CN115628774A

CN115628774A - Pipeline and hole wall scanning robot based on 3D laser scanning and using method

Info

Publication number: CN115628774A
Application number: CN202211255492.XA
Authority: CN
Inventors: 张朝阳; 王前军; 纪焕幸; 肖波; 吴子玉; 梅永尚
Original assignee: Second Construction Bureau Of China Construction Corp
Current assignee: Second Construction Bureau Of China Construction Corp
Priority date: 2022-10-13
Filing date: 2022-10-13
Publication date: 2023-01-20

Abstract

The invention relates to a pipeline and hole wall scanning robot based on 3D laser scanning, which comprises a laser collecting head, a sampling protective shell, an electro-hydraulic servo propulsion mechanism, a tail sleeve, a bearing climbing foot, a skid plate, an auxiliary control circuit and a main controller, wherein the sampling protective shell and the tail sleeve are connected through the electro-hydraulic servo propulsion mechanism, the laser collecting head is embedded in the sampling protective shell, the auxiliary control circuit is embedded in the tail sleeve, the main controller is positioned outside the sampling protective shell and the tail sleeve, the outer parts of the sampling protective shell and the tail sleeve both bear the climbing foot, and the front end face of the bearing climbing foot is connected with the skid plate. The using method comprises three steps of equipment assembly, detection operation, data communication and the like. On one hand, the invention can effectively and flexibly adjust the structure of the equipment according to the structure of the pipeline and effectively improve the obstacle resistance of the equipment in operation; on the other hand, the detection precision is high in the pipeline, and the information data is comprehensive, so that the precision and comprehensiveness of the pipeline detection operation are greatly improved.

Description

Pipeline and hole wall scanning robot based on 3D laser scanning and using method

Technical Field

The invention relates to a pipeline and hole wall scanning robot based on 3D laser scanning, and belongs to the technical field of robots.

Background

The sewage pipeline is easy to be blocked by various impurities and sludge due to the use property and is easy to be corroded and damaged, and the sewage pipeline is generally laid at the edge of a road and is easy to damage and deform a roadbed; in addition, the drainage pipeline of special industries, such as a gas drainage pipeline, has three-phase states of pulverized coal, water, gas and the like, and the pulverized coal and the water are easy to combine into coal slime to cause pipeline blockage; even in the case of drilling and forming holes with large apertures, the inclination angle, the track, the integrity of the hole wall and the like need to be accurately evaluated in construction. Therefore, the pipeline section scanning device has wide application space. However, when the currently used section scanning device is in operation, the device structure is often fixed, and when the device is in operation, data connection needs to be established between the device and an external control device through a lead, so that the device is easily limited by the length of the lead and the pipe diameter of a pipeline when the device is in operation.

In actual work, due to the necessity of detection in the pipeline, the operation is complex, for example, the mine gas extraction pipeline, the production ventilation pipeline, the daily water and the production drainage pipeline are likely to be blocked, and the same pipeline equipment is often required to be connected with a plurality of pipeline equipment with different pipe diameters, so that the change of the inner diameter of the pipeline equipment in detection is large, the reliability of the surface structure quality of the pipeline is poor, and the current pipeline end face detection equipment is easy to be blocked and cannot normally operate during detection; meanwhile, because the distribution direction of the pipeline, the arrangement angle and the length of the pipeline are greatly different, when the current pipeline section detection equipment operates, the pipeline cannot be accurately positioned, and the pipeline is easily influenced by the environment during operation, so that the data transmission capacity is insufficient, and meanwhile, the operation range of the equipment is limited due to the limitation of the length of a data transmission wire.

Therefore, in order to solve the problem, it is urgently needed to develop a pipeline and hole wall scanning robot based on 3D laser scanning and a using method thereof, so as to meet the needs of practical use.

Disclosure of Invention

In order to solve the defects in the prior art, the invention provides a pipeline and hole wall scanning robot based on 3D laser scanning and a use method thereof, on one hand, the invention can effectively and flexibly adjust the structure of the equipment according to the structure of the pipeline, thereby effectively meeting the requirement of detecting the pipeline equipment with different inner diameters, greatly improving the flexibility and the universality of the equipment use and effectively improving the obstacle resistance of the equipment during the operation; on the other hand, the detection precision of the interior of the pipeline is high, the information data is comprehensive, and the distribution position, the thickness and the distribution appearance mechanism of sundries attached to the pipe wall of the pipeline are accurately observed while the video signal acquisition of the environment in the pipeline is effectively carried out; in addition, the system can synchronously and accurately detect the observation position and the distribution and trend state of the pipeline during operation, thereby greatly improving the precision and comprehensiveness of the pipeline detection operation.

In order to achieve the purpose, the invention is realized by the following technical scheme:

a pipeline and hole wall scanning robot based on 3D laser scanning comprises a laser collecting head, a sampling protective shell, an electro-hydraulic servo propulsion mechanism, a tail sleeve, a bearing climbing foot, a skid plate, an elastic sealing ring, an auxiliary control circuit and a main controller, wherein the sampling protective shell and the tail sleeve are both of columnar cavity structures with '21274' shaped axial sections, the rear end face of the sampling protective shell and the front end face of the tail sleeve are connected and coaxially distributed through the electro-hydraulic servo propulsion mechanism, the front end face of the sampling protective shell and the rear end face of the tail sleeve are respectively provided with the elastic sealing ring which is coaxially distributed with the sampling protective shell, the laser collecting head is embedded in the sampling protective shell and is coaxially distributed with the sampling protective shell and in sliding connection, the auxiliary control circuit is embedded in the tail sleeve and is electrically connected with the laser collecting head, the sampling protective shell, the electro-hydraulic servo propulsion system and the main controller respectively, the main controller is positioned outside the sampling protective shell and the tail sleeve, the sampling protective shell and the tail sleeve are respectively connected with 3-6 bearing feet which are uniformly distributed around the axes of the sampling protective shell through elastic hinges, the surface of the sampling protective shell and the skid sleeve form an included angle of 0-90 DEG with the other 90 DEG, and the sampling protective shell through the elastic climbing foot hinge and the other 60-degree included angle between the axial line of the sampling protective shell and the tail sleeve.

The sampling protective shell further comprises a hard sleeve, trays, horizontal driving mechanisms, at least two rotary driving mechanisms, positioning fixtures and cleaning brushes, wherein the hard sleeve is of a columnar cavity structure with a V-shaped axial section, the horizontal driving mechanisms are embedded in the hard sleeve and uniformly distributed around the axis of the hard sleeve, the trays are embedded in the hard sleeve and coaxially distributed with the hard sleeve, the side wall of each tray is in sliding connection with the inner side surface of the hard sleeve through the horizontal driving mechanism, the front end surface of each tray is provided with the rotary driving mechanisms which are coaxially distributed with the front end surface of the tray, the rotary driving mechanisms are additionally connected with the at least two positioning fixtures which are uniformly distributed around the axis of the tray and connected with the rear end of a laser collecting head through the positioning fixtures, the laser collecting head performs rotary motion within the range of 0-360 degrees through the rotary driving mechanisms, meanwhile, the distance between the front end surface of each tray and the front end surface of the hard sleeve is 0-1.5 times of the length of the laser collecting head, the inner side surface of the hard sleeve corresponding to which the laser collecting head is correspondingly provided with at least two cleaning fixtures which are uniformly distributed around the axis of the hard sleeve, the cleaning brushes are parallelly distributed with the outer side surface of the hard sleeve, and are also connected with an auxiliary driving circuit, and abutted against the auxiliary driving circuit, and an auxiliary driving circuit.

Furthermore, the spread groove is established to the stereoplasm cover lateral wall that the cleaning brush corresponds, and the cleaning brush rear end inlays in the spread groove to be connected with the stereoplasm cover through the spread groove, the stereoplasm cover lateral wall position that the spread groove tank bottom corresponds establishes at least two thru holes along the spread groove axis equipartition.

Further, laser collecting head includes carrier post, light, observation camera, laser scanner, transparent protecting cover, gravity sensor, acceleration sensor, temperature and humidity sensor, locating rack and binding post, the carrier post is cylinder cavity structures, and an observation window rather than coaxial distribution is established to its preceding terminal surface, and the lateral wall establishes at least three survey and drawing window around carrier post axis equipartition, and observation window and survey and drawing window department all establish transparent protecting cover, and the carrier post constitutes closed cavity structures through transparent protecting cover, light, temperature and humidity sensor all at least one, inlay in carrier post preceding terminal surface and with carrier post axis parallel distribution, the locating rack inlays in the carrier post, for the frame construction with carrier post coaxial distribution and be connected with the carrier post medial surface, observe camera, laser scanner all be located the carrier post and be connected with the locating rack, observe coaxial distribution between camera and observation window, laser scanner is unanimous with survey and drawing window quantity, and every survey and drawing window corresponding position and all establish a laser scanner rather than coaxial distribution, and each laser scanner operation independently between each other, gravity sensor, acceleration sensor and all correspond binding post rear connection terminal surface with the camera post and electric connection terminal surface, the auxiliary connection of camera, the terminal surface of electric connection of camera, the terminal surface of bearing post, the auxiliary control of camera, temperature and humidity sensor, the terminal surface of bearing post, the auxiliary connection of electric connection of camera, the terminal surface of bearing post, the auxiliary control.

Further, bear and climb the sampling protecting crust that the foot corresponds and the tail cover lateral surface and all establish the guide way, and when bearing and climb sufficient axis and sampling protecting crust and tail cover axis parallel distribution, bear and climb the foot and inlay in the guide way, bear and climb the foot and include electronic flexible post, leading wheel, stereoplasm protecting jacket post, carrier spring, stereoplasm protecting jacket post up end establishes rather than the adjustment tank of coaxial distribution, electronic flexible post lower half inlays in the adjustment tank, with the coaxial distribution of adjustment tank and with adjustment tank lateral wall sliding connection, terminal surface offsets through carrier spring with the adjustment tank bottom under the electronic flexible post simultaneously, and electronic flexible post up end is articulated through elastic hinge and sampling protecting crust and tail cover surface simultaneously, terminal surface is connected with the skid plate under the stereoplasm protecting jacket post, stereoplasm protecting jacket post lateral surface establishes two at least leading wheels along its axis equipartition, and when bearing and climb sufficient axis and sampling protecting crust and tail cover axis parallel distribution, the leading wheel face surpasss sampling shell and tail cover lateral surface at least 5 millimeters.

Further, when bearing climbing foot axis and sampling protecting crust and tail cover axis parallel distribution, the bearing climbing foot that the sampling protecting crust is connected surpasss the preceding terminal surface of sampling protecting crust by 3 centimetres at least, and the bearing climbing foot that the tail cover is connected surpasss tail cover rear end face by 3 centimetres at least, the wheel face of leading wheel is for the cross-section personally submitting arbitrary one of isosceles trapezoid and isosceles triangle.

Furthermore, two ends of the electro-hydraulic servo propulsion mechanism are hinged with the sampling protective shell and the tail sleeve through elastic hinges respectively, an elastic sheath is arranged between the sampling protective shell and the tail sleeve corresponding to the electro-hydraulic servo propulsion mechanism, and the elastic sheath is wrapped outside the liquid servo propulsion system.

Furthermore, the auxiliary control circuit and the main controller are both circuit systems based on any one of FPGA and DSP, the auxiliary control circuit and the main controller are both provided with a wireless communication circuit and a serial communication circuit, and data connection is established between the auxiliary control circuit and the main controller through the wireless communication circuit and the serial communication circuit at the same time, and in addition, the auxiliary control circuit is additionally provided with a GNSS satellite positioning circuit, a UWB communication circuit and an emergency driving power supply; the main controller is additionally provided with a console, a plurality of paths of voltage stabilizing circuits and an operation and control interface based on any one or more of a display, a potentiometer, a signal indicator light and a button, the main controller and the plurality of paths of voltage stabilizing circuits are both positioned in the console, and the operation and control interface is embedded on the outer side surface of the console.

A use method of a pipeline and hole wall scanning robot based on 3D laser scanning comprises the following steps:

s1, assembling equipment, namely firstly setting a sampling protective shell and a tail sleeve to be direct according to the average inner diameter of pipeline equipment to be detected, simultaneously setting the maximum length of each bearing climbing foot and the length of a lead used for connecting an auxiliary control circuit and a main controller, and then assembling a laser collecting head, the sampling protective shell, an electro-hydraulic servo propulsion mechanism, the tail sleeve, the bearing climbing foot, a skid plate, an elastic sealing ring, an auxiliary control circuit and the main controller to obtain a finished scanning robot;

s2, detection operation, namely inserting the assembled scanning robot into a pipeline to be detected, enabling a bearing foot of the scanning robot to abut against the inner wall of the pipeline to be detected through a skid plate, enabling the sampling protective shell and the tail sleeve to be coaxially distributed, then sending a pipeline detection control command to an auxiliary control circuit through a main controller, and driving an electro-hydraulic servo propulsion mechanism, a laser collecting head and a sampling protective shell to synchronously operate through the auxiliary control circuit; and finally, driving the observation camera, the laser scanner, the gravity sensor, the acceleration sensor and the temperature and humidity sensor of the laser collecting head to operate, wherein when the laser collecting head operates:

directly detecting the video data of the internal environment of the pipeline by an observation camera;

the laser scanner detects the distance between sundries at the position of the pipe wall of the pipeline and the laser scanner, and simultaneously scans the structural state of the sundries, so that sundry stacking thickness data and three-dimensional distribution state parameters are obtained, and when the laser scanner runs, the laser scanner is synchronously driven to rotate through the rotary driving mechanism, and the laser scanner can be accurately adjusted to the working position of the laser scanner according to the position of the sundries while comprehensively detecting the inner wall of the pipeline through rotary operation;

acquiring the gravity center change of the scanning robot in the detection process by a gravity sensor so as to obtain the current pipeline distribution trend; meanwhile, the pipeline is further accurately positioned under the condition of good wireless communication condition through a GNSS satellite positioning circuit of the auxiliary control circuit;

detecting the running speed of the scanning robot when the scanning robot runs by an acceleration sensor;

detecting temperature and humidity parameters inside the pipeline by a temperature and humidity sensor;

s3, data communication is carried out, the data obtained in the step S2 are firstly sent to an auxiliary control circuit, and after the auxiliary control circuit processes the acquired data, the data are transmitted to a main controller through a wire; on the other hand, the wireless data transmission operation is carried out through the wireless communication circuit between the auxiliary control circuit and the main controller.

Further, when the steps S2 and S3 are in operation, when the distance between the main controller and the auxiliary control circuit is larger than the initially set lead length or lead faults occur, the auxiliary control circuit and the main controller are disconnected from lead connection, on one hand, the emergency driving power supply of the auxiliary control circuit provides operation power, and on the other hand, wireless transmission of detection data is carried out through the wireless communication circuit.

The invention has simple structure and flexible and convenient operation, can effectively realize the inspection operation of the internal state of narrow space such as pipelines and the like, has strong data interaction communication capacity, and on one hand, can effectively flexibly adjust the equipment structure according to the pipeline structure, thereby effectively meeting the requirement of detecting operation on pipeline equipment with different inner diameters, greatly improving the flexibility and the universality of equipment use and effectively improving the obstacle resistance of the equipment during operation; on the other hand, the detection precision of the interior of the pipeline is high, the information data is comprehensive, and the distribution position, the thickness and the distribution appearance mechanism of the sundries attached to the pipe wall of the pipeline are accurately observed while the video signal acquisition of the environment in the pipeline is effectively carried out; in addition, the system can synchronously and accurately detect the observation position and the distribution and trend state of the pipeline during operation, thereby greatly improving the precision and comprehensiveness of the pipeline detection operation.

Drawings

The invention is described in detail below with reference to the drawings and the detailed description;

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a cross-sectional partial structure diagram of the present invention;

FIG. 3 is a schematic view of a local connection structure among a laser collecting head, a sampling protective shell, an electro-hydraulic servo propulsion mechanism and a tail sleeve;

FIG. 4 is a flow chart illustrating a method of using the present invention.

Detailed Description

In order to make the technical means, creation features, achievement purposes and effects of the invention easy to construct, the invention is further explained below with reference to specific embodiments.

As shown in fig. 1-3, a pipeline and hole wall scanning robot based on 3D laser scanning comprises a laser collecting head 1, a sampling protective shell 2, an electro-hydraulic servo propulsion mechanism 3, a tail sleeve 4, a bearing climbing foot 5, a skid plate 6, an elastic sealing ring 7, an auxiliary control circuit 8 and a main controller 9, wherein the sampling protective shell 2 and the tail sleeve 4 are both of a cylindrical cavity structure with a reversed v-shaped axial section, the rear end face of the sampling protective shell 2 and the front end face of the tail sleeve 4 are connected and coaxially distributed through the electro-hydraulic servo propulsion mechanism 3, the front end face of the sampling protective shell 2 and the rear end face of the tail sleeve 4 are both provided with the elastic sealing ring 7 coaxially distributed therewith, the laser collecting head 1 is embedded in the sampling protective shell 2 and coaxially distributed and slidably connected with the sampling protective shell 2, the auxiliary control circuit 8 is embedded in the tail sleeve 4 and is respectively electrically connected with the laser collecting head 1, the sampling protective shell 2, the hydraulic servo propulsion system 3 and the main controller 9, the main controller 9 is respectively and is located outside the sampling protective shell 2 and the tail sleeve 4, the sampling protective shell 2 and the tail sleeve 4 are both surrounded by an elastic climbing rod and a hinge, an included angle of 0-6-foot axis of the sampling protective shell is uniformly distributed through a hinge 5-6 hinge, and a bearing foot bearing axis between the tail sleeve axis of the sampling protective shell is connected with the protective shell 2-6 hinge, and the tail sleeve 4.

It is emphasized that the sampling protective shell 2 comprises a hard sleeve 21, a tray 22, horizontal driving mechanisms 23, rotary driving mechanisms 24, positioning clamps 25 and cleaning brushes 26, wherein the hard sleeve 21 is a columnar cavity structure with a cross section shaped like '21274', at least two horizontal driving mechanisms 23 are embedded in the hard sleeve 21 and uniformly distributed around the axis of the hard sleeve 21, the tray 22 is embedded in the hard sleeve 21 and coaxially distributed with the hard sleeve 21, the side wall of the tray 22 is in sliding connection with the inner side surface of the hard sleeve 21 through the horizontal driving mechanisms 23, the front end surface of the tray 22 is provided with the rotary driving mechanisms 24 which are coaxially distributed with the tray 22, the rotary driving mechanisms 24 are additionally provided with at least two positioning clamps 25 which are uniformly distributed around the axis of the rotary driving mechanisms, the cleaning brush 26 is distributed in parallel with the axis of the hard sleeve 21 and is abutted against the outer side surface of the laser collecting head 1, the outer side surface of the laser collecting head 1 is abutted against the elastic sealing ring 7, and the horizontal driving mechanism 23 and the rotary driving mechanism 24 are electrically connected with the auxiliary control circuit 8 and are electrically connected with the main controller 9 through the auxiliary control circuit 8.

Preferably, the horizontal driving mechanism is any one of a linear motor and a screw mechanism; the rotary driving mechanism is a motor.

The side wall of the hard sleeve 21 corresponding to the cleaning brush 26 is provided with a connecting groove 27, the rear end face of the cleaning brush 26 is embedded in the connecting groove 27 and is connected with the hard sleeve 21 through the connecting groove 27, and the side wall of the hard sleeve 21 corresponding to the bottom of the connecting groove 27 is provided with at least two through holes 28 uniformly distributed along the axis of the connecting groove.

After the laser collecting head is retracted into the hard sleeve, on one hand, the hard sleeve provides protection for the laser collecting head; on the other hand, the laser collecting head rotates under the driving of the rotary driving mechanism, and the cleaning operation is carried out on the side surface of the laser collecting head through the cleaning brush in the rotating process, so that the damage resistance and the environmental pollution resistance of the laser collecting head are improved, and the damage or the interference to the laser collecting head caused by external force impact or pollutant corrosion is prevented.

In this embodiment, the laser collecting head 1 includes a bearing column 101, an illuminating lamp 102, an observation camera 103, a laser scanner 104, a transparent cover 105, a gravity sensor 106, an acceleration sensor 107, a temperature and humidity sensor 108, a positioning frame 109, and a connecting terminal 100, wherein the bearing column 101 is a cylindrical cavity structure, the front end surface is provided with an observation window 110 which is coaxially distributed with the front end surface, the side wall is provided with at least three surveying and mapping windows 120 which are uniformly distributed around the axis of the bearing column 101, and the observation window 110 and the mapping window 120 are both provided with transparent protecting covers 105, the bearing column 101 forms a closed cavity structure through the transparent protecting covers 105, at least one of the illuminating lamp 102 and the temperature and humidity sensor 108 is embedded on the front end surface of the bearing column 101 and is distributed in parallel with the axis of the bearing column 101, the positioning frame 109 is embedded in the bearing column 101, is a frame structure coaxially distributed with the bearing column 101 and is connected with the inner side surface of the bearing column 101, the observation camera 103 and the laser scanner 104 are both positioned in the bearing column 101 and connected with the positioning frame 109, the observation cameras 103 are coaxially distributed with the observation windows 110, the laser scanners 104 are consistent with the mapping windows 120 in number, and a laser scanner 104 is arranged at the corresponding position of each mapping window 120 and is coaxially distributed with the mapping window, the laser scanners 104 operate independently, the gravity sensor 106, the acceleration sensor 107 and the connecting terminal 100 are all connected with the rear end face of the positioning frame 109, and the wiring terminal 100 is provided with a wiring hole 130 corresponding to the rear end face of the bearing column 101, and the wiring terminal 100 is electrically connected with the illuminating lamp 102, the observation camera 103, the laser scanner 104, the gravity sensor 106, the acceleration sensor 107, the temperature and humidity sensor 108 and the auxiliary control circuit 8 respectively, and is electrically connected with the main controller 9 through the auxiliary control circuit 8.

Specifically, the sampling protective shell 2 and the tail sleeve 4 corresponding to the bearing climbing foot 5 are respectively provided with a guide groove 10 on the outer side surface, when the axis of the bearing climbing foot 5 is distributed in parallel with the axes of the sampling protective shell 2 and the tail sleeve 4, the bearing climbing foot 5 is embedded in the guide groove 10, the bearing climbing foot 5 comprises an electric telescopic column 51, a guide wheel 52, a hard protective sleeve column 53 and a bearing spring 54, the upper end surface of the hard protective sleeve column 53 is provided with an adjusting groove 55 which is coaxially distributed with the hard protective sleeve column, the lower half part of the electric telescopic column 51 is embedded in the adjusting groove 55, the electric telescopic column is coaxially distributed with the adjusting groove 55 and is in sliding connection with the side wall of the adjusting groove 55, meanwhile, the lower end surface of the electric telescopic column 51 abuts against the bottom of the adjusting groove 55 through the bearing spring 54, meanwhile, the upper end surface of the electric telescopic column 51 is hinged with the outer surfaces of the sampling protective shell 2 and the tail sleeve 4 through an elastic hinge, the lower end surface of the hard protective sleeve column 53 is connected with the skid plate 6, the outer side surface of the hard protective sleeve column 53 is provided with at least two guide wheels 52 which are uniformly distributed along the axes of the sampling protective shell 2 and connected with the electric telescopic column 5, and the electric telescopic column 5 is connected with the auxiliary circuit control circuit 8.

Preferably, a pressure sensor 56 is further disposed between the bearing spring 54 and the electric telescopic column 51, and the pressure sensor 56 is electrically connected to the auxiliary control circuit 8.

When displacement operation is carried out, when the tail sleeve needs to operate forwards, the electric telescopic column which is connected with the tail sleeve and bears the climbing foot is driven to extend out, the overall length of the bearing climbing foot is increased, and the pressure of a skid plate and the pipe wall at the tail sleeve is increased by utilizing the driving force when the electric telescopic column extends out, so that the tail sleeve is positioned; simultaneously the electric telescopic column who climbs the foot that bears that the sampling protecting crust corresponds contracts, it climbs foot skid plate and pipeline inner wall pressure to reduce sampling protecting crust department to bear, then drive the operation of electric liquid servo advancing mechanism, provide drive power forward or backward for the sampling protecting crust by electric liquid servo advancing mechanism, realize that the sampling protecting crust removes, after the completion sampling protecting crust removes, the foot is climbed in each bearing of reverse operation sampling protecting crust and tail cover position, accomplish the forward or backward movement of tail cover, thereby accomplish the purpose that equipment removed in the pipeline.

Through the guide way that sets up, can be so that bear and climb sufficient with sampling protecting crust and tail cover parallel distribution when, furthest reduces scanning robot equipment structure to satisfy narrow and small space and detect the needs.

Meanwhile, when the inner diameter in the pipeline changes, on one hand, the included angle between the bearing climbing foot and the sampling protection shell and the tail sleeve can be adjusted through the elastic hinge, so that the maximum outer diameter of the scanning robot can be adjusted, and the requirement of pipeline detection with different pipe diameters can be met; on the other hand accessible is to the length compression of electronic flexible post, electronic flexible post embedding in the stereoplasm sheath post, and the adjustment bears the weight of the length of climbing sufficient to further reach the maximum external diameter of adjustment scanning robot, with the needs that satisfy different pipe diameter pipeline detection.

Meanwhile, when the axes of the bearing climbing feet 5 are distributed in parallel with the axes of the sampling protective shell 2 and the tail sleeve 4, the bearing climbing feet 5 connected with the sampling protective shell 2 exceed the front end face of the sampling protective shell 2 by at least 3 cm, the bearing climbing feet 5 connected with the tail sleeve 4 exceed the rear end face of the tail sleeve 4 by at least 3 cm, and the wheel surface of the guide wheel 52 is in any one structure of an isosceles trapezoid and an isosceles triangle in cross section.

Through the arranged guide wheels, the sampling protective shell and the tail sleeve can be effectively supported when the bearing climbing feet are distributed in parallel with the sampling protective shell and the tail sleeve, the friction force between the sampling protective shell and the interior of the pipeline and the interior of the tail sleeve can be reduced, the operation flexibility of the sampling protective shell and the tail sleeve can be improved, and the friction loss of the sampling protective shell and the tail sleeve during operation can be reduced; in addition, the sundries on the inner wall can be effectively squeezed and damaged through the wheel surface of any one structure of the isosceles trapezoid and the isosceles triangle of the skid plate and the guide wheel, so that the aim of assisting in cleaning the pipeline is fulfilled.

In this embodiment, the two ends of the electro-hydraulic servo propulsion mechanism 3 are respectively hinged to the sampling protective shell 2 and the tail sleeve 4 through elastic hinges, an elastic sheath 11 is arranged between the sampling protective shell 2 and the tail sleeve 4 corresponding to the electro-hydraulic servo propulsion mechanism 3, and the elastic sheath 11 is wrapped outside the liquid servo propulsion system 3.

Further optimally, the electro-hydraulic servo propulsion mechanism is any one of an electric telescopic rod and an electro-hydraulic telescopic rod.

In this embodiment, the auxiliary control circuit 8 and the main controller 9 are both circuit systems based on any one of FPGA and DSP, the auxiliary control circuit 8 and the main controller 9 are both provided with a wireless communication circuit and a serial communication circuit, and data connection is established between the auxiliary control circuit 8 and the main controller 9 through the wireless communication circuit and the serial communication circuit at the same time, and in addition, the auxiliary control circuit 8 is additionally provided with a GNSS satellite positioning circuit, a UWB communication circuit and an emergency driving power supply; the main controller 9 is additionally provided with a console 91, a multi-path voltage stabilizing circuit 92 and an operation interface 93 based on any one or more of a display, a potentiometer, a signal indicator light and a button, the main controller 9 and the multi-path voltage stabilizing circuit 92 are both positioned in the console 91, and the operation interface 93 is embedded on the outer side surface of the console 91.

As shown in fig. 4, a method for using a pipeline and hole wall scanning robot based on 3D laser scanning includes the following steps:

s1, assembling equipment, namely firstly setting a sampling protective shell and a tail sleeve to be direct according to the average inner diameter of the pipeline equipment to be detected, simultaneously setting the maximum length of each bearing climbing foot and the length of a lead used for connecting an auxiliary control circuit and a main controller, and then assembling a laser collecting head, the sampling protective shell, an electro-hydraulic servo propulsion mechanism, the tail sleeve, the bearing climbing feet, a skid plate, an elastic sealing ring, the auxiliary control circuit and the main controller to obtain a finished scanning robot;

the gravity sensor obtains the gravity center change of the scanning robot in the detection process, so that the current pipeline distribution trend is obtained; meanwhile, the pipeline is further accurately positioned under the condition of good wireless communication condition through a GNSS satellite positioning circuit of the auxiliary control circuit;

In this embodiment, when the steps S2 and S3 are in operation, when the distance between the main controller and the auxiliary control circuit is greater than the initial set wire length or a wire fault occurs, the auxiliary control circuit and the main controller are disconnected from the wire connection, on one hand, the emergency driving power supply of the auxiliary control circuit provides operation power, and on the other hand, the wireless communication circuit performs wireless transmission of detection data.

