CN208503767U - Underground pipeline surveying and mapping robot - Google Patents
Underground pipeline surveying and mapping robot Download PDFInfo
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- CN208503767U CN208503767U CN201820949574.7U CN201820949574U CN208503767U CN 208503767 U CN208503767 U CN 208503767U CN 201820949574 U CN201820949574 U CN 201820949574U CN 208503767 U CN208503767 U CN 208503767U
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- 238000013507 mapping Methods 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 5
- 238000013480 data collection Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 6
- 230000006872 improvement Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000003993 interaction Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
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- 230000015572 biosynthetic process Effects 0.000 description 1
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- 238000004140 cleaning Methods 0.000 description 1
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Abstract
The utility model relates to an underground piping mapping robot, underground piping mapping robot include: the robot comprises a robot body, a cable car and a control terminal, wherein the cable car is electrically connected with the robot body; the robot body is used for acquiring and transmitting data to the control terminal and executing a moving instruction sent by the control terminal; the cable car is used for realizing controllable movement of the robot body; the control terminal is used for receiving the data collected by the robot body and sending out an instruction for controlling the robot to move. Implement the utility model provides a pair of underground pipeline mapping robot can accomplish pipeline detection and survey and drawing through controlling the robot walking in the pipeline, can simplify the pipeline and detect and survey and drawing operation, promotes operation personnel's work efficiency.
Description
Technical field
The utility model relates to a kind of Robots, more specifically to a kind of underground piping Robot.
Background technique
In Modernized City Construction, with the development of the city, underground pipe network needed for city is more and more, various discharges
The pipelines such as water, electric power, communication are intricate in underground, and pipeline rout is also not clear enough, cause often to dig disconnected pipe when construction and excavation
Road, production and life to the people bring very big inconvenience, while also resulting in heavy economic losses.For convenient for urban Underground pipeline
Management, avoids the generation of such accident, needs the trend for verifying various underground utilities, complete the mapping of underground piping.
Traditional Pipeline Survey mainly uses the geophysical prospecting technologies such as electromagnetic method, seismic wave method, and such equipment is in mapping process
The pre-buried draught line in pipeline is needed, signal generator is pulled in in-pipe by draught line, while also needing work on ground
Personnel synchronize the mobile detection of hand-held signal receiver, and such equipment is complicated for operation in mapping, and working efficiency is low, and works as pipeline
When buried depth is deeper, error is very big.Therefore a kind of new equipment is needed, mapping operation is simplified, improves working efficiency and mapping essence
Degree.
Utility model content
The technical problem to be solved by the present invention is in view of the above drawbacks of the prior art, provide a kind of buried pipe
Road Robot.
The technical scheme adopted by the utility model to solve the technical problem is as follows: constructing a kind of underground piping mapping machine
People, the underground piping Robot include:
Robot body, the cable vehicle being electrically connected with robot body and controlling terminal；
The robot body executes the movement of controlling terminal sending for acquiring, transferring data to controlling terminal
Instruction；
The cable vehicle for realizing robot body controllable movement；
The controlling terminal is used to receive the data of robot body acquisition and issues the mobile instruction of control robot.
As a further improvement of the above technical scheme, above-described robot body includes robot fuselage, walking
Module, video acquisition module, inertial navigation module and control circuit；
The robot fuselage is the carrier of each module of robot, and each module to be arranged on fuselage provides interface and peace
Fill position；
The walking module function mobile for realizing underground piping Robot position；
The video acquisition module is for acquiring underground piping image；
The inertial navigation module is used to survey and draw the three-dimensional trend of underground piping；
The control circuit is surveyed for realizing underground piping Robot travelling control, video acquisition control and inertia
Draw control.
As a further improvement of the above technical scheme, above-described video acquisition module includes rotary head, setting
Photographic device and lighting fixture on rotary head.
As a further improvement of the above technical scheme, the interior setting of above-described inertial navigation module is electrically connected to each other
Inertial Measurement Unit, odometer and data collection system.
As a further improvement of the above technical scheme, above-described cable vehicle includes vehicle frame, is arranged in vehicle frame
Cable disc and line retracting mechanism, the cable car portion setting power supply and control circuit.
As a further improvement of the above technical scheme, above-described controlling terminal is intelligent terminal.
As a further improvement of the above technical scheme, above-described intelligent terminal be industrial computer, laptop,
Tablet computer or mobile phone.
