CN209850941U - Underground pipe network detection robot in weak GPS signal environment - Google Patents
Underground pipe network detection robot in weak GPS signal environment Download PDFInfo
- Publication number
- CN209850941U CN209850941U CN201920582893.3U CN201920582893U CN209850941U CN 209850941 U CN209850941 U CN 209850941U CN 201920582893 U CN201920582893 U CN 201920582893U CN 209850941 U CN209850941 U CN 209850941U
- Authority
- CN
- China
- Prior art keywords
- signal
- robot
- repeater
- remote controller
- pipe network
- 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)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The utility model provides a robot is surveyed to underground pipe network under weak GPS signal environment, is applicable to the survey and drawing of underground pipe network, solves to survey the big problem of volume and the degree of difficulty to urban underground rain sewage pipe network. The utility model comprises a signal repeater, a remote controller and a self-rotating spherical robot; the remote controller is connected with the signal repeater through a wireless signal, the signal repeater is connected with the self-rotating spherical robot through a wireless signal, and the signal repeater is connected with the navigation satellite through a wireless signal; the remote controller is operated by an operator in a handheld mode, the self-rotating spherical robot is placed in an underground pipe network to be checked, and the signal repeater is arranged in an initial placing well for placing the self-rotating spherical robot. The utility model discloses can survey the stringing condition of underground pipe network and the jam condition in the pipe network, very big has made things convenient for the maintenance of staff to underground pipe network.
Description
Technical Field
An underground pipe network detection robot in a weak GPS signal environment is suitable for the technical field of hydraulic and surveying and mapping equipment, and is particularly suitable for detecting an underground rain and sewage pipe network.
Background
The urban underground pipe network is complex in complexity, low in visibility degree and large in detection quantity and difficulty. For urban water affair and water environment pollution management, it is very important to master the distribution condition, specific trend and communication condition of the rain and sewage pipe network. Because the underground environment is dark and complicated, manual investigation into the pipe network is obviously unrealistic, and in order to effectively guarantee the safety of workers, a robot capable of detecting in the underground pipe network is necessary to be developed. Because the length of the pipe network is large, the length of the pipe network is up to several kilometers when the pipe network is high, and the control mode of the robot needs to be wireless remote control. However, the underground pipe network is buried under the ground, so that the wireless remote controller is difficult to penetrate through the ground with the thickness of several meters to remotely control the robot, and the robot cannot penetrate through the ground surface to receive the GPS signal of the satellite. Aiming at the two problems, the invention is developed from the perspective of realizing the detection function of the underground pipe network.
Utility model
To the big problem of the dirty pipe network detection volume of city underground rain and the degree of difficulty, the utility model provides a solution.
The technical scheme is as follows: an underground pipe network detection robot in a weak GPS signal environment comprises a signal repeater, a remote controller and a self-rotating spherical robot; the remote controller is connected with the signal repeater through a wireless signal, the signal repeater is connected with the self-rotating spherical robot through a wireless signal, and the signal repeater is connected with the navigation satellite through a wireless signal; the remote controller is operated by an operator in a handheld mode, the self-rotating spherical robot is placed in an underground pipe network to be checked, and the signal repeater is arranged in an initial placing well for placing the self-rotating spherical robot.
Preferably, the signal repeater is designed to be a repeater for generating microwave signals which are strongly reflected and less attenuated in the reinforced concrete enclosed medium, and the signal repeater comprises a repeater control chip, a repeater power storage device and a repeater signal transceiver; the repeater control chip is electrically connected with the repeater power storage device and the repeater signal transceiver respectively, and the repeater power storage device is electrically connected with the repeater signal transceiver.
Preferably, the remote controller comprises a touch screen, a buzzer alarm, a remote controller signal receiving and sending device, a remote controller power storage device, a wired signal data interface and a remote controller control chip; the remote controller control chip is electrically connected with the remote controller respectively and comprises a touch screen, a remote controller signal transceiver, a remote controller power storage device, a wired signal data interface and a buzzer alarm, and the remote controller power storage device is connected with the touch screen, the remote controller signal transceiver, the wired signal data interface and the buzzer alarm respectively.
Preferably, the self-rotating spherical robot comprises a spherical shell, a driving device, a robot control chip, a probe, a motion sensor, a robot power storage device and a robot signal transceiving device; the robot control chip is arranged at the sphere center of the spherical shell, the driving device is tightly attached to the spherical shell, the probe is arranged at the probe hole of the spherical shell, the motion sensor is arranged at the driving device, and the robot power storage device is arranged at the robot control chip; the robot control chip is respectively and electrically connected with the driving device, the probe, the motion sensor, the robot power storage device and the robot signal transceiving device.
A detection method of an underground pipe network detection robot in a weak GPS signal environment is characterized by comprising the following steps:
opening a manhole cover, putting the spherical robot into the bottom of an underground pipe network after starting up, and putting the signal repeater into the bottom of the manhole while sinking;
secondly, an operator holds a remote controller in a hand to start and checks whether the GPS signal acquisition of the signal repeater is normal, whether the connection between a remote control signal and the self-rotating spherical robot is normal and whether the parameter feedback of a motion sensor of the self-rotating spherical robot is normal;
thirdly, starting operation, wherein an operator controls the self-rotating spherical robot to move along the water flow or the gradient of the pipeline through a remote controller;
fourthly, the motion sensor of the self-rotating spherical robot continuously transmits back parameters such as distance, speed, azimuth angle and the like;
fifthly, a repeater control chip of the signal repeater calculates coordinates Y = COSD OA, L = COSC Y, R = SINC Y and H = SIND OA of the point A at the position of the self-rotating spherical robot according to the received parameters such as the distance, the speed and the azimuth angle;
sixthly, converting the coordinate of the point A into the GPS coordinate of the point A by a repeater control chip of the signal repeater according to the calculated coordinate of the point A, and transmitting the coordinate of the point A and the GPS coordinate of the point A to the remote controller;
drawing a traveling route of the self-selection spherical robot in the underground pipe network by the remote controller control chip according to the received coordinate information, and displaying the traveling route on the touch screen by combining a map;
if the self-rotating spherical robot encounters an obstacle, the pipeline end point or the stagnation condition of the pipe collision position of the lift, the driving device is started through the remote controller, and if the self-rotating spherical robot cannot continue to move, alarm information is sent to the remote controller;
ninthly, the remote controller sends out a buzzing alarm after receiving the stagnation information of the self-rotating spherical robot;
tenthly, searching for the inspection well to be nearby by an operator according to the GPS position information of the self-rotating spherical robot and recovering the self-rotating spherical robot;
and eleven, the collected underground pipe network information can be downloaded to the background server from the remote controller by the operator through wireless signals or wired signals for calculation, analysis and sharing.
Has the advantages that: the utility model relates to an underground pipe network detection robot and detection method under weak GPS signal environment can survey the stringing condition of underground pipe network and the jam condition in the pipe network, very big has made things convenient for the maintenance of staff to underground pipe network.
Drawings
Fig. 1 is an overall schematic diagram of the underground pipe network detection robot in the weak GPS signal environment of the present invention;
fig. 2 is a schematic measurement diagram of the underground pipe network detection robot in the weak GPS signal environment of the present invention;
fig. 3 is a schematic structural diagram of a signal repeater of the underground pipe network detection robot in the weak GPS signal environment according to the present invention;
fig. 4 is a schematic structural diagram of the remote controller of the underground pipe network detection robot in the weak GPS signal environment of the present invention;
fig. 5 is the utility model discloses a structural schematic of the autorotation spherical robot of underground pipe network detection robot under weak GPS signal environment.
In the figure, 1 is a signal repeater, 101 is a repeater control chip, 102 is a repeater power storage device, 103 is a repeater signal transmitting and receiving device, 2 is a remote controller, 201 is a touch panel, 202 is a buzzer alarm, 203 is a remote controller signal transmitting and receiving device, 204 is a remote controller power storage device, 205 is a wired signal data interface, 206 is a remote controller control chip, 3 is a self-rotating spherical robot, 301 is a spherical housing, 302 is a driving device, 303 is a robot control chip, 304 is a probe, 305 is a motion sensor, 306 is a robot power storage device, and 307 is a robot signal transmitting and receiving device.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
An underground pipe network detection robot in a weak GPS signal environment comprises a signal repeater 1, a remote controller 2 and a self-rotating spherical robot 3; the remote controller 2 is connected with the signal repeater 1 through a wireless signal, the signal repeater 1 is connected with the self-rotating spherical robot 3 through a wireless signal, and the signal repeater 1 is connected with a navigation satellite through a wireless signal; the remote controller 2 is operated by an operator in a hand-held mode, the self-rotating spherical robot 3 is placed in an underground pipe network to be checked, and the signal repeater 1 is arranged in an initial placing well for placing the self-rotating spherical robot.
The signal repeater 1 is designed as a repeater for generating microwave signals which are strongly reflected in a reinforced concrete enclosed medium and are less attenuated, and the signal repeater 1 comprises a repeater control chip 101, a repeater power storage device 102 and a repeater signal transceiver 103; the repeater control chip 101 is electrically connected to the repeater power storage device 102 and the repeater signal transceiver 103, respectively, and the repeater power storage device 102 is electrically connected to the repeater signal transceiver 103.
The remote controller 2 comprises a touch screen 201, a buzzer alarm 202, a remote controller signal transceiver 203, a remote controller power storage device 204, a wired signal data interface 205 and a remote controller control chip 206; the remote controller control chip 206 is electrically connected with the remote controller including the touch screen 201, the remote controller signal transceiver 203, the remote controller power storage device 204, the wired signal data interface 205 and the buzzer alarm 202, and the remote controller power storage device 204 is electrically connected with the touch screen 201, the remote controller signal transceiver 203, the wired signal data interface 205 and the buzzer alarm 202.
The self-rotating spherical robot 3 comprises a spherical shell 301, a driving device 302, a robot control chip 303, a probe 304, a motion sensor 305, a robot power storage device 306 and a robot signal transceiving device 307; the robot control chip 303 is arranged at the center of the sphere of the spherical shell 301, the driving device 302 is tightly attached to the spherical shell 301, the probe 304 is arranged at the probe hole of the spherical shell 301, the motion sensor 305 is arranged at the driving device 302, and the robot power storage device 306 is arranged at the robot control chip 303; the robot control chip 303 is electrically connected to the driving device 302, the probe 304, the motion sensor 305, the robot power storage device 306, and the robot signal transceiver 307.
A detection method of an underground pipe network detection robot in a weak GPS signal environment is characterized by comprising the following steps:
firstly, opening a manhole cover, placing the self-rotating spherical robot 3 into the bottom of an underground pipe network after starting up, and simultaneously sinking and placing the signal repeater 1 into the bottom of the manhole after starting up;
secondly, the operator holds the remote controller 2 in hand to start and checks whether the GPS signal acquisition of the signal repeater 1 is normal, whether the connection between the remote control signal and the self-rotating spherical robot 3 is normal, and whether the parameter feedback of the motion sensor 305 of the self-rotating spherical robot 3 is normal;
thirdly, starting operation, wherein an operator controls the self-rotating spherical robot 3 to move forwards along the water flow or the gradient of the pipeline through the remote controller 2;
fourthly, the motion sensor 305 of the self-rotating spherical robot 3 continuously transmits back parameters such as distance, speed, azimuth angle and the like;
fifthly, the repeater control chip 101 of the signal repeater 1 calculates the coordinates Y = COSD OA, L = COSC Y, R = SINC Y and H = SIND OA of the point A where the self-rotating spherical robot is located according to the received parameters such as the distance, the speed and the azimuth angle;
sixthly, the repeater control chip 101 of the signal repeater 1 converts the coordinates of the point A into the GPS coordinates of the point A according to the calculated coordinates of the point A, and transmits the coordinates of the point A and the GPS coordinates of the point A to the remote controller 2;
seventhly, drawing a traveling route of the self-selection spherical robot 3 in the underground pipe network by the remote controller control chip 206 according to the received coordinate information, and displaying the traveling route on the touch screen by combining a map;
eighthly, if the self-rotating spherical robot 3 encounters an obstacle, the pipeline end point or the stagnation at the pipe collision position of the lift, the driving device 302 is started through the remote controller 2, and if the self-rotating spherical robot cannot continue to move, alarm information is sent to the remote controller;
ninthly, the remote controller 2 sends out a buzzing alarm after receiving the stagnation information of the self-rotating spherical robot 3;
tenthly, searching for the position of the inspection well and recovering the self-rotating spherical robot 3 according to the GPS position information of the self-rotating spherical robot 3 by an operator;
eleven, the collected underground pipe network information can be downloaded to the background server from the remote controller 2 by the operator through wireless signals or wired signals for calculation, analysis and sharing.
Claims (4)
1. The utility model provides a robot is surveyed to underground pipe network under weak GPS signal environment which characterized in that: comprises a signal repeater (1), a remote controller (2) and a self-rotating spherical robot (3); the remote controller (2) is connected with the signal repeater (1) through a wireless signal, the signal repeater (1) is connected with the self-rotating spherical robot (3) through a wireless signal, and the signal repeater (1) is connected with a navigation satellite through a wireless signal; the remote controller (2) is operated by an operator in a handheld mode, the self-rotating spherical robot (3) is placed in an underground pipe network to be checked, and the signal repeater (1) is arranged in an initial placing well for placing the self-rotating spherical robot.
2. The underground pipe network detection robot in the weak GPS signal environment according to claim 1, wherein: the signal repeater (1) is designed to be a repeater for generating a microwave signal which is strongly reflected in a reinforced concrete closed medium and is less attenuated, and the signal repeater (1) comprises a repeater control chip (101), a repeater power storage device (102) and a repeater signal transceiving device (103); the repeater control chip (101) is electrically connected with the repeater power storage device (102) and the repeater signal receiving and sending device (103) respectively, and the repeater power storage device (102) is electrically connected with the repeater signal receiving and sending device (103).