The invention has simple structure and flexible and convenient operation, can effectively realize the inspection operation of the internal states of narrow spaces such as pipelines and the like, has strong data interaction communication capability, can effectively and flexibly adjust the equipment structure according to the pipeline structure on the one hand, thereby effectively meeting the requirement of detecting operation on pipeline equipment with different inner diameters, greatly improving the flexibility and the universality of the equipment use and effectively improving the obstacle resistance of the equipment during the operation; on the other hand, the detection precision of the interior of the pipeline is high, the information data is comprehensive, and the distribution position, the thickness and the distribution appearance mechanism of the sundries attached to the pipe wall of the pipeline are accurately observed while the video signal acquisition of the environment in the pipeline is effectively carried out; in addition, the system can synchronously and accurately detect the observation position and the distribution and trend state of the pipeline during operation, thereby greatly improving the precision and comprehensiveness of the pipeline detection operation.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and such changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a pipeline and pore wall scanning robot based on 3D laser scanning which characterized in that: the pipeline and hole wall scanning robot based on 3D laser scanning comprises a laser collecting head, a sampling protective shell, an electro-hydraulic servo propulsion mechanism, a tail sleeve, a bearing climbing foot, a skid plate, an elastic sealing ring, an auxiliary control circuit and a main controller, wherein the sampling protective shell and the tail sleeve are both of columnar cavity structures with '21274' shaped axial sections, the rear end face of the sampling protective shell and the front end face of the tail sleeve are connected and coaxially distributed through the electro-hydraulic servo propulsion mechanism, the front end face of the sampling protective shell and the rear end face of the tail sleeve are respectively provided with the elastic sealing ring coaxially distributed with the sampling protective shell, the laser collecting head is embedded in the sampling protective shell and coaxially distributed with the sampling protective shell in a sliding manner, the auxiliary control circuit is embedded in the tail sleeve and electrically connected with the laser collecting head, the sampling protective shell, the liquid servo propulsion system and the main controller respectively, the main controller is positioned outside the sampling protective shell and the tail sleeve, the sampling protective shell and the tail sleeve are respectively connected with 3-6 bearing feet uniformly distributed around the axes of the sampling protective shell through elastic hinges, the bearing plate surface is in an included angle of 0-90-degree with the axis of the sampling protective shell and the tail sleeve through another hinge.

2. The pipeline and hole wall scanning robot based on 3D laser scanning as claimed in claim 1, wherein: the sampling protective shell comprises a hard sleeve, at least two trays, horizontal driving mechanisms, rotary driving mechanisms, positioning fixtures and cleaning brushes, wherein the hard sleeve is of a cylindrical cavity structure with a V-shaped axial cross section, the horizontal driving mechanisms are embedded in the hard sleeve and uniformly distributed around the axis of the hard sleeve, the trays are embedded in the hard sleeve and coaxially distributed with the hard sleeve, the side wall of each tray is slidably connected with the inner side surface of the hard sleeve through the horizontal driving mechanism, the front end surface of each tray is provided with the rotary driving mechanisms coaxially distributed with the front end surface of the tray, the rotary driving mechanisms are additionally connected with at least two positioning fixtures uniformly distributed around the axis of the tray and connected with the rear end of a laser collecting head through the positioning fixtures, the laser collecting head performs rotary motion within the range of 0-360 degrees through the rotary driving mechanisms, meanwhile, the distance between the front end surface of the tray and the front end surface of the hard sleeve is 0-1.5 times of the length of the laser collecting head, the inner side surface of the hard sleeve corresponding to the laser collecting head is provided with at least two cleaning brushes uniformly distributed around the axis of the hard sleeve, the hard sleeve is parallelly distributed with the hard sleeve axis and abuts against the outer side surface of the laser collecting head, and is also connected with an auxiliary electric driving circuit and is connected with an auxiliary driving circuit and an auxiliary driving circuit, and an auxiliary driving circuit.

3. The pipeline and hole wall scanning robot based on 3D laser scanning of claim 2, wherein the cleaning brush is provided with a connecting groove on a side wall of the hard sleeve corresponding thereto, a rear end face of the cleaning brush is embedded in the connecting groove and connected with the hard sleeve through the connecting groove, and at least two through holes are uniformly distributed along an axis of the connecting groove at a position on the side wall of the hard sleeve corresponding to a bottom of the connecting groove.

4. The pipeline and hole wall scanning robot based on 3D laser scanning of claim 1, wherein the laser collecting head comprises a bearing column, a lighting lamp, an observation camera, a laser scanner, a transparent protecting cover, a gravity sensor, an acceleration sensor, a temperature and humidity sensor, a positioning frame and a connecting terminal, the bearing column is of a cylindrical cavity structure, the front end face of the bearing column is provided with an observation window which is coaxially distributed with the bearing column, the side wall of the bearing column is provided with at least three surveying and mapping windows which are uniformly distributed around the axis of the bearing column, the observation window and the surveying and mapping windows are respectively provided with the transparent protecting cover, the bearing column forms a closed cavity structure through the transparent protecting cover, the lighting lamp and the temperature and humidity sensor are respectively at least one, are embedded in the front end face of the bearing column and are distributed in parallel with the axis of the bearing column, the positioning frame is embedded in the bearing column, for the frame construction with bearing post coaxial distribution and be connected with the bearing post medial surface, survey camera, laser scanner and all be located the bearing post and be connected with the locating rack, survey coaxial distribution between camera and observation window, laser scanner is unanimous with survey and drawing window quantity, and every survey and drawing window corresponds the position and all establishes a laser scanner rather than coaxial distribution, and mutual independent operation between each laser scanner, gravity sensor, acceleration sensor and binding post all are connected with locating rack rear end face, and binding post corresponds the bearing post rear end face and establishes the wiring hole, binding post respectively with the light, survey camera, laser scanner, gravity sensor, acceleration sensor, temperature and humidity sensor and auxiliary control circuit electrical connection to through electrical connection between auxiliary control circuit and main control unit.

