CN206066414U - Intelligent pipeline detects robot - Google Patents
Intelligent pipeline detects robot Download PDFInfo
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- CN206066414U CN206066414U CN201621033310.4U CN201621033310U CN206066414U CN 206066414 U CN206066414 U CN 206066414U CN 201621033310 U CN201621033310 U CN 201621033310U CN 206066414 U CN206066414 U CN 206066414U
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Abstract
The utility model discloses a kind of intelligent pipeline detects robot, including 360 ° of video camera capable of rotating systems, caterpillar drive systems, the caterpillar drive system is provided with pallet of going into the well, in Sonar system, three-dimensional laser radar system, inertial navigation system, the screw propeller system of be respectively equipped with pallet of going into the well.360 ° of video camera capable of rotating systems, sonar system set by intelligent pipeline detection robot of the present utility model, three-dimensional laser radar system, inertial navigation alignment system, video is detected, three-dimensional laser radar detection or sonar detection can also be carried out, and accurate positioning, three-dimensional coordinate system (x can be used, y, z) positioned.This intelligent pipeline detection robot is provided with caterpillar drive system and screw propeller system, solve the problems, such as there are hydrops to be unable to operation in conventional rainy day or pipeline, with amphibious function of creeping, be not required to desilting, without drawing water, thus testing cost can be saved, also can be detected whenever and wherever possible, operating speed is fast, greatly improves working performance.
Description
Technical field
The present invention relates to a kind of intelligent pipeline detects robot, and in particular to a kind of intelligent pipeline detects robot system.
Background technology
Detection urban discharging pipeline present situation is peeped in detecting robot of pipe：Detection technique is peeped in detection detecting robot of pipe
Originate from nineteen sixties, be mainly used in the detection of urban drainage pipeline system, with constantly entering for science and technology
Step, the particularly high speed development of computer technology, the technology have obtained extensive development, and pipe endoscopic detection technique is in China
Still it is at the initial stage, as country is continued to increase to urban discharging pipeline facility investment, people's environmental consciousness constantly strengthens,
The management service of urban discharging pipeline will obtain due attention, and pipe endoscopic detection technique will be also used widely.
The detection of urban Underground pipeline is applied to not exclusively, while in terms of other can also being applied to, the delivery tube of such as oil gas
The material transportation pipeline such as road.
At present, detecting robot of pipe prior art also has the following disadvantages：(1) detect that environmental requirement is high, need
Water in pipeline is drained, mud it is clear it is complete could operation, and be difficult to accomplish among reality, and desilting, draw water somewhat expensive.
(2) than relatively low, error is big, brings inconvenience to pipeline rehabilitation for existing detecting robot of pipe positioning precision, and positioning is only adopted
With traditional Relatively orientation method, no three dimensions (X, Y, Z) coordinate, the needs of modern times big data application are not suitable with.(3) it is existing
The functions of the equipments of some detecting robot of pipe are single, only video capability.
The content of the invention
The invention aims to solve above-mentioned the deficiencies in the prior art and provide that a kind of detection function is more, testing cost
Low, speed is fast, accurate positioning, weatherproof intelligent pipeline detection robot.To achieve these goals, the present invention is adopted
It is as follows with scheme：A kind of intelligent pipeline detects robot, including 360 ° of video camera capable of rotating systems 1, caterpillar drive systems 2, institute
State caterpillar drive system 2 and be provided with pallet 7 of going into the well, in Sonar system 3, the three-dimensional laser radar system of be respectively equipped with pallet 7 that going into the well
System 4, inertial navigation system 5, screw propeller system 6；The Sonar system 3 is located at the front of inertial navigation system 5；The inertial navigation system
5 are connected and fixed on described going into the well on pallet 7；The screw propeller system 6 be located at the inertial navigation system 5 rear, and with
The pallet 7 of going into the well connects；The three-dimensional laser radar system 4 and 360 ° of video camera capable of rotating systems 1 are set up in inertial navigation system
The top of system 5, and three-dimensional laser radar system 4 is located at the front of 360 ° of video camera capable of rotating systems 1.The Sonar system 3 is wrapped
Sonar probe 302 and sonar pallet 301 are included, the sonar probe 302 is located on the sonar pallet 301, the sonar pallet
301 are fixedly connected with pallet 7 of going into the well.The screw propeller system 6 includes propeller 601, the screw propeller system
System 6 is connected with the pallet 7 of going into the well.360 ° of video camera capable of rotating systems 1 include video camera capable of rotating 101, secondary light source
102 and lift controil valve 103.The caterpillar drive system 2 includes left track drive assembly 201,202 and of right-hand track chiain drive assembly
Angle control mechanism 203.
