection robot, including casing, screw propulsion ware, monitoring module, PLC control module and database, the both sides of casing are fixed respectively and are provided with screw propulsion ware, and two be parallel arrangement between the screw propulsion ware, monitoring module includes laser radar, sonar probe and high definition digtal camera, one side of casing is located the fixed laser radar that is provided with of intermediate position, the top of casing is the fixed first motor that is provided with still, the fixed mount pad that is provided with of output of first motor, the mount pad internal rotation is provided with high definition digtal camera, one side in the mount pad is the fixed second motor that is provided with still, the output and the high definition digtal camera of second motor carry out fixed connection.
As the improvement of the technical scheme, the bottom of the shell is also fixedly provided with a sonar probe.
As an improvement of the technical scheme, two dipped headlights are respectively and fixedly arranged on the two sides of the shell, which are positioned on the laser radar, and high beams are respectively and fixedly arranged on the two sides of the top of the shell, which are positioned on the mounting seat.
As an improvement of the technical scheme, a wireless transmission module and a PLC control module are fixedly arranged in the shell, the monitoring module is in signal connection with the PLC control module through the wireless transmission module, and the PLC control module is electrically connected with the spiral propeller.
As an improvement of the technical scheme, an IMU unit is fixedly arranged in the shell and is in signal connection with the wireless transmission module.
As an improvement of the technical scheme, a positioning probe rod is fixedly arranged in the shell, and the PLC control module is in coupling connection with the positioning probe rod.
As an improvement of the technical scheme, the PLC control module is further in signal connection with a comparison module, and the comparison module is further in signal connection with a database.
As an improvement of the technical scheme, the PLC control module is also in signal connection with a database.
As the improvement of the technical scheme, the heating wire is fixedly embedded in the high-definition camera, and the PLC control module is electrically connected with the heating wire.
The invention has the beneficial effects that:
through changing traditional removal structure, install screw propeller in the both sides of casing, can be applicable to the more or higher environment of water level of silt, then be equipped with first motor at the top of casing, the output end fixed mounting of first motor has the mount pad, establish high definition digtal camera in the mount pad again, the condition in the pipeline of can real-time supervision, can also drive high definition digtal camera respectively through first motor and second motor and rotate, can diversely adjust high definition digtal camera's direction and angle, still carry laser radar and sonar probe, can be at the synchronous surface of water top pipeline inner wall profile in CCTV testing process, and combine sonar to establish pipeline model.
Still through being equipped with the IMU unit, can carry out accurate location to the robot, and combine data such as two-dimensional laser and sonar to confirm the coordinate of arranging the mouth, and be equipped with the location probe rod in the casing inside, can cooperate the pipeline detection instrument to carry out accurate location to current pipeline defective position, still make PLC control module carry out signal connection through comparison module and database, the interior detection result of having in the pipeline of storage in the database, can compare current detection result with the detection result before through the comparison, can look for defective position and detailed condition in the pipeline fast, the convenience is in time maintained the pipeline.
Drawings
FIG. 1 is a front view of the overall structure of the present invention;
FIG. 2 is an elevational view of the overall construction of the present invention;
FIG. 3 is a diagram of the results of the inventive concept framework;
FIG. 4 is a block diagram of a monitoring module according to the present invention.
Reference numerals: 1-a shell; 2-a first electric machine; 3-mounting a base; 4-a second motor; 5-low beam light; 6-high beam; 101-a screw propeller; 102-a monitoring module; 1021-lidar; 1022-sonar probe; 1023-high definition camera; 103-a wireless transmission module; 104-a PLC control module; 105-IMU unit; 106-positioning probe; 107-comparison module; 108-a database; 109-electric heating wire.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, 2, 3 and 4, fig. 1 is a front view of the overall structure of the present invention; FIG. 2 is an elevational view of the overall construction of the present invention; FIG. 3 is a diagram of the results of the principle framework of the present invention; FIG. 4 is a block diagram of a monitoring module according to the present invention.
The screw propulsion type all-terrain pipeline detection robot comprises a shell 1, a screw propeller 101, a monitoring module 102, a PLC control module 104 and a database 108.
The both sides of casing 1 are fixed respectively and are provided with screw 101, and be parallel arrangement between two screw 101, have changed traditional removal structure, install screw 101 in the both sides of casing 1, can be applicable to the environment that silt is more or the water level is higher.
As shown in fig. 2, 3 and 4, fig. 2 is a front view of the overall structure of the present invention; FIG. 3 is a diagram of the results of the principle framework of the present invention; FIG. 4 is a block diagram of a monitoring module according to the present invention.
