CN209782014U - Urban pipeline detection troubleshooting amphibious robot - Google Patents
Urban pipeline detection troubleshooting amphibious robot Download PDFInfo
- Publication number
- CN209782014U CN209782014U CN201920436466.4U CN201920436466U CN209782014U CN 209782014 U CN209782014 U CN 209782014U CN 201920436466 U CN201920436466 U CN 201920436466U CN 209782014 U CN209782014 U CN 209782014U
- Authority
- CN
- China
- Prior art keywords
- machine body
- fuselage
- robot
- spray gun
- troubleshooting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a city pipeline inspection troubleshooting amphibious robot in water and land, including crawler, crawler's top is supported through elevating system and is equipped with the fuselage, crawler's outer end is equipped with the troubleshooting arm and fixes on the fuselage, the front end of fuselage is equipped with the GPS chip, radio signal emission device and sonar diameter detection device, the middle part of fuselage is equipped with the retaining storehouse, the well rear portion of fuselage is equipped with water quality testing device, the afterbody of fuselage is equipped with the tail fin of pendulum, be equipped with dismantled and assembled trailing cable on the fuselage, fuselage lower extreme central authorities are equipped with high-pressure injection clearance spray gun, high-pressure injection clearance spray gun adopts the modularization equipment, can change high-pressure injection clearance spray gun module at will and realize different functions, the upper end of high-pressure injection clearance spray gun is equipped with high definition digtal camera, crawler's inboard is equipped with the bottom that the screw was. The robot can automatically detect the blocking condition and the water quality condition in the pipeline, can automatically position the blocking position and automatically clear the barrier.
Description
Technical Field
The utility model relates to a pipeline inspection waste fitting discharging, concretely relates to city pipeline inspection troubleshooting amphibious robot in water and land.
Background
With the rapid development of national economy, the national urban construction is accelerated more and more, and an urban pipe network plays an especially important role in pollution discharge and water discharge as an urban construction infrastructure, but for various reasons, many problems exist in the planning and management of urban water discharge pipelines in China at present.
the planning and the establishment of the drainage pipeline are lagged, the planning and the design quality are insufficient, so that the planning and the establishment of the municipal pipeline of part of cities are not perfect, the actual position, the pipe diameter numerical value, the pipeline service area, the facility land and the like of the municipal drainage pipeline lack detailed data description and system support, and much inconvenience exists in the management.
In the construction process, the urban pipe network caused by various reasons cannot be constructed according to the plan, in the construction of the city, design, construction and approval are carried out under most conditions, and on the other hand, the randomness in the construction process is strong, so that the design and the construction are not good.
The general survey of the drainage pipeline and the updating of the data information of the pipe network are not timely, so that the management department does not clearly survey the data of the existing pipe network of the city, and the processing result and the scheme are in and out when the relevant problems are processed.
After the urban pipe network is laid, corresponding construction investigation can be carried out generally under special conditions or after bad results appear, a large amount of projects are needed, road surface excavation is carried out, the excavation amount is large, fault points are searched, and a large amount of cost is caused.
Along with the enhancement of the country to the environmental protection treatment, the shortage of water resources, the construction of the ecological livable environment of green water hills, the treatment of sewage is more and more important, however, the situation of mixed drainage of sewage and rainwater exists in reality, which seriously affects the effective treatment of water resources.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a detect accurate, the swift urban pipeline of blowdown detects troubleshooting amphibious robot in water land to the defect that prior art exists.
The technical scheme is as follows: the utility model provides an urban pipeline detects investigation troubleshooting amphibious robot in water and land, including crawler, crawler's top is supported through elevating system and is equipped with the fuselage, crawler's outer end is equipped with the obstacle-removing arm and fixes on the fuselage, the front end of fuselage is equipped with the GPS chip, radio signal transmitting device and sonar diameter detection device, the middle part of fuselage is equipped with the retaining storehouse, the well rear portion of fuselage is equipped with water quality testing device, the afterbody of fuselage is equipped with the tail fin of making a pendulum, be equipped with dismantled and assembled dragging cable on the fuselage, fuselage lower extreme central authorities are equipped with high-pressure injection clearance spray gun, high-pressure injection clearance spray gun adopts the modularization equipment, can change high-pressure injection clearance spray gun module at will and realize different functions, the upper end of high-pressure injection clearance spray gun is equipped with high definition digtal camera, crawler's.
Preferably, the water quality detection device comprises insulating engineering plastics, a streamline inner cavity is formed inside the insulating engineering plastics, a slip ring connection interface convenient for connecting the machine body is arranged at the middle upper end of the insulating engineering plastics, and a front annular pressure sensor, an annular density measuring head, a pH value measuring head and a rear pressure sensor are sequentially arranged in the streamline inner cavity from left to right.
Preferably, a storage battery is further arranged in the machine body.
Preferably, the fuselage is a high strength foam fuselage.
Preferably, a gyro sensor is further arranged inside the machine body.
Compared with the prior art, the utility model, have following advantage: reasonable in design, the action is reliable, and the practicality is strong. The robot can automatically detect the blocking condition and the water quality condition in the pipeline, can automatically position the blocking position and automatically clear the barrier.
Drawings
Fig. 1 is a schematic front view of an embodiment of the present invention;
Fig. 2 is a left side view schematic diagram of an embodiment of the present invention;
Fig. 3 is a perspective view of an embodiment of the present invention;
Fig. 4 is a schematic structural view of a water quality detecting apparatus according to an embodiment of the present invention.
Detailed Description
Referring to fig. 1-4, an urban pipeline inspection, troubleshooting amphibious robot comprises a crawler 1, a body 2 is supported above the crawler 1 through a lifting mechanism 13, the lifting mechanism 13 is convenient for the robot to pass through a wading area with low water level, an obstacle removing arm 12 is arranged at the outer end of the crawler 1 and fixed on the body 2, the obstacle removing arm 12 is used for cleaning heavy objects, the obstacle removing arm 12 is driven by a micro-motor and is subjected to speed reduction control through a speed reducer, when an emergency situation occurs, a hand is poked to extend to assist the robot to turn around, so as to avoid accidents, a GPS chip, a wireless signal transmitting device 3 and a sonar diameter detecting device 4 are arranged at the front end of the body 2, a water storage bin 5 is arranged at the middle part of the body 2, the water storage capacity of the water storage bin 5 is used for controlling the floating and sinking depth of the body, a water quality detecting device 6 is arranged at the middle rear part of the body 2, a tail swinging tail fin 7, be equipped with dismantled and assembled trailing cable 8 on the fuselage 2, 2 lower extreme centers of fuselage are equipped with high-pressure injection clearance spray gun 9, and high-pressure injection clearance spray gun 9 adopts the modularization equipment, can change the high-pressure injection clearance spray gun module at will and realize different functions, and the upper end of high-pressure injection clearance spray gun 9 is equipped with high definition digtal camera 10, and the inboard of crawler 1 is equipped with screw 11 and installs the bottom at fuselage 2.
The water quality detection device 6 comprises insulating engineering plastics 16, a streamline inner cavity 14 is formed inside the insulating engineering plastics 16, a slip ring connecting interface 19 convenient for connecting the machine body 2 is arranged at the middle upper end of the insulating engineering plastics 16, a front annular pressure sensor 15, an annular density measuring head 17, a pH value measuring head 18 and a rear pressure sensor 20 are sequentially arranged in the streamline inner cavity 14 from left to right, the direction of water flow can be judged according to the data acquired by probes of the front annular pressure sensor 15 and the rear pressure sensor 20 through the front-back pressure difference, the corresponding water flow can be calculated according to the data of the front annular pressure sensor 15 and the rear pressure sensor 20, the corresponding liquid density can be detected according to the voltage change after the liquid passes through the annular density measuring head 17, the probes are integrated in the insulating engineering plastics, the interference of signals is avoided, and the accuracy of the data is ensured, the signal data are processed by the processor for gathering and transmission, the module can be replaced at will, and the slip ring connecting interface 19 is adopted for connection and assembly.
A storage battery is also arranged in the machine body 2.
The fuselage 2 is a high strength foam fuselage.
A gyro sensor is also arranged in the machine body 2.
Due to the complex conditions, water, impurities, water flow and the like in the urban pipe network, the robot has amphibious capacity to adapt to the environment of the pipe network, when the water level is detected to be shallow, the robot mainly walks by the crawler mechanisms 1, when the water level is high, the robot naturally floats under the action of the high-strength foam machine body, and the robot mainly depends on the propeller 11 and the tail swinging tail wing 7 to serve as a power source for the robot to move.
The robot is divided into two modes of dragging a cable 8 or a storage battery as a power source of movement, the wired mode is a direct power supply mode, the wireless mode is a storage battery power supply mode, the dragging cable 8 mainly has the functions of supplying power and returning signals as computer end software for automatically drawing an official website map and a pipe diameter three-dimensional map, the wireless transmission mode is used for supplying power to the storage battery for working, information is wirelessly transmitted in a WiFi mode through an antenna of the robot, data is synchronously uploaded to a network, and the information can be synchronously checked and received through the computer end and a mobile phone end.
The robot carries out the measurement of pipeline pipe diameter through sonar diameter detection device 4, and the location technique through GPS chip, wireless signal emitter 3 acquires the position of high accuracy and corresponds the information data of position pipeline diameter to acquire corresponding compound data information, provide data information for the engineering personnel can know the pipeline condition.
the sonar of robot surveys mainly arranges the robot front end in and carries out the pipe diameter and surveys, judges to the diameter of pipeline, combines leading high definition digtal camera 10 discernment to judge the condition of pipeline: and (4) judging and reading the diameter of the pipeline and the silting condition in the pipeline by the computer end according to the real-time information, considering that the next action of the robot is interfered, and recording the coordinate data of the position of the related fault.
The computer end obtains corresponding point and pipe diameter data from the collected data (pipe diameter, position and depth data in a mode of adjustable data collection frequency) through professional software and correspondingly draws a three-dimensional official network diagram, the data can be directly shared with the mobile phone end (feasibility verification of 5G data transmission), the data is directly stored in a remote server, relevant management units obtain relevant data through account numbers, and a data base is laid for later management and analysis.
The gyro sensor of the robot timely judges the attitude data of the robot, timely adjusts the related action, and avoids the robot from overturning and influencing the data acquisition and recovery of the robot.
The robot is from taking high-pressure injection spray gun 9 of removing obstacles for the slight siltation condition that exists in the processing pipe network, absorb the water source in the pipe network nearby, carry out high-pressure injection, in time handle the solution with the potential problem in the pipe network, improve the trafficability characteristic of robot, if meet the trouble that is difficult to solve, the robot returns the robot according to storage information data route and puts in some, high-pressure injection spray gun 9 of removing obstacles adopts the modularization equipment, can change high-pressure injection spray gun module of removing obstacles at will and realize different functions.
The obstacle removing arm 12 of the robot is used for moving obstacles to two sides when the high-pressure injection obstacle removing spray gun 9 cannot solve the obstacles in a pipe network, and then the obstacles are removed by adopting the combined action of the high-pressure injection obstacle removing spray gun 9, so that the obstacles are removed for the advancing of the robot, and disasters caused by blocking of pipelines are avoided.
the battery electric quantity condition of robot can in time be looked over through cell-phone end and computer end, avoids the battery volume to exhaust and influences the recovery of robot, and the robot still is provided with rivers monitoring devices, judges the rivers direction in the pipe network, and the following current is handled respectively against the current, is convenient for practice thrift the consumption.
And (4) judging the path of the drainage pipe, judging whether the robot meets a corresponding T-shaped intersection or a corresponding crossroad or not by detecting data, and judging the advancing direction by means of human interference or automatic driving when the robot meets the crossroad.
The water quality detection device 6 of the robot and the gyro sensor with the geomagnetic function judge whether sewage data are abnormal or not at the position where the robot is located, abnormal pollution discharge exists or not, illegal sewage discharge exists or not, and monitoring data information is provided for environment law enforcement.
The working process is as follows: for the pipeline needing detecting and discharging sewage, the robot is well adjusted and placed in the pipeline, the robot moves forward under the power of the crawler belt mechanism 1 or floats on water and moves forward by providing power by the propeller 11 and the tail swinging tail wing 7, the robot works through the detecting and discharging functions of all parts in the specific implementation mode, and the robot withdraws after the work is finished.
Claims (5)
1. The utility model provides an urban pipeline detects investigation troubleshooting amphibious robot on water and land which characterized in that: comprises a crawler mechanism (1), a machine body (2) is supported and arranged above the crawler mechanism (1) through a lifting mechanism (13), an obstacle removing arm (12) is arranged at the outer end of the crawler mechanism (1) and fixed on the machine body (2), a GPS chip is arranged at the front end of the machine body (2), a wireless signal transmitting device (3) and a sonar diameter detecting device (4), a water storage bin (5) is arranged at the middle part of the machine body (2), a water quality detecting device (6) is arranged at the middle rear part of the machine body (2), a tail swinging empennage (7) is arranged at the tail part of the machine body (2), a detachable dragging cable (8) is arranged on the machine body (2), a high-pressure injection obstacle removing spray gun (9) is arranged in the center of the lower end of the machine body (2), the high-pressure injection obstacle removing spray gun (9) is assembled in a modularization mode, a high-pressure injection obstacle removing spray gun module can be replaced, the inner side of the crawler belt mechanism (1) is provided with a propeller (11) which is arranged at the bottom of the machine body (2).
2. The urban pipeline detection, troubleshooting and amphibious robot as claimed in claim 1, wherein: water quality testing device (6) are including insulating engineering plastics (16), and insulating engineering plastics (16) are inside to form streamlined inner chamber (14), and the middle upper end of insulating engineering plastics (16) is equipped with slip ring connection interface (19) of being convenient for connect fuselage (2), turns right from a left side in streamlined inner chamber (14) and is equipped with leading annular pressure sensor (15), annular density measuring head (17), pH valve measuring head (18) and rearmounted pressure sensor (20) in proper order.
3. The urban pipeline detection, troubleshooting and amphibious robot as claimed in claim 1, wherein: a storage battery is also arranged in the machine body (2).
4. The urban pipeline detection, troubleshooting and amphibious robot as claimed in claim 1, wherein: the machine body (2) is a high-strength foam machine body.
5. The urban pipeline detection, troubleshooting and amphibious robot as claimed in claim 1, wherein: a gyro sensor is further arranged inside the machine body (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920436466.4U CN209782014U (en) | 2019-04-02 | 2019-04-02 | Urban pipeline detection troubleshooting amphibious robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920436466.4U CN209782014U (en) | 2019-04-02 | 2019-04-02 | Urban pipeline detection troubleshooting amphibious robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209782014U true CN209782014U (en) | 2019-12-13 |
Family
ID=68801107
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920436466.4U Active CN209782014U (en) | 2019-04-02 | 2019-04-02 | Urban pipeline detection troubleshooting amphibious robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209782014U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109827027A (en) * | 2019-04-02 | 2019-05-31 | 东营方塘环保科技有限公司 | A kind of urban duct detection investigation troubleshooting amphibious robot |
-
2019
- 2019-04-02 CN CN201920436466.4U patent/CN209782014U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109827027A (en) * | 2019-04-02 | 2019-05-31 | 东营方塘环保科技有限公司 | A kind of urban duct detection investigation troubleshooting amphibious robot |
| CN109827027B (en) * | 2019-04-02 | 2024-02-02 | 东营方塘环保科技有限公司 | Amphibious robot for urban pipeline detection and investigation and obstacle removal |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109827027B (en) | Amphibious robot for urban pipeline detection and investigation and obstacle removal | |
| CN103287549A (en) | Intelligent water quality monitoring and water surface cleaning ship | |
| CN106646629A (en) | Deepwater double-ship towing-type electromagnetic prospecting system | |
| CN109656251B (en) | Inspection robot for detecting soil in abandoned land of mining area and working method | |
| CN105242022A (en) | Beidou navigation twin-hull boat for intelligent water quality monitoring | |
| CN103499843A (en) | Vehicle-mounted type transient electromagnetic quick exploration device and measurement method | |
| CN107817319A (en) | It is a kind of to be used for urban road and the Non-Destructive Testing robot system of pipe engineering underground defect | |
| CN209782014U (en) | Urban pipeline detection troubleshooting amphibious robot | |
| CN210256112U (en) | Intelligent inspection robot with snake-shaped detection head | |
| KR101556284B1 (en) | System for measuring underground construction based on gps | |
| CN102288221A (en) | Equipment for generally surveying pipeline | |
| CN203268293U (en) | Water quality monitoring and water surface cleaning ship | |
| CN115953912A (en) | Vehicle road sensing equipment and method based on edge calculation | |
| CN111522014B (en) | High-precision underground PE pipe detection device and method with self-adaptive capacity | |
| CN101358867A (en) | Ocean water level real-time monitoring system | |
| CN109405823B (en) | Rapid positioning system and positioning method for charging point of pipe gallery track type inspection robot | |
| CN109782799B (en) | Unmanned boat environment detection control system and detection method based on robotic fish | |
| CN110793728A (en) | Positionable refuse landfill impermeable layer damage leakage detection system and method | |
| CN206863228U (en) | High iron positioning device thereof | |
| CN211121826U (en) | Damage leakage detection system for impermeable layer of positionable refuse landfill | |
| CN208795239U (en) | Piping lane rail mounted crusing robot charge point quick positioning system | |
| CN209850941U (en) | Underground pipe network detection robot in weak GPS signal environment | |
| CN203759255U (en) | Quick lossless comprehensive detection device for operating highway roadbed diseases | |
| CN111649736A (en) | Information detector for underground electric power pipe network | |
| CN215375823U (en) | Underground pipeline detection safety warning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |