CN116494266A - Comprehensive city pipe gallery inspection robot - Google Patents
Comprehensive city pipe gallery inspection robot Download PDFInfo
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- CN116494266A CN116494266A CN202310602428.2A CN202310602428A CN116494266A CN 116494266 A CN116494266 A CN 116494266A CN 202310602428 A CN202310602428 A CN 202310602428A CN 116494266 A CN116494266 A CN 116494266A
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- inspection
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- 238000007689 inspection Methods 0.000 title claims abstract description 101
- 238000012544 monitoring process Methods 0.000 claims abstract description 14
- 238000004140 cleaning Methods 0.000 claims abstract description 13
- 230000006698 induction Effects 0.000 claims abstract description 5
- 238000012545 processing Methods 0.000 claims abstract description 5
- 238000009434 installation Methods 0.000 claims description 24
- 238000001514 detection method Methods 0.000 claims description 13
- 238000003756 stirring Methods 0.000 claims description 11
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 8
- 210000001503 joint Anatomy 0.000 claims description 8
- 229910052742 iron Inorganic materials 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000002285 radioactive effect Effects 0.000 claims description 3
- 238000002347 injection Methods 0.000 claims description 2
- 239000007924 injection Substances 0.000 claims description 2
- 230000029058 respiratory gaseous exchange Effects 0.000 claims 2
- 239000010865 sewage Substances 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 2
- 239000007789 gas Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 239000002341 toxic gas Substances 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/16—Fire prevention, containment or extinguishing specially adapted for particular objects or places in electrical installations, e.g. cableways
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/005—Delivery of fire-extinguishing material using nozzles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/36—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device
- A62C37/38—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone
- A62C37/40—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone with electric connection between sensor and actuator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention provides a comprehensive city pipe gallery inspection robot, which belongs to the technical field of city construction and comprises the following components: the mobile carrier module comprises a mounting chassis and four mobile wheels; the monitoring module consists of a camera module and an induction module; the control system module is used for remotely operating the inspection robot to execute various operations and commands; the intelligent system module selects an optimal path and makes a corresponding judgment instruction according to the requirements of the inspection task and the internal condition of the pipe gallery, and performs autonomous planning inspection; an execution module; the cleaning module is used for collecting and processing the garbage detected by the inspection robot; the comprehensive urban pipe gallery inspection robot can realize comprehensive monitoring, cleaning and overhauling work in the pipe gallery, greatly improve inspection efficiency and reduce potential safety hazards caused by manual inspection.
Description
Technical Field
The invention mainly relates to the technical field of urban construction, in particular to a comprehensive urban pipe gallery inspection robot.
Background
Urban piping lane is one of the important infrastructures in cities and is critical to the operation and development of cities. However, because the internal environment of the pipe gallery is complex, manual inspection is usually required, the manual inspection efficiency is low, the workload is high, potential safety hazards exist, and the like, and the long-term use of the pipeline can be corroded, so that the pipeline is damaged and leaks out of toxic gas to threaten the health of inspection personnel due to fatigue damage.
Currently, some city pipe gallery inspection robots have been developed and applied to actual operation. These robots can shoot, monitor to the inside condition of piping lane generally, through detecting, a piping lane inspection robot of application number CN201811168278.4, the device has the bend phase change, ultra wide band location, four unification gas sensing detects, advantages such as 24 hours uninterrupted duty, but this inspection robot does not possess the function of some task of moving of rolling over, and can not carry out independently judgement and independently carry out the task, can only remove on the track simultaneously, limited the scope of inspecting greatly, can't adapt to different requirements etc. of inspecting.
Disclosure of Invention
The invention mainly provides a comprehensive urban pipe gallery inspection robot which is used for solving the technical problems in the background technology.
The technical scheme adopted for solving the technical problems is as follows:
comprehensive city pipe gallery inspection robot includes:
the mobile carrier module comprises a mounting chassis and four mobile wheels, wherein the two mobile wheels positioned on the front side of the mounting chassis can turn to be used for mounting other system modules and simultaneously carrying out free mobile inspection work in an urban pipe gallery;
the monitoring module consists of a camera module and an induction module and is used for sensing and recording the internal condition of the pipe gallery in real time and shooting;
the control system module is used for remotely operating the inspection robot to execute various operations and commands and visually displaying images and various data monitored by the monitoring module;
the intelligent system module is used for receiving the data transmitted by the monitoring module and carrying out programmable analysis and calculation so as to select an optimal path and make corresponding judgment instructions according to the requirements of the inspection task and the internal conditions of the pipe gallery and carry out autonomous planning type inspection;
the execution module is used for receiving the execution commands of the control system module and the intelligent system module, and starting and operating the corresponding modules;
the cleaning module is arranged at the inner front part of the mobile carrier module and is used for collecting and processing the garbage detected by the inspection robot;
and the fire extinguishing module is arranged at the inner front part of the mobile carrier module and is used for extinguishing fire of a fire source detected by the inspection robot.
Further, the inspection robot further includes:
the power module consists of a storage battery, an electric connection device and a charging device, wherein the storage battery is arranged in the installation chassis and is electrically connected with the electric elements in the electric connection device and the inspection robot, the electric connection device is arranged at the rear end of the installation chassis, and the electric connection device and the charging device are in butt joint to complete the charging of the storage battery; in the invention, the storage battery is used for supplying power to each power supply so as to complete the operation of the system, and the power receiving device and the charging device complete the charging of the device.
Further, the power connection device comprises a power connection seat, a first electromagnetic inductor is arranged on the rear side surface of the power connection seat, and a charging interface is arranged on the top of the power connection seat;
the charging device comprises a charging pile, a second electromagnetic inductor matched with the first electromagnetic inductor is arranged on one surface of the charging pile, and a charging plug matched with the charging interface is arranged on one side of the charging pile; in the invention, the power connection device and the charging device are in butt joint, so that the autonomous contact type wireless charging and the connector type quick charging can be completed, and the better charging requirement can be completed.
Further, the magnetic attraction strips are arranged on the power receiving seats at the two sides of the first electromagnetic inductor, and the charging pile at one side of the second electromagnetic inductor is provided with an iron layer and an insulating layer; according to the invention, the magnetic attraction strip can enable the connection of the first electromagnetic inductor and the second electromagnetic inductor to be more stable and precise, and more stable wireless contact type charging is completed.
Furthermore, the inspection robot can perform autonomous charging, and the method for performing autonomous charging by the inspection robot comprises the following steps:
step one: setting a residual electric quantity threshold value of the storage battery when the inspection robot carries out an autonomous charging command through a control system module;
step two: the intelligent system module detects the residual electric quantity of the storage battery of the power supply module in real time;
step three: when the real-time residual electric quantity of the storage battery is smaller than the set residual electric quantity threshold value of the storage battery, the intelligent system module gives an instruction to the execution module, the execution module enables the mobile carrier module to operate, the inspection robot is enabled to move to the vicinity of the charging pile, the butt joint of the first electromagnetic sensor and the second electromagnetic sensor is completed, and the contact charging is completed; according to the invention, the inspection robot can automatically return to the charging pile area when the electric quantity is low, so that the autonomous charging is completed, and the inspection robot is prevented from being unable to operate due to insufficient electric quantity in the middle.
Further, the camera module is a rotatable camera, the camera is arranged at the top of the installation chassis, the sensing module consists of various sensors and a plurality of laser radars, the various sensors are arranged at the top of the installation chassis, and the plurality of laser radars are respectively arranged at the left side and the right side of four surfaces of the installation chassis; according to the invention, the sensing module can sense the environmental information near the inspection robot, so that automatic obstacle avoidance and other information detection are completed.
Further, each type of sensor of the sensing module includes: a temperature sensor, a humidity sensor, a gas concentration sensor and an infrared detection sensor, wherein the infrared detection sensor is arranged at the center of the front side of the installation chassis; in the invention, various sensors of the sensing module can sense the surrounding temperature, humidity and the concentration of corresponding gas, so as to detect whether the pipeline is broken or damaged, and the infrared detection sensor can perform infrared scanning on surrounding objects, so that nearby objects can be sensed better.
Further, the cleaning module comprises a dustbin, the dustbin is arranged in the installation chassis, a suction pump is arranged on the front side of the dustbin, the suction pump is connected with a suction pipe, the opening end of the suction pipe faces the front side of the bottom of the installation chassis, a storage cavity is arranged in the dustbin, and a drain pipe is arranged at the bottom of the storage cavity; according to the invention, the cleaning module can clean the garbage detected by the inspection robot, so that the internal environment of the urban pipe gallery is ensured, and the movable inspection of the inspection robot is facilitated.
Further, the storage cavity is of a cylindrical structure, the exhaust end of the suction pump is communicated with the storage cavity, a motor is arranged at the top in the storage cavity, a stirring blade group matched with the storage cavity is arranged at the bottom of the motor, the stirring blade group consists of five stirring blades distributed in a radioactive mode, and an electromagnetic valve is arranged at the joint of the storage cavity and the drain pipe; in the invention, garbage collected in the storage cavity can be effectively discharged through the blow-down pipe by stirring the blade group.
Further, the fire extinguishing module comprises a fire extinguisher tank, the fire extinguisher tank is arranged on the inner side edge of the installation chassis, the front side of the fire extinguisher tank is provided with a spray head, and the rear side edge of the fire extinguisher tank is provided with a filling port.
Compared with the prior art, the invention has the beneficial effects that:
the invention has the function of autonomous path planning. The robot can independently plan the inspection path through the intelligent system module, and select an optimal path for inspection according to the internal condition of the pipe gallery and the requirements of the inspection task, so that the complexity and inflexibility of manually planning the path are avoided;
the inspection robot has the capability of autonomously judging and executing tasks, and the robot can autonomously judge the priority and the completion mode of the tasks and autonomously execute the tasks according to the internal conditions of a pipe gallery and the requirements of the inspection tasks through an intelligent system module;
the inspection robot can sense the obstacle in the pipe gallery in real time through various sensors and the radar, so that the robot has an autonomous obstacle avoidance function; meanwhile, the robot has an autonomous charging function, so that the inspection work of the inspection robot is ensured to be normally carried out;
through the combination of the technical characteristics, the comprehensive urban pipe gallery inspection robot can realize comprehensive monitoring, cleaning and overhauling work in the pipe gallery, so that inspection efficiency is greatly improved, and potential safety hazards caused by manual inspection are reduced.
The invention will be explained in detail below with reference to the drawings and specific embodiments.
Drawings
FIG. 1 is a schematic diagram of a system module of the inspection robot of the present invention;
FIG. 2 is a schematic view of the whole structure of the inspection robot according to the present invention at a first view angle;
FIG. 3 is a schematic view of the whole structure of the inspection robot according to the present invention at a second view angle;
fig. 4 is a schematic structural diagram of the inspection robot (recharging device) of the present invention;
FIG. 5 is a schematic view of the structure of the power connection device of the present invention;
FIG. 6 is a schematic diagram of a charging device according to the present invention;
fig. 7 is a schematic view of a cleaning module according to the present invention.
In the figure: 10. moving the carrier module; 11. installing a chassis; 12. a moving wheel; 20. a monitoring module; 21. a camera module; 22. an induction module; 221. an infrared detection sensor; 222. a laser radar; 30. a control system module; 40. an intelligent system module; 50. an execution module; 60. a power module; 61. an electrical connection device; 611. a power receiving seat; 612. a first electromagnetic inductor; 613. a charging interface; 614. a magnetic strip; 62. a charging device; 621. charging piles; 622. a second electromagnetic inductor; 623. a charging plug; 70. a cleaning module; 71. an air suction pipe; 72. a blow-down pipe; 73. a dustbin; 731. a storage chamber; 74. a getter pump; 75. stirring the blade group; 76. a motor; 77. an electromagnetic valve; 80. a fire suppression module; 81. an ejection head; 82. a fire extinguisher tank.
Detailed Description
In order that the invention may be more fully understood, a more particular description of the invention will be rendered by reference to the appended drawings, in which several embodiments of the invention are illustrated, but which may be embodied in different forms and are not limited to the embodiments described herein, which are, on the contrary, provided to provide a more thorough and complete disclosure of the invention.
It will be understood that when an element is referred to as being "mounted" on another element, it can be directly on the other element or intervening elements may be present, and when an element is referred to as being "connected" to the other element, it may be directly connected to the other element or intervening elements may also be present, the terms "vertical", "horizontal", "left", "right" and the like are used herein for the purpose of illustration only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, and the terms used herein in this description of the invention are for the purpose of describing particular embodiments only and are not intended to be limiting of the invention, with the term "and/or" as used herein including any and all combinations of one or more of the associated listed items.
Referring to fig. 1-7, an embodiment of a comprehensive city pipe gallery inspection robot includes:
the mobile carrier module 10 comprises a mounting chassis 11 and four mobile wheels 12, wherein the two mobile wheels 12 positioned on the front side of the chassis of the mounting chassis 11 can turn to be used for mounting other system modules and simultaneously being used for carrying out free mobile inspection work in an urban pipe gallery;
the monitoring module 20 is composed of a camera module 21 and an induction module 22 and is used for sensing, recording and shooting the internal conditions of the pipe gallery in real time;
a control system module 30 for remotely operating the inspection robot to perform various operations and commands, and visually displaying images and various data monitored by the monitoring module 20;
the intelligent system module 40 is used for receiving the data transmitted by the monitoring module 20 and performing programmable analysis and calculation so as to select an optimal path and make corresponding judgment instructions according to the requirements of the inspection task and the internal conditions of the pipe gallery and perform autonomous planning inspection;
the execution module 50 is configured to receive execution commands of the control system module 30 and the intelligent system module 40, and start and operate corresponding modules;
a cleaning module 70 installed at the inner front of the mobile carrier module 10 for collecting and processing the garbage detected by the inspection robot;
and a fire extinguishing module 80 installed at the inner front portion of the moving carrier module 10 for performing fire extinguishing treatment on the fire source detected by the inspection robot.
In this embodiment, the connection between the four moving wheels 12 and the mounting chassis 11 is provided with a carrier and a driving motor, which are all of the prior art, and are not described too much.
Specifically, please refer to fig. 2, fig. 5 and fig. 6, the inspection robot further includes:
the power module 60 is composed of a storage battery, a power connection device 61 and a charging device 62, wherein the storage battery is installed in the installation chassis 11 and is electrically connected with the power connection device 61 and electric elements in the inspection robot, the power connection device 61 is installed at the rear end of the installation chassis 11, and the power connection device 61 and the charging device 62 are in butt joint to finish charging of the storage battery;
in the present embodiment, the battery is used to supply power to each power source, so as to complete the operation of the system, and the power receiving device 61 and the charging device 62 complete the charging of the device.
Further, the power connection device 61 includes a power connection seat 611, a first electromagnetic inductor 612 is installed on the rear side surface of the power connection seat 611, and a charging interface 613 is installed on the top of the power connection seat 611;
the charging device 62 comprises a charging pile 621, a second electromagnetic inductor 622 matched with the first electromagnetic inductor 612 is installed on one surface of the charging pile 621, and a charging plug 623 matched with the charging interface 613 is installed on one side of the charging pile 621;
it should be noted that, in the present embodiment, the power connection device 61 and the charging device 62 are in butt joint to complete autonomous contact type wireless charging and connector type quick charging, so as to complete better charging requirements, the first electromagnetic sensor 612 and the second electromagnetic sensor 622 are in contact in a wireless electromagnetic charging manner, which is not described in any more detail in the prior art, and the charging interface 613 and the charging plug 623 are connected for quick charging.
Further, the magnetic attraction strips 614 are mounted on the power receiving seats 611 on two sides of the first electromagnetic inductor 612, and the charging pile 621 on one side of the second electromagnetic inductor 622 is provided with an iron layer and an insulating layer;
it should be noted that, in the present embodiment, the magnetic attraction strip 614 can make the connection between the first electromagnetic inductor 612 and the second electromagnetic inductor 622 more stable and precise, and accomplish more stable wireless contact charging, the iron layer can better generate attraction force to the magnetic attraction strip 614, and the insulating layer can prevent electromagnetic conduction, so that other parts of the charging pile 621 are charged, thereby increasing safety.
Furthermore, the inspection robot can perform autonomous charging, and the method for performing autonomous charging by the inspection robot comprises the following steps:
step one: setting a residual electric quantity threshold value of the storage battery when the inspection robot performs an autonomous charging command through the control system module 30;
step two: the intelligent system module 40 detects the remaining power of the storage battery of the power module 60 in real time;
step three: when the real-time residual capacity of the storage battery is smaller than the set residual capacity threshold value of the storage battery, the intelligent system module 40 gives an instruction to the execution module 50, the execution module 50 enables the mobile carrier module 10 to operate, the inspection robot is enabled to move to the vicinity of the charging pile 621, the butt joint of the first electromagnetic sensor 612 and the second electromagnetic sensor 622 is completed, and the contact charging is completed;
it should be noted that, in this embodiment, the inspection robot can automatically return to the charging pile 621 area when the electric quantity is low, and autonomous charging is completed, so that the inspection robot is prevented from being unable to operate due to insufficient electric quantity in the middle, the set residual electric quantity threshold of the storage battery is generally set according to the length of the city pipe gallery to be inspected, so that the inspection robot can be guaranteed to return to charge in time, meanwhile, when the inspection robot is in wireless charging, a signal can be transmitted to the control system module 30, and a worker can receive a charging signal through the control system module 30, and then send the nearest worker to be close to the on-line quick charging, so as to accelerate the charging efficiency.
Specifically, referring to fig. 2, 3 and 4, the camera module 21 is a rotatable camera, the camera is mounted on the top of the mounting chassis 11, the sensing module 22 is composed of various sensors and a plurality of lidars 222, the various sensors are mounted on the top of the mounting chassis 11, and the lidars 222 are respectively mounted on the left and right sides of four surfaces of the mounting chassis 11;
it should be noted that, in the present embodiment, the sensing module 22 may sense environmental information near the inspection robot, and the plurality of lidars 222 may detect obstacles near the inspection robot, so that in the fast contact mode, signals are transmitted to the intelligent system module 40, and the intelligent system module 40 issues an instruction to the execution module 50 to instruct the mobile carrier module 10 to stop operating, thereby completing automatic obstacle avoidance and other information detection.
Further, the various sensors of the sensing module 22 include: a temperature sensor, a humidity sensor, a gas concentration sensor, an infrared detection sensor 221, the infrared detection sensor 221 being installed at the front center of the installation chassis 11;
it should be noted that, in this embodiment, the gas concentration sensor needs to be specifically installed according to the pipeline transportation material in the city pipe rack for inspection, so as to perform targeted detection, the sensors of the sensing module 22 can sense the surrounding temperature, humidity and the concentration of the corresponding gas, so as to detect whether the pipeline is broken or damaged, and the infrared detection sensor 221 can perform infrared scanning on surrounding objects, so as to better sense nearby objects.
Specifically, referring to fig. 4 and fig. 7, the cleaning module 70 includes a dustbin 73, the dustbin 73 is installed in the installation chassis 11, a suction pump 74 is installed at the front side of the dustbin 73, the suction pump 74 is connected with a suction pipe 71, an opening end of the suction pipe 71 faces to the bottom front side of the installation chassis 11, a storage cavity 731 is provided in the dustbin 73, and a drain pipe 72 is installed at the bottom of the storage cavity 731;
it should be noted that, in this embodiment, the cleaning module 70 may clean the garbage detected by the inspection robot, so as to ensure the internal environment of the urban pipe gallery, and facilitate the mobile inspection of the inspection robot, and through the operation of the suction pump 74, the sundries or garbage in front of the inspection robot may be sucked into the dustbin 73 through the suction pipe 71 to wait for processing.
Further, the storage cavity 731 is in a cylindrical structure, the exhaust end of the suction pump 74 is communicated with the storage cavity 731, the motor 76 is arranged at the top in the storage cavity 731, the poking blade group 75 matched with the storage cavity 731 is arranged at the bottom of the motor 76, the poking blade group 75 consists of five poking blades distributed in a radioactive way, and the electromagnetic valve 77 is arranged at the joint of the storage cavity 731 and the drain pipe 72;
it should be noted that, in this embodiment, the garbage collected in the storage cavity 731 can be effectively discharged through the drain pipe 72 by the stirring vane set 75, when the garbage in the storage cavity 731 needs to be discharged for treatment, the electromagnetic valve 77 is opened, the motor 76 is operated, so that the garbage between the stirring vane set 75 is continuously pushed to the area of the drain pipe 72 for effective discharge, and in normal state, the electromagnetic valve 77 is closed, and the motor 76 is operated at regular time, so that the garbage is located between different vanes of the stirring vane set 75.
Further, the fire extinguishing module 80 comprises a fire extinguisher tank 82, the fire extinguisher tank 82 is arranged on the inner side edge of the installation chassis 11, the front side of the fire extinguisher tank 82 is provided with a spray head 81, and the rear side edge of the fire extinguisher tank 82 is provided with a filling port;
it should be noted that, in this embodiment, the fire extinguishing module 80 can prevent fire from occurring, even if a fire source is extinguished, and prevent greater danger, when the fire source is detected by the infrared detection sensor 221, the fire extinguisher tank 82 is started by the pump body, the injection head 81 injects the fire extinguishing material to extinguish the fire, and the filling port can fill the fire extinguishing material inside the fire extinguisher tank 82.
The specific operation mode of the invention is as follows:
the inspection robot is programmed through the control system module 30, then the inspection robot performs autonomous mobile inspection through the mobile carrier module 10, meanwhile, the monitoring module 20 monitors surrounding environment and information, data are transmitted into the intelligent system module 40, the intelligent system module 40 gives different instructions according to the information, so that the tasks of automatically avoiding obstacles and automatically planning line inspection, autonomously charging, cleaning, extinguishing fire, troubleshooting problems and the like are completed, and when a worker gives a command through the control system module 30, the command level of the control system module 30 is higher than that of the intelligent system module 40.
While the invention has been described above with reference to the accompanying drawings, it will be apparent that the invention is not limited to the embodiments described above, but is intended to be within the scope of the invention, as long as such insubstantial modifications are made by the method concepts and technical solutions of the invention, or the concepts and technical solutions of the invention are applied directly to other occasions without any modifications.
Claims (10)
1. Comprehensive city pipe gallery inspection robot, its characterized in that includes:
the mobile carrier module (10) comprises a mounting chassis (11) and four mobile wheels (12), wherein the two mobile wheels (12) positioned on the front side of the chassis of the mounting chassis (11) can turn to be used for mounting other system modules and simultaneously carrying out free mobile inspection work in an urban pipe gallery;
the monitoring module (20) consists of a camera module (21) and an induction module (22) and is used for sensing, recording and shooting the internal conditions of the pipe gallery in real time;
the control system module (30) is used for remotely operating the inspection robot to execute various operations and commands and visually displaying images and various data monitored by the monitoring module (20);
the intelligent system module (40) is used for receiving the data transmitted by the monitoring module (20) and carrying out programmable analysis and calculation so as to select an optimal path and make corresponding judgment instructions according to the requirements of the inspection task and the internal conditions of the pipe gallery and carry out autonomous planning inspection;
the execution module (50) is used for receiving the execution commands of the control system module (30) and the intelligent system module (40) and starting and operating the corresponding modules;
the cleaning module (70) is arranged at the inner front part of the mobile carrier module (10) and is used for collecting and processing the garbage detected by the inspection robot;
and the fire extinguishing module (80) is arranged at the inner front part of the mobile carrier module (10) and is used for performing fire extinguishing treatment on the fire source detected by the inspection robot.
2. The utility tunnel inspection robot of claim 1, further comprising:
the power module (60) is composed of a storage battery, a power connection device (61) and a charging device (62), wherein the storage battery is installed in the installation chassis (11) and is electrically connected with the power connection device (61) and electric elements in the inspection robot, the power connection device (61) is installed at the rear end of the installation chassis (11), and the charging device (62) is in butt joint with the power connection device (61) to complete the charging of the storage battery.
3. The comprehensive urban pipe gallery inspection robot according to claim 2, wherein the power receiving device (61) comprises a power receiving seat (611), a first electromagnetic inductor (612) is installed on the rear side surface of the power receiving seat (611), and a charging interface (613) is installed on the top of the power receiving seat (611);
the charging device (62) comprises a charging pile (621), a second electromagnetic inductor (622) matched with the first electromagnetic inductor (612) is arranged on one surface of the charging pile (621), and a charging plug (623) matched with the charging interface (613) is arranged on one side of the charging pile (621).
4. The comprehensive city pipe gallery inspection robot according to claim 3, wherein magnetic attraction strips (614) are installed on the power receiving bases (611) on two sides of the first electromagnetic inductor (612), and a charging pile (621) on one side of the second electromagnetic inductor (622) is provided with an iron layer and an insulating layer.
5. The utility model provides a city pipe gallery inspection robot of claim 1, wherein the inspection robot can carry out autonomous charging, the method of the inspection robot carrying out autonomous charging is:
step one: setting a residual electric quantity threshold value of the storage battery when the inspection robot carries out an autonomous charging command through a control system module (30);
step two: the intelligent system module (40) detects the residual electric quantity of the storage battery of the power supply module (60) in real time;
step three: when the real-time residual electric quantity of the storage battery is smaller than the set residual electric quantity threshold value of the storage battery, the intelligent system module (40) gives an instruction to the execution module (50), the execution module (50) enables the mobile carrier module (10) to operate, the inspection robot is enabled to move to the vicinity of the charging pile (621), the butt joint of the first electromagnetic sensor (612) and the second electromagnetic sensor (622) is completed, and the contact charging is completed.
6. The utility model discloses a city pipe gallery inspection robot of claim 1, wherein, camera module (21) is a rotatable camera, and this camera is installed at the top of installation chassis (11), sensing module (22) are constituteed by various sensors and a plurality of laser radar (222), and various sensors are installed at the top of installation chassis (11), and a plurality of laser radar (222) are installed respectively in the left and right sides of four faces of installation chassis (11).
7. The utility tunnel inspection robot of claim 6, wherein the various sensors of the sensing module (22) comprise: a temperature sensor, a humidity sensor, a gas concentration sensor, an infrared detection sensor (221), the infrared detection sensor (221) being installed at the front center of the installation chassis (11).
8. The utility model provides a city pipe rack inspection robot of claim 1, characterized in that, clearance module (70) is including dustbin (73), dustbin (73) are installed inside installation chassis (11), suction pump (74) are installed to the front side of dustbin (73), suction pump (74) are connected with breathing pipe (71), the open end of breathing pipe (71) is towards the bottom front side of installation chassis (11), dustbin (73) are inside to be provided with storage chamber (731), blow off pipe (72) are installed to the bottom in storage chamber (731).
9. The comprehensive urban pipe gallery inspection robot according to claim 8, wherein the storage cavity (731) is of a cylindrical structure, an exhaust end of the suction pump (74) is communicated with the storage cavity (731), a motor (76) is mounted at the inner top of the storage cavity (731), a stirring blade group (75) matched with the storage cavity (731) is mounted at the bottom of the motor (76), the stirring blade group (75) is composed of five stirring blades distributed in a radioactive mode, and an electromagnetic valve (77) is mounted at the joint of the storage cavity (731) and the sewage drain pipe (72).
10. The utility model provides a city pipe gallery inspection robot of claim 1, characterized in that fire extinguishing module (80) is including fire extinguisher tank (82), fire extinguisher tank (82) are installed at the inside side of installation chassis (11), injection head (81) are installed to the front side of fire extinguisher tank (82), fill mouth is installed to the rear end side of fire extinguisher tank (82).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310602428.2A CN116494266A (en) | 2023-05-26 | 2023-05-26 | Comprehensive city pipe gallery inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310602428.2A CN116494266A (en) | 2023-05-26 | 2023-05-26 | Comprehensive city pipe gallery inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116494266A true CN116494266A (en) | 2023-07-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310602428.2A Pending CN116494266A (en) | 2023-05-26 | 2023-05-26 | Comprehensive city pipe gallery inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116494266A (en) |
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2023
- 2023-05-26 CN CN202310602428.2A patent/CN116494266A/en active Pending
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