3. The underground pipe network detection robot in the weak GPS signal environment according to claim 1, wherein: the remote controller (2) comprises a touch screen (201), a buzzer alarm (202), a remote controller signal transceiver (203), a remote controller power storage device (204), a wired signal data interface (205) and a remote controller control chip (206); the remote controller control chip (206) is electrically connected with the remote controller respectively and comprises a touch screen (201), a remote controller signal transceiver (203), a remote controller power storage device (204), a wired signal data interface (205) and a buzzer alarm (202), wherein the remote controller power storage device (204) is respectively connected with the touch screen (201), the remote controller signal transceiver (203), the wired signal data interface (205) and the buzzer alarm (202).
4. The underground pipe network detection robot in the weak GPS signal environment according to claim 1, wherein: the self-rotating spherical robot (3) comprises a spherical shell (301), a driving device (302), a robot control chip (303), a probe (304), a motion sensor (305), a robot power storage device (306) and a robot signal transceiving device (307); the robot control chip (303) is arranged at the sphere center of the spherical shell (301), the driving device (302) is tightly attached to the spherical shell (301), the probe (304) is arranged at the probe hole of the spherical shell (301), the motion sensor (305) is arranged at the driving device (302), and the robot power storage device (306) is arranged at the robot control chip (303); the robot control chip (303) is respectively and electrically connected with the driving device (302), the probe (304), the motion sensor (305), the robot power storage device (306) and the robot signal transceiving device (307).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920582893.3U CN209850941U (en) | 2019-04-26 | 2019-04-26 | Underground pipe network detection robot in weak GPS signal environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920582893.3U CN209850941U (en) | 2019-04-26 | 2019-04-26 | Underground pipe network detection robot in weak GPS signal environment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209850941U true CN209850941U (en) | 2019-12-27 |
Family
ID=68939194
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920582893.3U Active CN209850941U (en) | 2019-04-26 | 2019-04-26 | Underground pipe network detection robot in weak GPS signal environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209850941U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109955269A (en) * | 2019-04-26 | 2019-07-02 | 深圳市环境科学研究院 | Underground pipe network sniffing robot and detection method under a kind of weak GPS signal environment |
-
2019
- 2019-04-26 CN CN201920582893.3U patent/CN209850941U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109955269A (en) * | 2019-04-26 | 2019-07-02 | 深圳市环境科学研究院 | Underground pipe network sniffing robot and detection method under a kind of weak GPS signal environment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207242041U (en) | A kind of water sample detection system based on multi-rotor unmanned aerial vehicle | |
| US8125529B2 (en) | Camera aiming using an electronic positioning system for the target | |
| CN202728535U (en) | Unmanned telemetering ship | |
| CN207833034U (en) | A kind of unmanned plane-geological radar integrally descends object detection device | |
| CN105242022A (en) | Beidou navigation twin-hull boat for intelligent water quality monitoring | |
| CN104267643A (en) | Target positioning recognition system of underwater robot | |
| CN104215988A (en) | Underwater target positioning method | |
| CN204676554U (en) | A kind of immersed tube subaqueous construction navigation system | |
| CN102495420A (en) | Underwater object precision positioning system and method | |
| CN104271490A (en) | Crane collision avoidance | |
| CN102087360A (en) | System and method for observing local scour of pier | |
| RU2426149C1 (en) | Sonar location complex | |
| US20200284903A1 (en) | Method for tracking underwater objects | |
| CN110824526A (en) | A novel waters measurement robot for colliery subsidence district water resource monitoring | |
| KR100805358B1 (en) | Depth-sounding apparatus mounted remote control survey ship using wireless internet and dgps | |
| RU2632342C1 (en) | Autonomous mobile robotic complex | |
| Carragher et al. | A new platform for offshore exploration and production | |
| Ge et al. | Current trends and perspectives of detection and location for buried non-metallic pipelines | |
| KR101267016B1 (en) | Singnal apparatus for the survey of buriedstructures by used gpr unit | |
| CN209850941U (en) | Underground pipe network detection robot in weak GPS signal environment | |
| CN103760552A (en) | Float type high-frequency ground wave radar | |
| Stone et al. | Design and deployment of a four-degrees-of-freedom hovering autonomous underwater vehicle for sub-ice exploration and mapping | |
| CN205139126U (en) | BeiDou navigation satellite system intelligence water quality monitoring twinhull vessel | |
| CN105974477A (en) | Vessel-mounted deep sea natural gas hydrate detection sampling apparatus and method | |
| CN202471067U (en) | Airport clearance monitor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |