CN211010418U - Pipeline detection robot and pipeline detection system - Google Patents
Pipeline detection robot and pipeline detection system Download PDFInfo
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- CN211010418U CN211010418U CN201922116534.1U CN201922116534U CN211010418U CN 211010418 U CN211010418 U CN 211010418U CN 201922116534 U CN201922116534 U CN 201922116534U CN 211010418 U CN211010418 U CN 211010418U
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Abstract
The utility model discloses a pipeline detection robot and pipeline detection system, which relates to the technical field of pipeline detection, and comprises a ship body, a first driving component, a second driving component, two anti-collision obstacle avoidance sensors and an underwater sonar probe, wherein the first driving component is arranged at the rear end of the ship body and is used for driving the ship body to move forward, retreat or turn; the second driving assembly is arranged in the middle of the ship body and is used for floating the ship body; the two anti-collision obstacle avoidance sensors are respectively arranged on two sides of the ship body; the underwater sonar probe is arranged on the lower side of the ship body. The utility model discloses a pipeline inspection robot can detect the pipeline under the circumstances that sewer pipe has water, practices thrift manpower and materials, and it is convenient to detect.
Description
Technical Field
The utility model relates to a pipeline inspection technical field, concretely relates to pipeline inspection robot and pipeline inspection system.
Background
The urban sewer pipeline network is a complex underground pipeline network, rain sewage and various domestic water are mixed in the urban sewer pipeline network, sewer pipeline blockage is often formed, and therefore the pipeline blockage condition needs to be checked, and the traditional checking mode mainly depends on that detection personnel carry detection equipment such as pipeline periscopes and pipeline robots to go to a detection site for detection.
The pipeline periscope can only detect a pipeline in a straight line shape, and a pipeline in a curve cannot be detected. The existing pipeline detection robot is characterized in that a host control box on the ground controls a pipeline robot crawler to crawl in a pipeline through a signal wire.
The pipeline inspection robot has the following problems:
1. under the condition that the pipeline ponding is darker, the crawler of traditional pipeline robot is difficult for walking, must take out the water of sewer pipeline the inside dry before detecting, and such detection mode not only wastes manpower and materials, detects very inconveniently moreover.
2. The practical application of the towing detection is troublesome because a signal transmission mode with a signal line is adopted and a set of signal transmission line and a winding and unwinding device thereof need to be equipped.
SUMMERY OF THE UTILITY MODEL
To the defect that exists among the prior art, the utility model aims to provide a pipeline inspection robot and pipeline inspection system, it is used for solving among the prior art, and there is ponding in the pipeline, and the pipeline inspection degree of difficulty is big, and the wire drags the more troublesome problem of belt detection.
In order to achieve the above purpose, the utility model adopts the technical proposal that: a pipeline inspection robot comprising:
a hull;
the first driving assembly is arranged at the rear end of the ship body and is used for driving the ship body to move forwards, backwards or turn;
the second driving assembly is arranged in the middle of the ship body and is used for floating the ship body;
the two anti-collision obstacle avoidance sensors are respectively arranged on two sides of the ship body;
and the underwater sonar probe is arranged on the lower side of the ship body.
On the basis of the technical scheme, the first driving assembly comprises at least two first motors, the output ends of the first motors point to the rear of the ship body, and first spiral blades are arranged at the output ends of the first motors.
On the basis of the technical scheme, the second driving assembly comprises at least two second motors, the output ends of the second motors point above the ship body, and second spiral blades are arranged at the output ends of the second motors.
On the basis of the technical scheme, the number of the first motors or the number of the second motors are two, and the two first motors or the two second motors are symmetrically arranged on two sides of the ship body.
On the basis of the technical scheme, the front end of the ship body is provided with the movably connected camera.
On the basis of the technical scheme, L ED lamps are arranged on two sides of the camera.
On the basis of the technical scheme, the ship body is made of plastic, light metal or foam.
On the basis of the technical scheme, the anti-collision obstacle avoidance sensor is a radar ranging sensor, a laser ranging sensor or an infrared ranging sensor.
An object of the utility model is to provide a pipeline detecting system still, include:
pipeline inspection robot, it includes:
-a hull comprising a fore section and an aft section;
-a first drive assembly provided at the rear section for driving the hull forward or backward;
-a second drive assembly arranged between the fore and aft sections, the second drive assembly for floating the hull;
two anti-collision obstacle avoidance sensors, which are respectively arranged on both sides of the hull;
-an underwater sonar probe provided on the underside of the hull;
the wireless signal relay amplifiers are arranged at two wellheads at intervals of the detected sewer pipeline and used for amplifying and transmitting signals of the pipeline detection robot.
On the basis of the technical scheme, the number of the wireless signal relay amplifiers is two.
Compared with the prior art, the utility model has the advantages of:
the utility model provides a pipeline inspection robot and pipeline inspection system under the darker condition of pipeline ponding, need not to take out the water of sewer pipeline the inside futilely, this pipeline robot can advance in the aquatic, retreat, turn left, turn right and come-up, can detect the pipeline, practices thrift manpower and materials, and it is convenient to detect. Simultaneously, put wireless signal relay amplifier respectively in two adjacent wellheads of pipeline that need detect respectively, the ability of wireless signal transmission in the reinforcing pipeline, pipeline inspection robot adopts the wireless signal transmission that carries out, compares prior art and need be equipped with one set of signal transmission line and winding and unwinding devices thereof, and is with low costs, convenient to use.
Drawings
Fig. 1 is a top view of a pipeline inspection robot according to an embodiment of the present invention;
fig. 2 is a front view of the pipeline inspection robot in the embodiment of the present invention;
fig. 3 is a left side view of the pipeline inspection robot in the embodiment of the present invention;
fig. 4 is a working schematic diagram of the pipeline inspection robot in the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a pipeline inspection system according to an embodiment of the present invention;
in the figure, the ship comprises a ship body 1, a ship body 2, a first driving assembly 21, a first motor 22, a first spiral blade 3, a second driving assembly 31, a second motor 32, a first spiral blade 4, an anti-collision and obstacle-avoidance sensor 5, an underwater sonar probe 6, a camera 7, an L ED lamp 8, a wireless signal relay amplifier 9 and a controller.
Detailed Description
The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
Referring to fig. 1, an embodiment of the present invention provides a pipeline inspection robot, including: hull 1, first drive assembly 2, second drive assembly 3, two anticollision keep away barrier sensor 4 and sonar probe 5 under water.
The ship body 1 is made of light materials, preferably plastics, light metal or foam, which are convenient to process, and the buoyancy of the pipeline detection robot is slightly larger than the weight of the pipeline detection robot through weight control, so that the pipeline detection robot is convenient to control to float on the water surface.
Referring to fig. 1, a first driving assembly 2 is disposed at a rear end of a hull 1, and the first driving assembly 2 is used for driving the hull 1 to move forward or backward. Specifically, the first driving assembly 2 includes at least two first motors 21, the output ends of the first motors 21 point to the rear of the ship body and the output ends are provided with first helical blades 22. Preferably, the number of the first motors 21 is two, and the two first motors 21 are symmetrically arranged on two sides of the ship body 1, so that the pipeline detection robot can move forwards, backwards or turn conveniently.
Referring to fig. 2, the second driving assembly 3 is disposed in the middle of the hull 1, and the second driving assembly 3 is used for increasing buoyancy, so that the hull 1 floats on the water surface and walks faster. In particular, the second driving assembly 3 comprises at least two second motors 31, the output ends of the second motors 31 are directed above the hull and the output ends are provided with second helical blades 32. Preferably, the number of the second motors 31 is two, and the two second motors 31 are symmetrically arranged on two sides of the ship body 1, so that the left and right stress is more stable when the pipeline detection robot floats.
Referring to fig. 1, two anti-collision obstacle avoidance sensors 4 are respectively arranged on two sides of a ship body 1, preferably, the anti-collision obstacle avoidance sensors 4 are radar ranging sensors, laser ranging sensors or infrared ranging sensors, and the anti-collision obstacle avoidance sensors 4 are used for detecting the distance between the pipeline detection robot and the pipe wall when moving in the pipeline, so as to prevent the pipeline detection robot from colliding with the pipe wall to cause accidents.
Referring to fig. 2, an underwater sonar probe 5 is provided at the lower side of the hull 1, and is used for detecting the thickness and damage degree of sludge on the underwater pipe wall.
As a preferred embodiment, referring to fig. 3, the front end of the hull 1 is provided with a movably connected camera 6, so as to collect images in the pipeline. Specifically, the camera 6 may be provided with a pan/tilt head capable of moving in the left-right direction and in the up-down direction, and the pan/tilt head may move the camera 6 in the left-right direction and in the up-down direction to capture images in the pipeline.
In a preferred embodiment, as shown in fig. 3, L ED lights 7 are provided around the camera 6 to provide lighting for the camera 6, so that the camera 6 can more clearly collect images in the duct.
The utility model discloses pipeline inspection robot, its theory of operation as follows:
referring to fig. 4, a controller 9 is arranged in the pipeline detection robot, and a power control module is arranged in the controller 9 and connected with the two first motors and the two second motors to control the first motors and the two second motors to rotate, so that the pipeline detection robot moves forward, backward, leftwards, rightwards and upwards. Specifically, the power control module controls the two first motors to rotate forwards and backwards at the same speed, so that the pipeline detection robot moves forwards or backwards, and if the speeds of the two first motors are different or the rotating directions of the two first motors are different, the pipeline detection robot rotates left or right. The power control module controls the two second motors to rotate positively at the same speed, so that the pipeline detection robot floats upwards and walks faster.
The controller 9 still is equipped with underwater detection module, and underwater detection module is connected with sonar probe 5 under water, and wherein sonar probe 5 under water includes emission probe and receiving probe, and underwater detection sensing module and underwater sonar probe cooperation detect obtain the pipeline under water thickness and the damaged degree of partial pipe wall silt.
The controller 9 is further provided with an anti-collision obstacle avoidance module, the anti-collision obstacle avoidance module is connected with the two anti-collision obstacle avoidance sensors 4, the anti-collision obstacle avoidance module acquires the distance between the pipeline detection robot and the pipeline wall in the pipeline through the two anti-collision obstacle avoidance sensors 4, and the pipeline detection robot is prevented from colliding with the pipeline wall to cause accidents.
The controller 9 is also provided with an image camera module, the image camera module is connected with the cameras 6 and L ED lamps 7, preferably, the cameras 6 can move in the left-right direction and the up-down direction, and the cameras 6 collect image information in the pipeline through L ED light.
Compared with the prior art, the utility model discloses pipeline inspection robot under the darker condition of pipeline ponding, need not to take out the water of sewer pipeline the inside futilely, this pipeline robot can advance in aqueous, retreat, turn left, turn right and come-up, can detect the pipeline, practices thrift manpower and materials, and it is convenient to detect.
The embodiment of the utility model provides an on the other hand still provides a pipeline detecting system, include: the pipeline detection robot and at least two relay amplifiers 8 for wireless signals.
And the at least two wireless signal relay amplifiers 8 are arranged at two spaced wellheads of the detected sewer pipeline and are used for amplifying and transmitting the signals of the pipeline detection robot. The embodiment of the utility model provides an in wireless signal repeater amplifier 8 be two, it sets up respectively in two wells that sewer pipe is adjacent.
The utility model discloses pipeline detection system, its theory of operation as follows:
referring to fig. 5, a wireless mobile terminal is arranged on the ground of the pipeline detection system, a controller 9 is arranged in the pipeline detection robot, a wireless transmission module is arranged in the controller 9, the wireless transmission module transmits information acquired by all sensors acquired by the controller 9 to a wireless signal relay amplifier 8, and the wireless signal relay amplifier 8 amplifies signals and transmits the amplified signals to the wireless mobile terminal; on the contrary, the ground wireless mobile terminal can issue a control instruction, and the wireless signal relay amplifier 8 amplifies the control instruction and transmits the amplified control instruction to the pipeline detection robot so as to control the pipeline detection robot to perform data acquisition and actions of advancing, retreating, turning left, turning right and floating in the pipeline.
Compared with the prior art, the utility model discloses pipeline detecting system adopts wireless signal transmission that carries on, puts a radio signal repeater amplifier 8 respectively in two wellheads that the pipeline looks is adjacent that needs detect, and radio signal transmission's ability in the reinforcing pipeline compares prior art and need be equipped with one set of signal transmission line and winding and unwinding devices, and is with low costs, convenient to use.
The present invention is not limited to the above preferred embodiments, and any person can obtain other products in various forms without departing from the scope of the present invention, but any change in shape or structure is within the scope of protection.
Claims (10)
1. A pipeline inspection robot, comprising:
a hull (1);
the first driving assembly (2) is arranged at the rear end of the ship body (1), and the first driving assembly (2) is used for driving the ship body (1) to move forwards, backwards or turn;
the second driving assembly (3) is arranged in the middle of the ship body (1), and the second driving assembly (3) is used for floating the ship body (1);
the two anti-collision obstacle avoidance sensors (4) are respectively arranged on two sides of the ship body (1);
and the underwater sonar probe (5) is arranged on the lower side of the ship body (1).
2. The pipe inspection robot of claim 1, wherein:
the first driving assembly (2) comprises at least two first motors, and the output ends of the first motors point to the rear of the ship body (1) and are provided with first spiral blades.
3. The pipe inspection robot of claim 2, wherein:
the second driving assembly (3) comprises at least two second motors, and the output ends of the second motors point to the upper part of the ship body (1) and are provided with second spiral blades.
4. The pipe inspection robot of claim 3, wherein: the ship is characterized in that the number of the first motors or the number of the second motors are two, and the first motors or the second motors are symmetrically arranged on two sides of the ship body (1).
5. The pipe inspection robot of claim 1, wherein: the front end of the ship body (1) is provided with a movably connected camera (6).
6. The pipeline inspection robot according to claim 5, wherein L ED lamps (7) are arranged on two sides of the camera (6).
7. The pipe inspection robot of claim 1, wherein: the hull (1) is made of plastic, light metal or foam.
8. The pipe inspection robot of claim 1, wherein: the anti-collision obstacle avoidance sensor (4) is a radar ranging sensor, a laser ranging sensor or an infrared ranging sensor.
9. A pipeline inspection system, comprising:
pipeline inspection robot, it includes:
-a hull (1) comprising a fore section and an aft section;
-a first drive assembly (2) arranged at the rear section, the first drive assembly (2) being for driving the hull (1) forward or backward;
-a second drive assembly (3) arranged between the fore and aft sections, the second drive assembly (3) being for floating the hull (1);
-two anti-collision obstacle-avoidance sensors (4) respectively arranged on both sides of the hull (1);
-an underwater sonar probe (5) provided on the underside of the hull (1);
the wireless signal relay amplifiers (8) are arranged at two wellheads at intervals of the detected sewer pipeline and are used for amplifying and transmitting wireless signals of the pipeline detection robot.
10. The pipeline inspection system of claim 9, wherein:
the number of the wireless signal relay amplifiers (8) is two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922116534.1U CN211010418U (en) | 2019-11-28 | 2019-11-28 | Pipeline detection robot and pipeline detection system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922116534.1U CN211010418U (en) | 2019-11-28 | 2019-11-28 | Pipeline detection robot and pipeline detection system |
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| CN211010418U true CN211010418U (en) | 2020-07-14 |
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| CN201922116534.1U Active CN211010418U (en) | 2019-11-28 | 2019-11-28 | Pipeline detection robot and pipeline detection system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111928841A (en) * | 2020-09-15 | 2020-11-13 | 天津瀚海蓝帆海洋科技有限公司 | Modular pipeline surveying underwater robot |
| CN112013205A (en) * | 2020-09-10 | 2020-12-01 | 深圳市博铭维智能科技有限公司 | Flow multiplication propulsion pipeline detection robot |
| CN112808719A (en) * | 2020-12-19 | 2021-05-18 | 昆山升东物资有限公司 | Air bubble pipeline dredging robot |
| CN113108158A (en) * | 2021-04-30 | 2021-07-13 | 江南造船(集团)有限责任公司 | Water supply and drainage pipeline maintenance system |
| CN114352845A (en) * | 2022-01-20 | 2022-04-15 | 西安万飞控制科技有限公司 | Floating ball system and method for internal detection of oil and gas pipeline |
| 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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2019
- 2019-11-28 CN CN201922116534.1U patent/CN211010418U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112013205A (en) * | 2020-09-10 | 2020-12-01 | 深圳市博铭维智能科技有限公司 | Flow multiplication propulsion pipeline detection robot |
| CN111928841A (en) * | 2020-09-15 | 2020-11-13 | 天津瀚海蓝帆海洋科技有限公司 | Modular pipeline surveying underwater robot |
| CN112808719A (en) * | 2020-12-19 | 2021-05-18 | 昆山升东物资有限公司 | Air bubble pipeline dredging robot |
| CN112808719B (en) * | 2020-12-19 | 2022-05-27 | 陕西中科非开挖技术股份有限公司 | Air bubble pipeline dredging robot |
| CN113108158A (en) * | 2021-04-30 | 2021-07-13 | 江南造船(集团)有限责任公司 | Water supply and drainage pipeline maintenance system |
| CN113108158B (en) * | 2021-04-30 | 2022-11-15 | 江南造船(集团)有限责任公司 | Water supply and drainage pipeline maintenance system |
| CN114352845A (en) * | 2022-01-20 | 2022-04-15 | 西安万飞控制科技有限公司 | Floating ball system and method for internal detection of oil and gas pipeline |
| CN114352845B (en) * | 2022-01-20 | 2023-11-14 | 西安万飞控制科技有限公司 | Floating ball system and method for detecting inside of oil and gas pipeline |
| 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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