5. The pipeline and hole wall scanning robot based on 3D laser scanning as claimed in claim 1, wherein: bear and climb the sampling protecting crust that the foot corresponds and all establish the guide way with tail cover lateral surface, and when bearing and climb sufficient axis and sampling protecting crust and tail cover axis parallel distribution, bear and climb the foot and inlay in the guide way, bear and climb the foot and include electronic flexible post, leading wheel, stereoplasm sheath post, carrier spring, stereoplasm sheath post up end establishes rather than coaxial distribution's adjustment tank, electronic flexible post lower half inlays in the adjustment tank, with adjustment tank coaxial distribution and with adjustment tank lateral wall sliding connection, terminal surface and adjustment tank bottom offset through carrier spring under the electronic flexible post simultaneously, and electronic flexible post up end is articulated through elastic hinge and sampling protecting crust and tail cover surface, and terminal surface is connected with the board under the stereoplasm sheath post, stereoplasm sheath post lateral surface establishes two at least leading wheels along its axis equipartition, and when bearing climb sufficient axis and sampling protecting crust and tail cover axis parallel distribution, the leading wheel face surpasss sampling protecting crust and tail cover lateral surface 5 millimeters at least.

6. The pipeline and hole wall scanning robot based on 3D laser scanning as claimed in claim 1 or 5, wherein: when bearing and climbing sufficient axis and sampling protecting crust and tail cover axis parallel distribution, the bearing that the sampling protecting crust connected climbs sufficient and surpasss the preceding terminal surface of sampling protecting crust 3 centimetres at least, and the bearing that the tail cover is connected climbs sufficient and surpasss tail cover rear end face 3 centimetres at least, the wheel face of leading wheel is for the cross section personally submitting arbitrary one kind structure in isosceles trapezoid and the isosceles triangle.

7. The 3D laser scanning-based pipeline and hole wall scanning robot as claimed in claim 1, wherein: two ends of the electro-hydraulic servo propulsion mechanism are respectively hinged with the sampling protective shell and the tail sleeve through elastic hinges, an elastic sheath is arranged between the sampling protective shell and the tail sleeve corresponding to the electro-hydraulic servo propulsion mechanism, and the elastic sheath is coated outside the liquid servo propulsion system.

8. The 3D laser scanning-based pipeline and hole wall scanning robot as claimed in claim 1, wherein: the auxiliary control circuit and the main controller are circuit systems based on any one of FPGA and DSP, the auxiliary control circuit and the main controller are respectively provided with a wireless communication circuit and a serial communication circuit, data connection is simultaneously established between the auxiliary control circuit and the main controller through the wireless communication circuit and the serial communication circuit, and in addition, the auxiliary control circuit is additionally provided with a GNSS satellite positioning circuit, a UWB communication circuit and an emergency driving power supply; the main control unit is additionally provided with a console, a plurality of paths of voltage stabilizing circuits and an operation interface based on any one or more of a display, a potentiometer, a signal indicator light and a button, the main control unit and the plurality of paths of voltage stabilizing circuits are both positioned in the console, and the operation interface is embedded in the outer side surface of the console.

9. The use method of the pipeline and hole wall scanning robot based on 3D laser scanning as claimed in claim 1, wherein: the use method of the pipeline and pore wall scanning robot based on 3D laser scanning comprises the following steps:

the laser scanner detects the distance between sundries at the position of the pipe wall of the pipeline and the laser scanner, and simultaneously scans the structural state of the sundries, so that sundry stacking thickness data and three-dimensional distribution state parameters are obtained, and when the laser scanner runs, the laser scanner is synchronously driven to rotate through the rotary driving mechanism, and the laser scanner can be comprehensively detected on the inner wall of the pipeline through rotary operation, and meanwhile, the working position of the laser scanner can be accurately adjusted according to the position of the sundries;

detecting the temperature and humidity parameters inside the pipeline by a temperature and humidity sensor;

10. The use method of the pipeline and hole wall scanning robot based on the 3D laser scanning as claimed in claim 9, wherein: and S2 and S3, in operation, when the distance between the main controller and the auxiliary control circuit is larger than the initial set wire length or the wire fails, the auxiliary control circuit and the main controller are disconnected from the wire, on one hand, the emergency driving power supply of the auxiliary control circuit provides operation power, and on the other hand, wireless transmission of detection data is performed through the wireless communication circuit.