The solution of the present invention advantage is as follows：
(1) when, robot runs into mud accumulation in pipeline, using caterpillar drive system 2 quickly by becoming silted up
The barriers such as mud.When meeting the situation of hydrops inside pipeline, it is possible to use screw propeller system 6 is in the water inside pipeline
Face Fast marching, therefore the intelligent pipeline detection robot designed by the present invention can be to advance to make under the environment of two kinds of land and water
Industry, and need not wait for draining the water in pipeline or will just start operation after silt displacement, so not only improve efficiency but also
Cost is reduced, and speed is fast, it is time-consuming short, also can operation under the vile weather of rainy day.
(2), Sonar system 3 includes sonar probe 302 and sonar pallet 301, and sonar probe 302 is located at sonar pallet 301
On, when water is full of in the pipeline or needing to detect sub-marine situations, robot can adopt Sonar system 3 under pipeline internal water
Carry out band water and detect pipeline inner case.In pipeline internal water or in the case of not having the pipeline inside of water, can with 360 °
Rotary camera system 1 carries out 360 ° of panoramic shootings, and carries out laser scanning shape to pipeline inside with three-dimensional laser radar system 4
Into three-dimensional live, while carrying out (X, Y, Z) three-dimensional coordinate positioning using inertial navigation system 5.As can be seen here, the intelligence designed by the present invention
Energy detecting robot of pipe can be scanned positioning by different modes, in addition to having video capability, can also use sonar
Positioning is scanned with laser radar, has the advantages that accurate positioning, error are little, vdiverse in function.
Description of the drawings
Fig. 1 is assembling Fig. 1 that intelligent pipeline detects robot.
Specific embodiment
The present invention is further described with reference to the accompanying drawings and examples.
Intelligent pipeline detection robot designed by the present invention, including 360 ° of video camera capable of rotating systems 1, track drive systems
System 2, the caterpillar drive system 2 is provided with pallet 7 of going into the well, in going into the well Sonar system 3, three-dimensional laser of be respectively equipped with pallet 7
Radar system 4, inertial navigation system 5, screw propeller system 6；The Sonar system 3 is located at the front of inertial navigation system 5；It is described used
Guiding systems 5 are connected and fixed on described going into the well on pallet 7；After the screw propeller system 6 is located at the inertial navigation system 5
Side, and be connected with the pallet 7 of going into the well；The three-dimensional laser radar system 4 and 360 ° of video camera capable of rotating systems 1 are set up in
The top of inertial navigation system 5, and three-dimensional laser radar system 4 is located at the front of 360 ° of video camera capable of rotating systems 1.The sonar system
System 3 includes sonar probe 302 and sonar pallet 301, and the sonar probe 302 is located on the sonar pallet 301, the sonar
Pallet 301 is fixedly connected with pallet 7 of going into the well.The screw propeller system 6 includes propeller 601, the propeller propulsion
Device system 6 is connected with the pallet 7 of going into the well.360 ° of video camera capable of rotating systems 1 include video camera capable of rotating 101, auxiliary
Light source 102 and lift controil valve 103.The caterpillar drive system 2 includes left track drive assembly 201, right-hand track chiain drive assembly
202 and angle control mechanism 203.
Wherein, described video camera capable of rotating 101 can adopt 360 ° of full-view cameras on the market.Such photographic head application
Extensively, could be used that in people's daily life.The application of Sonar system 3 is quite varied, and survey, military affairs, ocean spy are painted in such as ocean
Survey etc., existing Sonar system can be adopted.Described screw propeller system 6 uses screw propellor for boat, just
Advanced in intelligent pipeline detection robot under water.The selection of propeller selects the propeller of different types, city as needed
On face, propeller on sale can meet intelligent pipeline detection machine Man's Demands substantially.In described caterpillar drive system 2, left shoe
Band drive assembly 201 and right-hand track chiain drive assembly 202 are crawler driving whell, and crawler driving whell on the market substantially conforms to intelligence at present
The demand of energy detecting robot of pipe, can select crawler driving whell according to demand.
Case study on implementation one：When no hydrops in pipeline, can coordinate three-dimensional sharp by 360 ° of video camera capable of rotating 101
Detecting inside pipeline, secondary light source 103 provides light and supplements optical radar 401, and carries out (X, Y, Z) three using inertial navigation system 5
Dimension coordinate is positioned, and the situations such as the rusty scale in pipeline, fouling, burn into perforation, crackle is detected and is imaged, is realized in pipeline
Minister's distance detection, Real Time Observation simultaneously can preserve Video Document, video recording is transferred to ground.Caterpillar drive system 2 includes a left side
Track drive assembly 201, right-hand track chiain drive assembly 202 and angle control mechanism 203, in pipeline in the case of no water, intelligence
Energy detecting robot of pipe can be entered in pipeline internal easily using caterpillar drive system 2, when meeting obstacle, by angle control
Angle between the left track drive assembly 201 of 203 pairs, mechanism processed and right-hand track chiain drive assembly 202 regulates and controls, convenient by obstacle.
Case study on implementation two：When having hydrops and mud in pipeline, 360 ° of video camera capable of rotating systems 1 can not be used, just can profit
Detection is scanned with sonar probe 302 and 401 pairs of pipelines under water of three-dimensional laser radar, while carrying out using inertial navigation system 3
(X, Y, Z) coordinate setting, is scanned positioning to situations such as the rusty scale in pipeline under water, fouling, burn into perforation, crackles.By
There are hydrops and mud in pipeline, depend merely on caterpillar drive system 2 and cannot advance, now, open screw propeller system
6, advanced using screw propeller 601 under water.Hydrops or cleaning mud need not so be drained can also carry out operation, accomplish
It is cost-effective, and detection speed is fast.
Intelligent pipeline that the present embodiment is provided detection robot is that a kind of detection function is more, testing cost is low, speed is fast,
Accurate positioning, the intelligent pipeline not limited by rainy day or severe pipe detection environmental effect detection robot.
Claims (5)
1. a kind of intelligent pipeline detects robot, including 360 ° of video camera capable of rotating systems (1), caterpillar drive systems (2), and which is special
Levy and be：Pallet of going into the well (7) is provided with the caterpillar drive system (2), Sonar system is respectively equipped with pallet of going into the well (7)
(3), three-dimensional laser radar system (4), inertial navigation system (5), screw propeller system (6)；
Front of the Sonar system (3) located at inertial navigation system (5)；The inertial navigation system (5) is connected and fixed on the support of going into the well
On disk (7)；The screw propeller system (6) positioned at the rear of the inertial navigation system (5), and with the pallet of going into the well (7)
Connection；The three-dimensional laser radar system (4) and 360 ° of video camera capable of rotating systems (1) are set up in the upper of inertial navigation system (5)
Side, and three-dimensional laser radar system (4) is located at the front of 360 ° of video camera capable of rotating systems (1).
2. intelligent pipeline according to claim 1 detects robot, it is characterised in that：The Sonar system (3) is including sound
Probe (302) and sonar pallet (301), the sonar pop one's head in (302) on the sonar pallet (301), the sonar
Pallet (301) is fixedly connected with pallet of going into the well (7).
3. intelligent pipeline according to claim 1 detects robot, it is characterised in that：The screw propeller system
(6) including propeller (601), the screw propeller system (6) is connected with the pallet of going into the well (7).
4. intelligent pipeline according to claim 3 detects robot, it is characterised in that：360 ° of video camera capable of rotating systems
System (1) is including video camera capable of rotating (101), secondary light source (102) and lift controil valve (103).
5. intelligent pipeline according to claim 1 detects robot, it is characterised in that：Caterpillar drive system (2) bag
Include left track drive assembly (201), right-hand track chiain drive assembly (202) and angle control mechanism (203).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621033310.4U CN206066414U (en) | 2016-08-31 | 2016-08-31 | Intelligent pipeline detects robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621033310.4U CN206066414U (en) | 2016-08-31 | 2016-08-31 | Intelligent pipeline detects robot |
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| Publication Number | Publication Date |
|---|---|
| CN206066414U true CN206066414U (en) | 2017-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621033310.4U Expired - Fee Related CN206066414U (en) | 2016-08-31 | 2016-08-31 | Intelligent pipeline detects robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108167573A (en) * | 2017-12-25 | 2018-06-15 | 中国海洋大学 | A kind of robot |
| CN109882681A (en) * | 2019-03-25 | 2019-06-14 | 武汉交通职业学院 | A kind of intelligent pipeline detection robot, control system and control method |
| CN111007532A (en) * | 2019-12-27 | 2020-04-14 | 江苏恒澄交科信息科技股份有限公司 | Pipeline measuring method based on laser radar |
| CN112361122A (en) * | 2020-10-20 | 2021-02-12 | 中国电建集团西北勘测设计研究院有限公司 | Box culvert detection robot fixes a position auxiliary device based on inertial navigation |
| CN114440054A (en) * | 2022-02-11 | 2022-05-06 | 阜阳嘉瑞环境科技有限公司 | Spiral propelling type all-terrain pipeline detection robot |
| CN114593307A (en) * | 2022-03-11 | 2022-06-07 | 苏州江创智能科技有限公司 | Spiral roller pipeline inspection robot |
| CN114776930A (en) * | 2022-03-09 | 2022-07-22 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Robot for detecting blockage condition of drainage pipeline and detection method |
-
2016
- 2016-08-31 CN CN201621033310.4U patent/CN206066414U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108167573A (en) * | 2017-12-25 | 2018-06-15 | 中国海洋大学 | A kind of robot |
| CN109882681A (en) * | 2019-03-25 | 2019-06-14 | 武汉交通职业学院 | A kind of intelligent pipeline detection robot, control system and control method |
| CN111007532A (en) * | 2019-12-27 | 2020-04-14 | 江苏恒澄交科信息科技股份有限公司 | Pipeline measuring method based on laser radar |
| CN112361122A (en) * | 2020-10-20 | 2021-02-12 | 中国电建集团西北勘测设计研究院有限公司 | Box culvert detection robot fixes a position auxiliary device based on inertial navigation |
| CN114440054A (en) * | 2022-02-11 | 2022-05-06 | 阜阳嘉瑞环境科技有限公司 | Spiral propelling type all-terrain pipeline detection robot |
| CN114776930A (en) * | 2022-03-09 | 2022-07-22 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Robot for detecting blockage condition of drainage pipeline and detection method |
| CN114593307A (en) * | 2022-03-11 | 2022-06-07 | 苏州江创智能科技有限公司 | Spiral roller pipeline inspection robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170405 Termination date: 20200831 |
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| CF01 | Termination of patent right due to non-payment of annual fee |