Be equipped with first motor 2 through the top at casing 1, the output end fixed mounting of first motor 2 has mount pad 3, establish high definition digtal camera 1023 in mount pad 3 again, the condition in the real-time supervision pipeline, can also drive high definition digtal camera 1023 respectively through first motor 2 and second motor 4 and rotate, can diversely adjust high definition digtal camera 1023's direction and angle, and it has laser radar 1021 and sonar probe 1022 to carry, can be at synchronous surface of water top pipeline inner wall profile in CCTV testing process, and combine sonar to establish pipeline model.
As shown in fig. 2, fig. 2 is a front view of the overall structure of the present invention.
The both sides that the side of casing 1 is located laser radar 1021 are fixed respectively and are provided with two passing light 5, can provide closely the illumination, can make high definition digtal camera 1023 shoot the concrete environment in the pipeline, and the both sides that the top of casing 1 is located mount pad 3 are still fixed respectively and are provided with high beam 6, can carry out remote illumination, can improve the sight range in the pipeline.
As shown in fig. 3 and 4, fig. 3 is a diagram illustrating the result of the principle framework of the present invention; FIG. 4 is a diagram of a monitoring module according to the present invention
Still fixed wireless transmission module 103 and the PLC control module 104 of being provided with in the casing 1, monitoring module 102 carries out signal connection through wireless transmission module 103 and PLC control module 104, and PLC control module 104 still carries out electric connection with auger 101, can control auger 101's use.
Through be equipped with wireless transmission module 103 and PLC control module 104 in casing 1, PLC control module 104 adopts Arduino UNO module, can make monitoring module 102 carry out signal connection through wireless transmission module 103 and PLC control module 104, not only can be through PLC control module 104 control laser radar 1021, sonar probe 1022 and high definition digtal camera 1023's normal use, can also give PLC control module 104 with the data transmission who obtains and gather, whole pipeline inner wall profile can be fitted, rebuild pipeline three-dimensional model.
As shown in fig. 3, fig. 3 is a diagram of the result of the principle framework of the present invention.
In order to accurately position the robot, an IMU unit 105 is fixedly arranged in the shell 1, the IMU unit 105 is in signal connection with the wireless transmission module 103, and the coordinates of the row opening can be determined by combining data such as two-dimensional laser and sonar.
Casing 1 internal fixation is provided with location probe 106, and PLC control module 104 carries out coupling with location probe 106 and is connected, can cooperate the pipeline detection instrument to carry out accurate location to current pipeline defective position.
As shown in fig. 3, fig. 3 is a diagram of the result of the principle framework of the present invention.
The PLC control module 104 is further in signal connection with a comparison module 107, the comparison module 107 is further in signal connection with a database 108, previous detection results in the pipeline are stored in the database 108, the current detection results can be compared with the previous detection results through the comparison module 107, the defect positions and the detailed conditions in the pipeline can be found out quickly, and the pipeline can be maintained conveniently and timely.
The PLC control module 104 is further in signal connection with the database 108, and information in the database 108 can be modified through the PLC control module 104.
In order to prevent the high definition digtal camera 1023 the phenomenon that the camera lens has water smoke to appear in the pipeline, the heating wire 109 has still been fixed to have inlayed in the inside of high-resolution digtal camera 1023, and PLC control module 104 carries out electric connection with heating wire 109, utilizes heating wire 109 heating can evaporate the water smoke on lens surface.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. Screw propulsion formula all terrain pipeline inspection robot, including casing (1), screw propeller (101), monitoring module (102), PLC control module (104) and database (108), its characterized in that: the both sides of casing (1) are fixed respectively and are provided with screw propulsion ware (101), and two be parallel arrangement between screw propulsion ware (101), monitoring module (102) are including laser radar (1021), sonar probe (1022) and high-condition camera (1023), one side of casing (1) is located fixed laser radar (1021) that is provided with of intermediate position, the top of casing (1) is still fixed and is provided with first motor (2), the fixed mount pad (3) that is provided with of output of first motor (2), the internal rotation of mount pad (3) is provided with high-condition camera (1023), one side in mount pad (3) is still fixed and is provided with second motor (4), the output and the high-condition camera (1023) of second motor (4) carry out fixed connection.
2. The screw-propelled all-terrain pipeline inspection robot of claim 1, wherein: the bottom of the shell (1) is also fixedly provided with a sonar probe (1022).
3. The screw-propelled all-terrain pipeline inspection robot of claim 1, wherein: the side of casing (1) is located the both sides of laser radar (1021) and is fixed two passing light lamps (5) of being provided with respectively, the top of casing (1) is located the both sides of mount pad (3) and still is fixed respectively and is provided with far-reaching headlamp (6).
4. The screw-propelled all-terrain pipeline inspection robot of claim 1, wherein: still fixedly in casing (1) be provided with wireless transmission module (103) and PLC control module (104), monitoring module (102) carry out signal connection through wireless transmission module (103) and PLC control module (104), PLC control module (104) still carry out electric connection with screw propeller (101).
5. The screw-propelled all-terrain pipeline inspection robot of claim 4, wherein: still fixedly in casing (1) be provided with IMU unit (105), just IMU unit (105) still carry out signal connection with wireless transmission module (103).
6. The screw-propelled all-terrain pipeline inspection robot of claim 1, wherein: a positioning probe (106) is fixedly arranged in the shell (1), and the PLC control module (104) is in coupling connection with the positioning probe (106).
7. The screw-propelled all-terrain pipeline inspection robot of claim 1, wherein: the PLC control module (104) is further in signal connection with a comparison module (107), and the comparison module (107) is further in signal connection with a database (108).
8. The screw-propelled all-terrain pipeline inspection robot of claim 1, wherein: the PLC control module (104) is also in signal connection with a database (108).
9. The screw-propelled all-terrain pipeline inspection robot of claim 1, wherein: the inside of high-emotion camera (1023) still fixedly has inlayed heating wire (109), PLC control module (104) carries out electric connection with heating wire (109).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210128557.8A CN114440054A (en) | 2022-02-11 | 2022-02-11 | Spiral propelling type all-terrain pipeline detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210128557.8A CN114440054A (en) | 2022-02-11 | 2022-02-11 | Spiral propelling type all-terrain pipeline detection robot |
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| Publication Number | Publication Date |
|---|---|
| CN114440054A true CN114440054A (en) | 2022-05-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210128557.8A Pending CN114440054A (en) | 2022-02-11 | 2022-02-11 | Spiral propelling type all-terrain pipeline detection robot |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20150092574A (en) * | 2014-02-05 | 2015-08-13 | 호남대학교 산학협력단 | defect information detection image processing system using robot |
| CN206066414U (en) * | 2016-08-31 | 2017-04-05 | 广州鸿鑫勘测技术有限公司 | Intelligent pipeline detects robot |
| KR20170084944A (en) * | 2016-01-13 | 2017-07-21 | 주식회사 동일정공 | System and method for inspecting inner surface of pipe |
| CN212377561U (en) * | 2020-04-30 | 2021-01-19 | 武汉中仪物联技术股份有限公司 | Pipeline inspection robot |
| CN112984274A (en) * | 2021-03-15 | 2021-06-18 | 安徽碧盾环境工程技术有限公司 | Pipeline robot with prevent hazing function |
| CN113503927A (en) * | 2021-08-20 | 2021-10-15 | 国投信开水环境投资有限公司 | Drainage pipeline detection robot with flight time module and detection method thereof |
| CN113757483A (en) * | 2021-09-14 | 2021-12-07 | 黄腾锋 | Pipeline environment detection robot and detection method |
-
2022
- 2022-02-11 CN CN202210128557.8A patent/CN114440054A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20150092574A (en) * | 2014-02-05 | 2015-08-13 | 호남대학교 산학협력단 | defect information detection image processing system using robot |
| KR20170084944A (en) * | 2016-01-13 | 2017-07-21 | 주식회사 동일정공 | System and method for inspecting inner surface of pipe |
| CN206066414U (en) * | 2016-08-31 | 2017-04-05 | 广州鸿鑫勘测技术有限公司 | Intelligent pipeline detects robot |
| CN212377561U (en) * | 2020-04-30 | 2021-01-19 | 武汉中仪物联技术股份有限公司 | Pipeline inspection robot |
| CN112984274A (en) * | 2021-03-15 | 2021-06-18 | 安徽碧盾环境工程技术有限公司 | Pipeline robot with prevent hazing function |
| CN113503927A (en) * | 2021-08-20 | 2021-10-15 | 国投信开水环境投资有限公司 | Drainage pipeline detection robot with flight time module and detection method thereof |
| CN113757483A (en) * | 2021-09-14 | 2021-12-07 | 黄腾锋 | Pipeline environment detection robot and detection method |
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