A kind of underground piping Robot for implementing the utility model, has the advantages that
The utility model provides a kind of underground piping Robot, and fuselage carries video detection camera and inertia is led
Model plane block, being walked in pipeline by Manipulation of the machine people can be completed pipe detection and mapping, can simplify pipe detection and survey
Operation is drawn, the working efficiency of operating personnel is promoted.Meanwhile the high-precision inertial navigation module that robot fuselage carries, it can drop
Low labor intensity improves pipeline mapping precision, promotes mapping effect.Inertial navigation module mapping precision is high, not by buried depth of pipeline
Influence, can be applied to any pipeline mapping situation.
Detailed description of the invention
Below in conjunction with accompanying drawings and embodiments, the utility model is described in further detail, in attached drawing:
Fig. 1 is a kind of structural schematic diagram of underground piping Robot embodiment of the utility model；
Fig. 2 is a kind of structural schematic diagram of the robot body of underground piping Robot embodiment of the utility model；
In figure: robot body 1, cable vehicle 2, controlling terminal 3, robot fuselage 11, walking module 12, video acquisition mould
Block 13, inertial navigation module 14, rotary head 131, photographic device 132, lighting fixture 133, vehicle frame 21, cable disc 22, receiving/releasing
Line mechanism 23.
Specific embodiment
As shown in Figure 1, in a kind of embodiment of underground piping Robot of the utility model, the buried pipe
Road Robot includes: robot body 1, the cable vehicle 2 being electrically connected with robot body 1 and controlling terminal 3；The machine
Device human body 1 executes the move of the sending of controlling terminal 3 for acquiring, transferring data to controlling terminal；The cable
Vehicle 2 for realizing robot body controllable movement；The controlling terminal 3 be used for receive robot body acquisition data and
Issue the mobile instruction of control robot.The data of acquisition are first reached cable vehicle 2 by robot body 1, then are connected by cable vehicle 2
Controlling terminal 3 realizes that controlling terminal 3 checks data；Meanwhile the control data that controlling terminal 3 emits will also be passed by cable vehicle 2
To robot body 1, and then realize the movement of robot, to minimize robot fuselage, cable vehicle 2 can also act as system electricity
Source by integrated battery on online cable car 2 or provides power interface, realizes robot system power supply；Controlling terminal 3 is the present invention
The human-computer interaction medium of robot provides the human-computer interaction interface of hommization, realizes robot acquisition data receiver and machine
Device people control.
The robot body 1 includes robot fuselage 11, walking module 12, video acquisition module 13, inertial navigation
Module 14 and control circuit；The robot fuselage 11 is the carrier of each module of robot, for each module being arranged on fuselage
Interface and installation position are provided；The walking module 12 function mobile for realizing underground piping Robot position；It can
To realize that functions, the robots such as robot advance, retrogressing, turning, climbing and obstacle detouring walk in underground piping, buried pipe is realized
Road detection and mapping.The video acquisition module 13 is for acquiring underground piping image；The inertial navigation module 14 is used
In the three-dimensional trend of mapping underground piping；The control circuit is for realizing underground piping Robot travelling control, view
Frequency acquisition control and inertia mapping control.The video acquisition module 13 includes rotary head 131, is arranged in rotary head
Photographic device 132 and lighting fixture 133 on 131.Rotary head 131 mainly realizes rotation of lens, to make photographic device 132
The video information of different visual directions can be acquired, photographic device 132 determines in pipeline whether deposit for acquiring underground piping image
In defect, lighting fixture 133 provides illumination for pipeline, makes 132 image quality of photographic device apparent.The inertial navigation mould
Inertial Measurement Unit, odometer and the data collection system that setting is electrically connected to each other in block 14.Inertial Measurement Unit is in robot
The inertial data of robot is acquired when walking in real time, the mileage of odometer robot measurement walking simultaneously passes through the two
It is implemented in combination with the mapping of underground piping three-dimensional trend.Control circuit then mainly realizes robot ambulation control, video acquisition control
Control etc. is surveyed and drawn with inertia, by control circuit, realizes that the combination of each comprising modules of robot fuselage, formation one are whole
Body.
The cable vehicle 2 includes vehicle frame 21, the cable disc 22 being arranged in vehicle frame 21 and line retracting mechanism 23, described
Cable vehicle 2 inside power supply and control circuit are set.Cable vehicle carriage 21 provides the integrated framework of each component in cable vehicle 2；
Cable disc 22 is then mainly used for collecting cable；Bridge joint and realization of the control circuit in addition to realizing robot body 1 and controlling terminal 3
Outside system power supply, cable pulling-pushing device can be also controlled as needed, realize electric wire winding or automatic takeup；Wire rewinding and paying off machine 23 mainly wraps
Cable wiring mechanism, cleaning mechanism and metering mechanism etc. are included, folding and unfolding line traffic control and length computation are mainly used for；The power supply is then
Provide the power supply electric energy of system, it is ensured that system steady operation.To mitigate cable car weight amount, cable vehicle 2 also can choose outside
Power supply power supply, therefore, the connection of cable vehicle 2 and controlling terminal 3 can pass through wired mode or wireless mode.
The controlling terminal 3 is intelligent terminal, and the intelligent terminal can be industrial computer, laptop, plate
Computer or mobile phone.It can provide human-computer interaction interface, realize robot acquisition data receiver and robot control.
In conclusion such as those of ordinary skill is scrutable in the art, described in this specification only originally
One preferred embodiment of utility model, the change or modification that all designs according to the utility model are made all should be practical new at this
In the claims of type.
Claims (7)
1. a kind of underground piping Robot, which is characterized in that the underground piping Robot includes:
Robot body, the cable vehicle being electrically connected with robot body and controlling terminal；
The robot body executes the move of controlling terminal sending for acquiring, transferring data to controlling terminal；
The cable vehicle for realizing robot body controllable movement；
The controlling terminal is used to receive the data of robot body acquisition and issues the mobile instruction of control robot.
2. a kind of underground piping Robot according to claim 1, which is characterized in that the robot body packet
Include robot fuselage, walking module, video acquisition module, inertial navigation module and control circuit；
The robot fuselage is the carrier of each module of robot, and each module to be arranged on fuselage provides interface and installation
Position；
The walking module function mobile for realizing underground piping Robot position；
The video acquisition module is for acquiring underground piping image；
The inertial navigation module is used to survey and draw the three-dimensional trend of underground piping；
The control circuit is for realizing underground piping Robot travelling control, video acquisition control and inertia mapping control
System.
3. a kind of underground piping Robot according to claim 2, which is characterized in that the video acquisition module
Including rotary head, the photographic device and lighting fixture that are arranged on rotary head.
4. a kind of underground piping Robot according to claim 2, which is characterized in that the inertial navigation module
It is interior that Inertial Measurement Unit, odometer and the data collection system being electrically connected to each other are set.
5. a kind of underground piping Robot according to claim 2, which is characterized in that the cable vehicle includes vehicle
Frame, the cable disc being arranged in vehicle frame and line retracting mechanism, the cable car portion setting power supply and control circuit.
6. a kind of underground piping Robot according to claim 2, which is characterized in that the controlling terminal is intelligence
It can terminal.
7. a kind of underground piping Robot according to claim 6, which is characterized in that the intelligent terminal is work
Industry computer, laptop, tablet computer or mobile phone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820949574.7U CN208503767U (en) | 2018-06-20 | 2018-06-20 | Underground pipeline surveying and mapping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820949574.7U CN208503767U (en) | 2018-06-20 | 2018-06-20 | Underground pipeline surveying and mapping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208503767U true CN208503767U (en) | 2019-02-15 |
Family
ID=65285644
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820949574.7U Active CN208503767U (en) | 2018-06-20 | 2018-06-20 | Underground pipeline surveying and mapping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208503767U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108533881A (en) * | 2018-06-20 | 2018-09-14 | 深圳供电局有限公司 | Underground pipeline surveying and mapping robot |
| CN110174136A (en) * | 2019-05-07 | 2019-08-27 | 武汉大学 | A kind of underground piping intelligent measurement robot and intelligent detecting method |
-
2018
- 2018-06-20 CN CN201820949574.7U patent/CN208503767U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108533881A (en) * | 2018-06-20 | 2018-09-14 | 深圳供电局有限公司 | Underground pipeline surveying and mapping robot |
| CN110174136A (en) * | 2019-05-07 | 2019-08-27 | 武汉大学 | A kind of underground piping intelligent measurement robot and intelligent detecting method |
| CN110174136B (en) * | 2019-05-07 | 2022-03-15 | 武汉大学 | Intelligent detection robot and intelligent detection method for underground pipeline |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210510 Address after: 518000 electric power dispatching and communication building, 4020 Shennan East Road, Luohu District, Shenzhen, Guangdong Patentee after: Shenzhen Power Supply Co.,Ltd. Address before: 518000 Electric Power Dispatching and Communication Building 4020 Shennan East Road, Luohu District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Power Supply Co.,Ltd. Patentee before: SHENZHEN BOMINWELL ROBOTICS Co.,Ltd. |
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| TR01 | Transfer of patent right |