CN115230410A

CN115230410A - Pipe culvert detection robot

Info

Publication number: CN115230410A
Application number: CN202210808797.2A
Authority: CN
Inventors: 陶啸; 李海宝; 谭洁; 张维; 罗回国
Original assignee: PowerChina Zhongnan Engineering Corp Ltd
Current assignee: PowerChina Zhongnan Engineering Corp Ltd
Priority date: 2022-07-11
Filing date: 2022-07-11
Publication date: 2022-10-25

Abstract

The invention provides a pipe culvert detection robot. The pipe culvert detection robot comprises a chassis, a scanner, a top lamp, a front lamp, a camera, an instrument bin and a turnover cover; the middle part of the chassis is provided with a cavity, and the instrument bin is arranged on the chassis and ascends and descends relative to the cavity; the scanner is arranged in the instrument bin in a lifting manner and is linked with the turnover cover; the top lamp is arranged on the lower surface of the flip cover; the forward lamp and the camera are arranged on the instrument bin and are arranged in the forward direction of the robot. The pipe culvert detection robot provided by the invention can reduce the personnel safety risk and the project management pressure, and can successfully protect a scanner through a conventional inspection well and a novel design with a remarkable size advantage.

Description

Pipe culvert detection robot

Technical Field

The invention relates to the technical field of municipal water environment comprehensive treatment pipe culvert detection, in particular to a pipe culvert detection robot.

Background

In order to thoroughly find out the pollution condition of rainwater sewage discharge and sewage interception box culvert discharge port upstream drainage system, a wading pollution source information database and a drainage facility distribution data database are established, basic data are provided for the follow-up solution that sewage is directly discharged and confluent sewage overflows through a catch basin and sewage interception box culvert discharge port, and drainage port investigation of river channel hidden culvert and municipal hidden culvert needs to be carried out urgently.

At present, the investigation of the underdrain and the internal discharge thereof mainly adopts the following four methods: 1. detecting and acquiring inspection well information by a pipeline; 2. performing endoscopic detection on pipelines such as QV, CCTV and the like; 4. carrying out total station measurement by a limited space operator; 5. and (4) carrying out three-dimensional laser scanning measurement by a limited space operator. The four underdrain investigation techniques all have defects of different degrees: when the method 1 is adopted, the hidden culvert cannot be accessed, so that the acquisition of the hidden channel information is limited and the accuracy is not high; when the method 2 is adopted, the images in the underdrain are acquired through endoscopic detection of pipelines such as QV, CCTV and the like, high-precision underdrain space information cannot be acquired, and meanwhile, due to the influence of the environments such as underdrain silt, sand and stone and the like, the CCTV traveling distance adopting a wheel type traveling structure is extremely limited, so that the requirements of underdrain investigation are difficult to meet; when the

method

3 or 4 is adopted, the operation is required to be carried out by the operating personnel in the limited space, the relevant national regulations such as ' occupational hazard protection Specification for closed space operation (GBZT 205-2007) ' selection of respiratory protection articles, use and maintenance ' (GB/T18664-2002) and the like are required to be met to carry out the work, the safety examination and approval of the operation in the limited space are required to be handled, relevant emergency materials are required to be prepared, the relevant safety operation process is required to be followed, the requirements on the physical quality and the skill of the operating personnel are high, and the safety risk of the operating personnel and the operation management pressure are high.

In the existing detection, the three-dimensional laser scanning technology is used for carrying out underdrain investigation, so that the full-space elements in the underdrain can be obtained, and the acquisition points have the characteristics of high precision, high density and the like, and the characteristics are obviously superior to those of other methods. The three-dimensional laser scanning technology is an important means for realizing the informationization of the urban water environment comprehensive treatment underdrain, is an optimal technology for realizing the rendering of the underdrain three-dimensional model, belongs to a precise instrument, cannot enter water, cannot fall down, and cannot be directly exposed in the dark, humid and disordered underdrain internal environment.

The underground canal investigation work is carried out, and generally, a municipal pipe network inspection well is used as an access channel. The diameter of the inspection well is commonly 700mm. The size is further reduced due to the fact that construction is not standard, so that the mode of carrying three-dimensional laser scanning by using a conventional pipeline detection robot (such as a reservoir culvert detection robot disclosed by the patent publication No. CN 206592709U; an all-terrain detection robot disclosed by the patent publication No. CN 214037361U) is basically not feasible. If the robot adopting the mode can smoothly pass through the inspection well, most obstacle crossing capability is lost due to the fact that the chassis is too low.

Disclosure of Invention

In the face of extremely harsh and complicated inner environment of the underdrain and field test environment with more restriction factors, the technical problems to be solved by the invention are as follows: aiming at the internal environment of an underdrain with barriers such as silt, garbage, branches and masonry or a deep water pit and aiming at a municipal pipe network inspection well with the diameter of phi 700mm, on the basis of ensuring the power output and obstacle crossing capability as strong as possible and on the premise of ensuring the safety of a three-dimensional laser scanner, a crawler-type pipe culvert detection robot carrying the three-dimensional laser scanner is researched. And the pipe culvert detection robot is provided, so that the personnel safety risk and the project management pressure can be reduced, and the scanner can be protected by a conventional inspection well and a novel design with remarkable size advantage.

The technical scheme of the invention is as follows: a pipe culvert detection robot comprises a chassis, a scanner, a top lamp, a forward lamp, a camera, an instrument bin and a flip which can be covered on the instrument bin in a hinged mode; the middle part of the chassis is provided with a cavity, and the instrument bin is arranged on the chassis and can lift relative to the cavity; the scanner is arranged in the instrument bin in a lifting manner and is linked with the turnover cover;

the top lamp is arranged on the lower surface of the flip cover; the forward light and the camera are arranged in the forward direction of the robot.

In the scheme, by adopting the liftable instrument bin and the chassis with the cavity, when the chassis is designed, the size of the cavity needs to be considered, so that the height and the width of the chassis are increased, and the municipal pipe network inspection well with the diameter of 700mm needs to be ensured to pass. The chassis designed in this way has larger size and better stability; when the instrument bin is lifted, the robot can have stronger obstacle crossing capability and larger wading depth;

the scanner is installed in the instrument bin by adopting a lifting type connecting structure, is exposed outside the instrument bin by lifting, and then carries out scanning test, meets the working requirement of the scanner, and realizes the all-round protection by lifting to enable the scanner to be accommodated in the instrument bin.

Preferably, the instrument chamber is of a box-type structure, and the bottom of the instrument chamber is a plane. When the robot mistakenly enters the deep water pit, the robot can float on the water surface by generating buoyancy through the bottom plane of the instrument bin, so that the robot has amphibious capability.

Preferably, a base, a driving source and a threaded rod are arranged in the instrument bin, the threaded rod is arranged in the instrument bin, one end of the base is in threaded connection with the threaded rod, and the driving source is used for driving the threaded rod to rotate; the scanner is arranged on the base.

The lifting is realized through the threaded connection of the threaded rod type, and the lifting height of the scanner can be subjected to micro-adjustment and stable locking.

Preferably, the scanner and the flip cover are linked through a connecting rod assembly, the connecting rod assembly comprises a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are hinged to each other to form a hinge point A, and the first connecting rod is vertically arranged and is synchronously connected with the scanner in a lifting mode; the second connecting rod is connected with the flip cover.

The connecting rod assembly with the hinge point A forms a simple connecting rod structure, the linkage of the opening and closing of the flip cover and the lifting of the scanner is realized, and secondary control is not needed.

In order to realize that the flip easily opens, do benefit to the transmission of power, the second connecting rod is shorter than first connecting rod.

Preferably, a vertical distance L1 is formed between a hinge point of the flip and the instrument bin and a connection point of the second connecting rod on the flip, and a vertical distance L2 is formed between the hinge point of the flip and the instrument bin and the hinge point a; l1 is less than L2. The length of the connecting rod and the installation position of each connecting rod are related to the stroke of the scanner needing to be lifted and are determined after simulation design.

Preferably, the pipe culvert detection robot further comprises a lifting frame and a push rod mechanism, wherein the lifting frame and the push rod mechanism are installed in the cavity of the base plate, one end of the lifting frame is fixed to the base plate, the other end of the lifting frame is connected with the instrument bin, and the push rod mechanism drives the lifting frame to lift.

Preferably, the rear end of the chassis is connected with a photoelectric composite cable, and the photoelectric composite cable is connected in a plug-in connection mode. The connection mode of plug can realize quick installation and dismantlement, and can install with the components and parts of the same plug of different models.

Preferably, the chassis is a crawler-type walking chassis.

Compared with the related technology, the invention has the beneficial effects that:

1. the robot has size advantage and amphibious capacity on the premise of meeting the requirement of passing through a standard inspection well due to unique cavity layout and the liftable instrument bin;

2. the unique instrument bin flip cover design and the liftable workbench can carry out more comprehensive protection on the three-dimensional laser scanner on the premise of meeting the working requirement of the three-dimensional laser scanner;

3. the robot has a large chassis, a high ground clearance, a strong motor load capacity, a strong obstacle crossing capacity and capability of dragging longer cables;

4. the invention effectively overcomes the limitation of the inspection well on the size of the robot, has comprehensive protection on the three-dimensional laser scanner, is more suitable for carrying out high-precision underdrain investigation under severe and complex underdrain internal environments, and greatly reduces the safety risk and operation management pressure of underdrain investigators.

Drawings

Fig. 1 is a schematic front view of a pipe culvert detection robot provided by the invention;

FIG. 2 is a left side schematic view of FIG. 1;

fig. 3 is a schematic connection diagram of a base, a driving source and a threaded rod in the pipe culvert detection robot provided by the invention.

In the drawings: 1. a chassis; 2. an instrument bin; 3. a scanner; 4. a top-facing light; 5. a cover is turned; 6. a push rod mechanism; 7. a photoelectric composite cable; 8. a lifting frame; 9. a crawler; 10. a forward light; 11. a camera; 12. a base; 13. a drive source; 14. a threaded rod; 15. a connecting rod assembly; 151. a first link; 152. a second link.

Detailed Description

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. For convenience of description, the words "upper", "lower", "left" and "right" in the following description are used only to indicate the correspondence with the upper, lower, left and right directions of the drawings, and do not limit the structure.

As shown in fig. 1, the pipe culvert detecting robot provided by the embodiment includes a chassis 1, a scanner 3, a top lamp 4, a front lamp 10, a camera 11, an instrument chamber 2, a flip cover 5, a link assembly 15, a lifting frame 8, and a push rod mechanism 6.

The chassis 1 is a crawler-type chassis comprising a crawler 9 laid on the periphery of a wheel body. The middle part of the chassis 1 is of a cavity structure, so that the weight of the chassis is reduced, and the instrument bin 2 is favorably accommodated. A driving motor for driving the chassis 1 to walk is positioned in the front bridging cylinder and the rear bridging cylinder, and the power module and the communication module are integrated at the rear end (the end far away from the advancing direction) of the chassis 1. The rear end of the chassis 1 is connected with a photoelectric composite cable 7 in a plug-in connection mode. The crawler-type walking structure enables the robot to keep a larger contact area with the ground in the sludge and riprap environment so as to obtain stronger ground holding force.

The instrument bin 2 is arranged on the base plate 1 and is lifted relative to the cavity through the lifting frame 8. One end of the lifting frame 8 is fixed with the chassis 1, the other end of the lifting frame is connected with the instrument bin 2, and the push rod mechanism 6 drives the lifting frame 8 to lift.

The instrument chamber 2 is of a box-shaped structure, and the bottom of the instrument chamber is a plane capable of generating buoyancy. As shown in fig. 1 and 3, a base 12, a driving source 13 (driving motor), and a threaded rod 14 are provided in the instrument container 2, and the threaded rod 14 is fixed to an inner side wall of the instrument container 2 by a bracket (not numbered) with respect to which the threaded rod 14 is rotatable. One end of the base 12 is provided with a screw hole (not shown) that is screwed with the threaded rod 14, and the driving source 13 is configured to drive the threaded rod 14 to rotate. The scanner 3 is provided on the base 12. The scanner 3 is a three-dimensional laser scanner. When the driving source 13 drives the threaded rod 14 to rotate, the base 12 screwed with the threaded rod 14 can move up and down along the threaded rod 14, so that the scanner 3 on the base 12 is driven to ascend and descend.

The flip cover 5 can cover the instrument bin 2 in a hinged mode. The scanner 3 can drive the turning cover 5 to open and close simultaneously by the lifting and descending actions. The method specifically comprises the following steps:

as shown in fig. 1, the scanner 3 is lifted and lowered to open and close the flip 5 via a link assembly 15 hinged to each other. The connecting rod assembly 15 includes a first connecting rod 151 and a second connecting rod 152, the first connecting rod 151 and the second connecting rod 152 are hinged to each other to form a hinge point a, and the first connecting rod 151 is vertically arranged and is synchronously connected with the scanner 3 in a lifting manner. The second link 152 is connected to the folder 5. The second link 152 is shorter than the first link 151. A vertical distance L1 is formed from a hinge point of the flip 5 and the instrument bin 2 to a connection point of the second connecting rod 152 on the flip 5, and a vertical distance L2 is formed from a hinge point of the flip 5 and the instrument bin 2 to the hinge point a; l1 is less than L2, so that the opening angle of the flip 5 is larger. In a specific structural design, the second connecting root 152 may be a downward-concave arc-shaped rod as shown in fig. 1, so as to better drive the flip cover to open and close through lifting.

As shown in fig. 1 and 2, the dome lamp 4 is disposed on the lower surface of the flip cover 5. The forward lamp 10 and the camera 11 are arranged on the side wall of the instrument cabin 2 facing the advancing direction of the robot.

Before the underground channel investigation work is carried out, an inspection well is opened, an anti-falling net is detached, well chamber cataract obstacles are cleaned, a safety warning belt is laid, and a safety warning board is placed. If the inspection well is located on the road, traffic dispersion should be performed.

When the underground channel investigation work is formally carried out, the photoelectric composite cable is connected to the robot, and the three-dimensional laser scanner is installed. Starting the three-dimensional laser scanner and setting parameters. The robot is started, and the state of the pipe culvert detection robot is tested.

After the preparation work and the detection work are completed, the front LED is started, the camera is started, the pipe culvert detection robot is hoisted into the inspection well by utilizing the hook and is stably placed at the bottom of the inspection well. And observing the internal environment of the underdrain, and performing work prejudgment. And if the underdrain environment meets the test conditions, carrying out underdrain investigation work according to the standard workflow of the underdrain three-dimensional laser scanning test.

When the robot moves to a certain scanning test station, the robot is stopped at the middle part of the underdrain, the turning cover is opened, the top LED lamp is turned on, and the workbench is lifted to a set position. And after the three-dimensional laser scanning test of the station is finished, the workbench falls back to the initial position, the top LED lamp is closed, and the turnover cover is closed. The robot of the present invention is started to the next scanning station.

After the underground canal investigation work is finished or the length of the photoelectric composite cable is exceeded, the pipe culvert detection robot is driven back to the position below the inspection well. And hooking the pipe culvert detection robot by using a hook, and pulling to the ground. And closing the pipe culvert to detect the power supply of the robot and checking the state.

After the completion of the underground channel investigation work, the anti-falling net is installed, the inspection well is closed, the warning belt and the warning board are removed, and the traffic is recovered.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A pipe culvert detection robot comprises a chassis (1), a scanner (3), a top lamp (4), a front lamp (10) and a camera (11), and is characterized by further comprising an instrument bin (2) and a turnover cover (5) which can be covered on the instrument bin (2) in a hinged mode; the middle part of the chassis (1) is provided with a cavity, and the instrument bin (2) is arranged on the chassis (1) and can lift relative to the cavity; the scanner (3) is arranged in the instrument bin (2) in a lifting manner, and the scanner (3) is linked with the turnover cover (5);

the top lamp (4) is arranged on the lower surface of the turnover cover (5); the forward lamp (10) and the camera (11) are arranged in the direction of the advance of the robot.

2. Pipe culvert detection robot according to claim 1, characterized in that the instrument bin (2) is box-shaped structure with a plane bottom.

3. The pipe culvert detection robot according to claim 1, characterized in that a base (12), a driving source (13) and a threaded rod (14) are arranged in the instrument bin (2), the threaded rod (14) is arranged in the instrument bin (2), one end of the base (12) is in threaded connection with the threaded rod (14), and the driving source (13) is used for driving the threaded rod (14) to rotate; the scanner (3) is arranged on the base (12).

4. The pipe culvert detection robot according to claim 1, wherein the linkage of the scanner (3) and the flip (5) is realized by a connecting rod assembly (15), the connecting rod assembly (15) comprises a first connecting rod (151) and a second connecting rod (152), the first connecting rod (151) and the second connecting rod (152) are hinged to each other to form a hinge point A, and the first connecting rod (151) is vertically arranged and is synchronously connected with the scanner (3) in a lifting mode; the second connecting rod (152) is connected with the flip cover (5).

5. Pipe culvert detection robot according to claim 4, characterized in that the second link (152) is shorter than the first link (151).

6. The culvert detection robot of claim 4, characterized in that the hinge point of the flip (5) and the instrument bin (2) to the connection point of the second connecting rod (152) on the flip (5) forms a vertical distance L1, and the hinge point of the flip (5) and the instrument bin (2) to the hinge point A forms a vertical distance L2; l1 is less than L2.

7. The pipe culvert detection robot of claim 1, further comprising a lifting frame (8) and a push rod mechanism (6) which are installed in a cavity of the chassis (1), wherein one end of the lifting frame (8) is fixed with the chassis (1), the other end of the lifting frame is connected with the instrument bin (2), and the push rod mechanism (6) drives the lifting frame (8) to lift.

8. The pipe culvert detection robot according to claim 1, wherein a photoelectric composite cable (7) is connected to the rear end of the chassis (1), and the photoelectric composite cable (7) adopts a plug-in connection mode.

9. Pipe culvert detection robot in accordance with claim 1, characterized by, that the chassis (1) is a crawler-type walking chassis.