CN211175899U - Pipeline robot capable of realizing accurate positioning and three-dimensional mapping - Google Patents
Pipeline robot capable of realizing accurate positioning and three-dimensional mapping Download PDFInfo
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- CN211175899U CN211175899U CN201921914913.9U CN201921914913U CN211175899U CN 211175899 U CN211175899 U CN 211175899U CN 201921914913 U CN201921914913 U CN 201921914913U CN 211175899 U CN211175899 U CN 211175899U
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Abstract
The utility model discloses a pipeline robot capable of realizing accurate positioning and three-dimensional mapping, which comprises a robot body, a forward-looking camera, a rotating bracket, a rear-looking camera, two front traveling wheels, two rear traveling wheels and obstacle crossing wheels positioned between the two front traveling wheels and the two rear traveling wheels; the device comprises a machine body, a bearing device and a front supporting leg and a rear supporting leg, wherein the machine body is provided with an inertial navigation system for positioning in real time and surveying and mapping geographic three-dimensional information, the bearing device is used for supporting the inertial navigation system, the bearing device is arranged on the machine body and is positioned behind a rotating support, and the bearing device comprises a bearing plate for bearing the inertial navigation system, and the front supporting leg and the rear supporting leg are used for supporting the inertial navigation system. This pipeline inspection robot has comprehensively considered the holistic ability and the structure overall arrangement of robot itself through setting up inertial navigation system, and what be ingenious will "be used to the navigation system" and combine together through bearing device and fuselage, realizes the accurate location and the accurate survey and drawing of geographical three-dimensional information in airtight space.
Description
Technical Field
The utility model belongs to the technical field of pipeline inspection robot, specifically be relate to a can realize pipeline robot of accurate location and three-dimensional survey and drawing.
Background
At present, a pipeline detection robot in a traditional form in the pipeline detection industry takes pictures and records the internal surface and the internal defect conditions of a pipeline by advancing or retreating a crawler carrying a high-definition camera system in the pipeline, so as to obtain a pipeline maintenance conclusion. The prior pipeline robot equipment in the detection process has the following defects:
firstly, the position of the defect in the pipeline cannot be accurately positioned
After the pipeline robot detects the defects in the pipeline, the precise positions of the defect points under the ground can only be determined by the advancing distance of the crawler and cannot be precisely positioned, and the repair of the pipeline defects in the later period does not have precise position data as guidance, so that the repair difficulty is increased. The spatial trend of pipeline detection and the running track of a pipeline robot cannot be accurately determined, the accurate mapping of the geographical three-dimensional information of the pipeline cannot be formed, and a decision maker of a pipeline management department lacks reference data.
Secondly, the robot cannot get up after turning over "
The pipeline inspection robot is at the detection in-process of marcing, because of the interior complicated terrain condition of pipeline side direction car turnover appears easily, in case this kind of condition appears, pipeline inspection robot can't "stand up by oneself", considers the unsafe factor in the underground pipeline, generally does not advocate the operation of going into the well of trade, nevertheless waits for professional team again to consume time too long, and the conventional method just becomes to drag out by force, and camera lens and important part cause the damage when serious, the cable conductor tears apart, and economic loss is great and influence normal detection and maintenance.
Thirdly, the pipeline robot is limited by the detection environment
Under the normal condition, the pipeline detection robot can not carry out normal detection when running forward and backward, and the pipeline detection robot requires that water, over-thick silt and sundries cannot be arranged in the pipeline or only allows small flow rate water and partial silted sediment which cannot submerge one third of wheels to smoothly carry out detection work, if the pipeline with large pipe diameter and ultra-large pipe diameter meets the conditions that the pipeline cannot be plugged and cleaned by flowing water in the pipeline.
The utility model discloses the above-mentioned three aspect problem that will aim at current pipeline inspection robot is solved to "a can realize pipeline robot of accurate location and three-dimensional survey and drawing" of this application.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome not enough among the above-mentioned prior art, provide a can realize the pipeline robot of accurate location and three-dimensional survey and drawing. This pipeline inspection robot has comprehensively considered the holistic ability and the structure overall arrangement of robot itself through setting up inertial navigation system, and what be ingenious will "be used to the navigation system" and combine together through bearing device and fuselage, realizes the accurate location and the accurate survey and drawing of geographical three-dimensional information in airtight space.
In order to achieve the above object, the utility model adopts the following technical scheme: a pipeline robot capable of realizing accurate positioning and three-dimensional mapping comprises a robot body used for loading a robot control system, a front-view camera used for collecting pictures and videos of the advancing direction of a pipeline detection robot, a rotating support used for driving the front-view camera to lift, a rear-view camera used for collecting pictures and videos of the retreating direction of the pipeline detection robot, two front traveling wheels used for driving the robot body to advance, two rear traveling wheels used for driving the robot body to retreat, and obstacle crossing wheels positioned between the two front traveling wheels and the two rear traveling wheels; the method is characterized in that: the airplane body is provided with an inertial navigation system for positioning in real time and mapping geographic three-dimensional information and a bearing device for supporting the inertial navigation system; the bearing device is arranged on the machine body and is positioned behind the rotating support, and the bearing device comprises a bearing plate for bearing the inertial navigation system, and a front support leg and a rear support leg for supporting the inertial navigation system.
Foretell pipeline robot that can realize accurate location and three-dimensional survey and drawing, its characterized in that: the front supporting legs are two and are clamped into the clamping grooves in the machine body from top to bottom, the rear supporting legs are two and are connected to the machine body through bolts.
Foretell pipeline robot that can realize accurate location and three-dimensional survey and drawing, its characterized in that: the bearing plate, the front supporting legs and the rear supporting legs form an integrated structure.
Foretell pipeline robot that can realize accurate location and three-dimensional survey and drawing, its characterized in that: including dismantling fixed length shaft device, can dismantle fixed length shaft device and include the connecting rod, the one end of connecting rod is provided with the bearing ring flange that is used for being connected with the walking wheel transmission shaft, the other end of connecting rod is provided with the walking wheel ring flange that is used for being connected with the walking wheel.
Foretell pipeline robot that can realize accurate location and three-dimensional survey and drawing, its characterized in that: the bearing flange plate with the connecting rod and the walking wheel flange plate with the connecting rod is welded connection, the bearing flange plate with the walking wheel transmission shaft is bolted connection, the walking wheel flange plate with the walking wheel is bolted connection.
Foretell pipeline robot that can realize accurate location and three-dimensional survey and drawing, its characterized in that: the anti-rollover device comprises an anti-rollover rod and an anti-rollover connecting plate, wherein the anti-rollover device is arranged on the outer side of the obstacle crossing wheel, the anti-rollover connecting plate is fixed at one end of the anti-rollover rod, and the anti-rollover connecting plate is connected with a wheel hub of the obstacle crossing wheel.
Foretell pipeline robot that can realize accurate location and three-dimensional survey and drawing, its characterized in that: one end of the anti-rollover connecting plate, which is far away from the anti-rollover connecting plate, is a round head.
Foretell pipeline robot that can realize accurate location and three-dimensional survey and drawing, its characterized in that: the anti-rollover connecting plate is a flange plate, the anti-rollover connecting plate is connected with the anti-rollover rod in a welding mode, and the anti-rollover connecting plate is connected with a hub of the obstacle crossing wheel through bolts.
Compared with the prior art, the utility model has the following advantage:
1. the utility model has the advantages of simple structure, novel in design is reasonable.
2. The utility model discloses a set up inertial navigation system, the holistic ability and the structure overall arrangement of robot itself have been considered comprehensively, and ingenious will "be used to the navigation system" and combine together through bearing device and fuselage, realize the accurate location and the accurate survey and drawing of geographical three-dimensional information in airtight space.
3. The utility model discloses a what the device can be for is used to the navigation system and provides effectual, firm support in the setting.
4. The utility model discloses advancing or retreating the in-process, can utilizing and preventing the side-tipping pole to realize that pipeline inspection robot does not turn over, perhaps when turning on one's side, the one end of preventing the side-tipping pole and keeping away from the connecting plate that turns on one's side can form the fulcrum, and then can rely on the thrust of preventing the side-tipping pole to realize "just", play the effect of preventing turning on one's side.
5. The utility model discloses a fixed length shaft device can be dismantled in the setting can effectual wheel base that enlarges between two preceding walking wheels and between two back walking wheels, can realize the normal detection operation to different pipelines under special environment such as big pipe diameter, flowing water, silt in the certain limit.
6. The utility model discloses an it is with low costs to realize, excellent in use effect, convenient to popularize and use.
To sum up, the utility model discloses simple structure no matter set up the device of preventing turning on one's side, bear the device or can dismantle fixed length shaft device, does not all influence the original function of pipeline inspection robot, and its installation, dismantlement are simple, convenient operation, respond well.
The technical solution of the present invention is further described in detail by the accompanying drawings and examples.
Drawings
In order to illustrate the technical solutions of the present invention or the prior art more clearly, the following brief description of the embodiments or the drawings used in the description of the prior art will be made, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of embodiment 1 of the present invention.
Fig. 2 is a front view of a bearing device in embodiment 1 of the present invention.
Fig. 3 is a top view of a bearing device according to embodiment 1 of the present invention.
Fig. 4 is a schematic structural diagram of embodiment 2 of the present invention (the inertial navigation system and the carrying device are not shown).
Fig. 5 is a schematic structural view of a fixed-length axle device that can be disassembled in embodiment 2 of the present invention.
Fig. 6 is a left side view of fig. 5.
Fig. 7 is a schematic structural view of embodiment 3 of the present invention.
Fig. 8 is a left side view of fig. 7.
Fig. 9 is a front view of the rollover prevention device in embodiment 1 of the present invention.
Fig. 10 is a left side view of fig. 9.
Description of reference numerals:
1-a fuselage; 2-forward looking camera; 3-front lighting lamp;
4-front traveling wheels; 5-rear travelling wheels; 6-obstacle crossing wheel;
7, rotating the bracket; 8-anti-rollover devices; 8 a-anti-rollover bar;
8 b-anti-rollover connecting plate; 8 c-round head; 9-rear lighting lamp;
10-rear view camera; 11-a detachable fixed length axle device; 11 a-connecting rod;
11 b-a bearing flange; 11 c-a road wheel flange; 12-a carrier;
12 a-a carrier plate; 12b — front support leg; 12c — rear support legs;
13-inertial navigation system.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import by those skilled in the art without departing from the spirit of this application and is therefore not limited to the specific implementations disclosed below.
Example 1
As shown in fig. 1, fig. 2 and fig. 3, the pipeline robot capable of realizing accurate positioning and three-dimensional mapping comprises a robot body 1 for loading a robot control system, a front-view camera 2 for collecting pictures and videos of the advancing direction of the pipeline detection robot, a rotating bracket 7 for driving the front-view camera 2 to go up and down, a rear-view camera 10 for collecting pictures and videos of the retreating direction of the pipeline detection robot, two front traveling wheels 4 for driving the robot body 1 to go forward and two rear traveling wheels 5 for driving the robot body 1 to retreat, and two obstacle crossing wheels 6 between the front traveling wheels 4 and the rear traveling wheels 5.
Generally, when the detection robot is used, a front-view camera 2 is mainly used for acquiring pictures and videos of the advancing direction of the robot; the rotating bracket 7 is used for controlling the forward-looking camera 2 to lift and fall, so that pictures and videos with different heights can be conveniently shot, and the camera can be prevented from being damaged when an obstacle is met; body 1 of the robot: the loading robot is used for loading various hardware systems of the robot; the robot mainly walks in the pipeline by means of power generated by the front walking wheels 4 and the rear walking wheels 5; the obstacle crossing wheel 6 is mainly used for improving the obstacle crossing performance of the robot through the power generated by the obstacle crossing wheel 6 when the robot is blocked when running; the rearview camera 10 is mainly used for collecting pictures and videos of the pipeline detection robot in the backward direction; in addition, the front illumination lamp 3 is also provided for illumination of the robot in the forward direction, and the rear illumination lamp 9 is provided for illumination of the robot in the backward direction.
In this embodiment, an inertial navigation system 13 for real-time positioning and mapping geographic three-dimensional information and a carrying device 12 for supporting the inertial navigation system 13 are mounted on a body 1 of the pipeline inspection robot; the bearing device 12 is arranged on the machine body 1 and located behind the rotating support 7, and the bearing device 12 comprises a bearing plate 12a for bearing the inertial navigation system, and a front support leg 12b and a rear support leg 12c for supporting the inertial navigation system.
In the embodiment, by arranging the inertial navigation system 13 (called an inertial navigation system for short), the overall performance and the structural layout of the robot are comprehensively considered, and the inertial navigation system is ingeniously integrated with the machine body 1 through the bearing device 12, so that accurate positioning and accurate mapping of geographic three-dimensional information in a closed space are realized.
In this embodiment, the pipeline inspection robot can provide effective and firm support for the inertial navigation system by arranging the carrying device 12.
In this embodiment, the inertial navigation system 13 is a high-precision fiber-optic gyroscope combined inertial navigation system, and is capable of accurately positioning and accurately mapping geographic three-dimensional information in real time. The inertial navigation system adopted by the embodiment is a high-precision fiber-optic gyroscope combined inertial navigation system produced by Beijing BeiDou times science and technology development Limited.
As shown in fig. 2 and 3, the number of the front supporting legs 12b is two, two of the front supporting legs 12b are clamped into the clamping grooves 1a on the machine body 1 from top to bottom, the number of the rear supporting legs 12c is two, and the rear supporting legs 12c are connected to the machine body 1 through bolts.
Referring to fig. 2 and 3, the carrier plate 12a is integrally formed with the front support leg 12b and the rear support leg 12c to form an integrated structure, which is fixed to the rear of the robot. It fixes on loading board 12a to be used to lead the system, back supporting leg 12c through the twice after buckling with 1 rear portion fixed screw of fuselage be connected, preceding supporting leg 12b through buckle the back and closely laminate with the recess of fuselage 1 both sides and form the joint together to rock around preventing, preferred way is: the lower part can be reinforced again with a soft connection. Two ends of the rear supporting leg 12c are respectively provided with a bolt hole, two ends of the rear supporting leg 12c are provided with bent straight plates, and the bearing plate 12a, the front supporting leg 12b and the bearing plate 12a together form an integral support to play a role in fixing and bearing the inertial navigation system.
Example 2
As shown in fig. 4, 5 and 6, the present embodiment is different from embodiment 1 in that: this pipeline inspection robot is including dismantling fixed length shaft device 11, can dismantle fixed length shaft device 11 and include connecting rod 11a, and the one end of connecting rod 11a is provided with the bearing ring flange 11b that is used for being connected with the walking wheel transmission shaft, and the other end of connecting rod 11a is provided with the walking wheel ring flange 11c that is used for being connected with the walking wheel.
In this embodiment, can dismantle fixed length shaft device 11 through the setting and can effectually enlarge the wheel base between two preceding walking wheels 4 and between two back walking wheels 5, can realize the normal detection operation to different pipelines under special environment such as big pipe diameter, flowing water, silt in the certain extent. For example when detecting large aperture pipeline, can protect detecting robot's fuselage 1 not soak, the walking at the position between pipeline inside wall and diapire of preceding driving wheel 4 and back walking wheel 5 that enables behind the wheel base expansion, the effectual fuselage 1 of protecting detecting robot does not soak, and then has protected detecting robot's hardware equipment.
When the walking wheel transmission shaft is used, power is transmitted to the walking wheel transmission shaft from the inside of the machine body 1, then transmitted to the bearing flange 11b from the walking wheel transmission shaft, transmitted to the connecting rod 11a from the bearing flange 11b, transmitted to the walking wheel flange 11c from the connecting rod 11a, and finally transmitted to the walking wheel through the walking wheel flange 11c, so that the walking wheel is driven to rotate.
As shown in fig. 5 and 6, the bearing flange 11b and the connecting rod 11a, and the road wheel flange 11c and the connecting rod 11a are all welded, the bearing flange 11b and the road wheel transmission shaft are connected by bolts, and the road wheel flange 11c and the road wheel are connected by bolts.
Example 3
As shown in fig. 7 and 8, the present embodiment is different from embodiment 1 in that: this can realize pipeline robot of accurate location and three-dimensional survey and drawing still is in including setting up hinder more 6 outsides in the wheel prevent device 8 of turning on one's side, prevent that turning on one's side device 8 is including preventing turning on one's side pole 8a and preventing the connecting plate 8b of turning on one's side, prevent turning on one's side connecting plate 8b and fix prevent the one end of turning on one's side pole 8a, prevent the connecting plate 8b of turning on one's side with hinder more 6 wheel hub links.
As shown in fig. 7 and 8, when the pipeline robot capable of realizing accurate positioning and three-dimensional mapping travels or retreats, the pipeline inspection robot can utilize the rollover-prevention rod 8a to realize that the pipeline inspection robot does not rollover, or when rollover occurs, one end of the rollover-prevention rod 8a, which is far away from the rollover-prevention connecting plate 8b, can form a fulcrum, and then can rely on the reverse thrust of the rollover-prevention rod 8a to realize 'righting', so as to play a role in preventing rollover.
As shown in fig. 9 and 10, the anti-rollover connecting plate 8b is a flange, the anti-rollover connecting plate 8b is connected with the anti-rollover bar 8a in a welding manner, and the anti-rollover connecting plate 8b is connected with the hub of the obstacle crossing wheel 6 through bolts. And one end of the side-turn preventing connecting plate 8b, which is far away from the side-turn preventing connecting plate 8b, is a round head 8 c.
Specifically, one end of the anti-rollover bar 8a is connected with the anti-rollover connecting plate 8b in a welding mode, and the other end of the anti-rollover bar is polished into a round head 8c without any connection, so that the anti-rollover bar is convenient to pass. Bolt connecting holes are uniformly distributed in the anti-rollover connecting plate 8b, and the number of the holes is 3. The anti-rollover connecting plate 8b is connected with the obstacle crossing wheel 6 in the middle of the machine, and moves forwards and backwards together with the robot in the advancing process, if the anti-rollover connecting plate meets the problem of rollover, rollover is prevented by the reverse force of the anti-rollover rod 8 a.
The above, only be the utility model discloses a preferred embodiment, it is not right the utility model discloses do any restriction, all according to the utility model discloses the technical entity all still belongs to any simple modification, change and equivalent structure transform that the above embodiment was done the utility model discloses technical scheme's within the scope of protection.
Claims (8)
1. A pipeline robot capable of realizing accurate positioning and three-dimensional mapping comprises a robot body (1) for loading a robot control system, a front-view camera (2) for acquiring pictures and videos of the advancing direction of a pipeline detection robot, a rotating support (7) for driving the front-view camera (2) to lift, a rear-view camera (10) for acquiring pictures and videos of the retreating direction of the pipeline detection robot, two front traveling wheels (4) for driving the robot body (1) to advance, two rear traveling wheels (5) for driving the robot body (1) to retreat, and obstacle crossing wheels (6) positioned between the two front traveling wheels (4) and the two rear traveling wheels (5); the method is characterized in that: an inertial navigation system (13) for real-time positioning and mapping geographic three-dimensional information and a bearing device (12) for supporting the inertial navigation system (13) are mounted on the machine body (1); the bearing device (12) is arranged on the machine body (1) and located behind the rotating support (7), and the bearing device (12) comprises a bearing plate (12a) for bearing the inertial navigation system and a front support leg (12b) and a rear support leg (12c) for supporting the inertial navigation system.
2. The pipeline robot capable of realizing precise positioning and three-dimensional mapping according to claim 1, characterized in that: preceding supporting leg (12b) is two, two preceding supporting leg (12b) is gone into from the top down in draw-in groove (1a) on fuselage (1), back supporting leg (12c) is two, two back supporting leg (12c) passes through bolted connection and is in on fuselage (1).
3. The pipeline robot capable of realizing precise positioning and three-dimensional mapping according to claim 2, characterized in that: the bearing plate (12a), the front support leg (12b) and the rear support leg (12c) form an integrated structure.
4. The pipeline robot capable of realizing precise positioning and three-dimensional mapping according to claim 1, characterized in that: including dismantling fixed length shaft device (11), can dismantle fixed length shaft device (11) and include connecting rod (11a), the one end of connecting rod (11a) is provided with bearing ring flange (11b) that are used for being connected with the walking wheel transmission shaft, the other end of connecting rod (11a) is provided with and is used for walking wheel ring flange (11c) that are connected with the walking wheel.
5. The pipeline robot capable of realizing precise positioning and three-dimensional mapping according to claim 4, characterized in that: bearing ring flange (11b) with connecting rod (11a) and walking wheel ring flange (11c) with connecting rod (11a) are welded connection, bearing ring flange (11b) with the walking wheel transmission shaft is bolted connection, walking wheel ring flange (11c) with the walking wheel is bolted connection.
6. The pipeline robot capable of realizing precise positioning and three-dimensional mapping according to claim 1, characterized in that: the obstacle crossing wheel is characterized by comprising an anti-rollover device (8) arranged on the outer side of the obstacle crossing wheel (6), wherein the anti-rollover device (8) comprises an anti-rollover rod (8a) and an anti-rollover connecting plate (8b), the anti-rollover connecting plate (8b) is fixed at one end of the anti-rollover rod (8a), and the anti-rollover connecting plate (8b) is connected with a wheel hub of the obstacle crossing wheel (6).
7. The pipeline robot capable of realizing precise positioning and three-dimensional mapping according to claim 6, characterized in that: and one end of the side-turn preventing connecting plate (8b), which is far away from the side-turn preventing connecting plate (8b), is a round head (8 c).
8. The pipeline robot capable of realizing precise positioning and three-dimensional mapping according to claim 6, characterized in that: the anti-rollover connecting plate (8b) is a flange plate, the anti-rollover connecting plate (8b) is connected with the anti-rollover rod (8a) in a welding mode, and the anti-rollover connecting plate (8b) is connected with a hub of the obstacle crossing wheel (6) through bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921914913.9U CN211175899U (en) | 2019-11-07 | 2019-11-07 | Pipeline robot capable of realizing accurate positioning and three-dimensional mapping |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921914913.9U CN211175899U (en) | 2019-11-07 | 2019-11-07 | Pipeline robot capable of realizing accurate positioning and three-dimensional mapping |
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| CN211175899U true CN211175899U (en) | 2020-08-04 |
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| CN201921914913.9U Active CN211175899U (en) | 2019-11-07 | 2019-11-07 | Pipeline robot capable of realizing accurate positioning and three-dimensional mapping |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113401239A (en) * | 2021-06-29 | 2021-09-17 | 上海电机学院 | Wheel-track combined wall-climbing robot |
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2019
- 2019-11-07 CN CN201921914913.9U patent/CN211175899U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113401239A (en) * | 2021-06-29 | 2021-09-17 | 上海电机学院 | Wheel-track combined wall-climbing robot |
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