CN219121438U - Pipeline and hole wall scanning robot based on 3D laser scanning - Google Patents
Pipeline and hole wall scanning robot based on 3D laser scanning Download PDFInfo
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- CN219121438U CN219121438U CN202222699300.6U CN202222699300U CN219121438U CN 219121438 U CN219121438 U CN 219121438U CN 202222699300 U CN202222699300 U CN 202222699300U CN 219121438 U CN219121438 U CN 219121438U
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Abstract
The utility model relates to a pipeline and pore wall scanning robot based on 3D laser scanning, including the laser acquisition head, the sampling protecting crust, electrohydraulic servo advancing mechanism, the tail housing, bear and climb sufficient, skid board, auxiliary control circuit, main control unit, be connected through electrohydraulic servo advancing mechanism between sampling protecting crust and the tail housing, the laser acquisition head inlays in the sampling protecting crust, auxiliary control circuit inlays in the tail housing, main control unit is located outside sampling protecting crust and the tail housing, it climbs sufficient all to bear outside sampling protecting crust and the tail housing, bear and climb sufficient preceding terminal surface and skid board and be connected. The using method comprises the three steps of equipment assembly, detection operation and data communication. On the one hand, the novel device can effectively flexibly adjust the structure of the device according to the pipeline structure, and effectively improve the barrier resistance of the device during operation; on the other hand, the pipeline internal detection precision is high, and the information data is comprehensive, so that the precision and the comprehensiveness of pipeline detection operation are greatly improved.
Description
Technical Field
The utility model relates to a pipeline and pore wall scanning robot based on 3D laser scanning belongs to robot technical field.
Background
The sewage pipeline is easy to be blocked by various sundries and silt due to the use property, and is also easy to be corroded to be damaged, and the sewage pipeline is generally applied to the edge of a road and is easy to damage and deform the roadbed; in addition, the drainage pipeline in the special industry, such as a gas drainage pipeline, has three-phase states of pulverized coal, water, gas and the like, and the pulverized coal and the water are easy to combine into coal slime, so that the pipeline is blocked; even in the case of large-aperture drilling, the inclination angle, the track, the integrity of the hole wall and the like need to be accurately evaluated in construction. Therefore, the pipeline section scanning device has wide application space. However, in the operation of the currently used section scanning device, the structure of the device is often fixed, and data connection needs to be established between a wire and external control equipment in the operation, so that the wire is easy to limit the length of the wire and limit and influence the pipe diameter of a pipeline in the operation.
In actual work, because the detection inside the pipeline is necessary and the operation is complex, for example, a mine gas extraction pipeline, a production ventilation pipeline, daily water and a production drainage pipeline are possibly blocked, the same pipeline equipment is often required to be connected with a plurality of pipeline equipment with different pipe diameters, so that the inner diameter change of the pipeline equipment in detection is large, the quality reliability of the pipeline surface structure is poor, and the current pipeline end face detection equipment is extremely easy to block and cannot normally operate when in detection; meanwhile, the distribution direction, the distribution angle and the pipeline length of the pipeline are greatly different, so that the pipeline can not be accurately positioned when the current pipeline section detection device is operated, the pipeline section detection device is easily affected by the environment to cause insufficient data transmission capacity, meanwhile, the device is easily limited in operation range due to the limitation of the length of a data transmission wire, in addition, the situation that the wire is broken due to the influence of a pipeline structure when the device is operated in the pipeline due to the overlong length of the wire is easily caused, and the stability and the reliability of the operation of the pipeline section detection device are seriously affected.
Therefore, in order to solve the problem, development of a pipeline and hole wall scanning robot based on 3D laser scanning and a using method thereof are urgently needed to meet the requirement of practical use.
Disclosure of Invention
In order to solve the defects in the prior art, the novel pipeline and hole wall scanning robot based on 3D laser scanning and the use method thereof can effectively flexibly adjust the structure of equipment according to the pipeline structure on one hand, thereby effectively meeting the requirements of detection operation on pipeline equipment with different inner diameters, greatly improving the flexibility and universality of equipment use and effectively improving the barrier resistance of the equipment during operation; on the other hand, the detection precision of the interior of the pipeline is high, the information data is comprehensive, and the accurate observation of the distribution position, thickness and distribution appearance mechanism of sundries attached to the wall of the pipeline can be realized while the video signal acquisition is effectively carried out on the interior environment of the pipeline; in addition, the system can synchronously and accurately detect the observation position and the distribution trend state of the pipeline in operation, so that the precision and the comprehensiveness of pipeline detection operation are greatly improved.
In order to achieve the above object, the present utility model is realized by the following technical scheme:
the utility model provides a pipeline and pore wall scanning robot based on 3D laser scanning, including the laser acquisition head, the sampling protecting crust, electrohydraulic servo propulsion mechanism, the tail housing, bear and climb sufficient, the skid board, elastic sealing ring, auxiliary control circuit, main control unit, sampling protecting crust and tail housing are the column cavity structure of axial cross-section "" font, and be connected through electrohydraulic servo propulsion mechanism and coaxial distribution between terminal surface before sampling protecting crust rear end face and the tail housing, sampling protecting crust front end face, tail housing rear end face all establish rather than coaxial distribution's elastic sealing ring, the laser acquisition head inlays in the sampling protecting crust, with sampling protecting crust coaxial distribution and sliding connection, auxiliary control circuit inlays in the tail housing, and with the laser acquisition head, sampling protecting crust, electric connection between liquid servo propulsion system and the main control unit respectively, and outside the tail housing, and outside the main control unit all with 3-6 bear and climb sufficient through elastic hinge connection around its axis, and bear and climb between foot axis and the tail housing axis and be 0 degrees-90 contained angles, bear foot front end face and another and be connected through elastic hinge and skid board and 0 degree-60 degrees between skid board and the skid board.
Further, the sampling protecting crust includes stereoplasm cover, tray, horizontal actuating mechanism, rotary actuating mechanism, positioning fixture, cleaning brush, the stereoplasm cover is the column cavity structure that the axial cross-section was "" font, horizontal actuating mechanism is at least two, inlays in the stereoplasm cover and encircle stereoplasm cover axis equipartition, the tray inlays in the stereoplasm cover and with the coaxial distribution of stereoplasm cover, and the tray lateral wall passes through horizontal actuating mechanism and the medial surface sliding connection of stereoplasm cover, the rotary actuating mechanism who distributes rather than coaxial with the tray front end face is established, rotary actuating mechanism in addition with at least two positioning fixture who encircles its axis equipartition to through positioning fixture and laser acquisition head rear end connection, and laser acquisition head carries out 0 DEG-360 DEG scope rotary motion through rotary actuating mechanism, simultaneously the spacing between terminal surface before tray and the stereoplasm cover is 0 to laser acquisition head length 1.5 times, at least two cleaning brushes that encircle the stereoplasm cover axis are established to the medial surface that the stereoplasm corresponds, and the cleaning brush that the stereoplasm cover distributes rather than the horizontal actuating mechanism and the lateral surface of laser acquisition head offset with supplementary laser acquisition machine, and the parallel connection of electric drive circuit and supplementary laser acquisition head, parallel connection and supplementary laser acquisition circuit.
Further, the connecting groove is formed in the side wall of the hard sleeve corresponding to the cleaning brush, the rear end face of the cleaning brush is embedded in the connecting groove and connected with the hard sleeve through the connecting groove, and at least two through holes uniformly distributed along the axis of the connecting groove are formed in the position of the side wall of the hard sleeve corresponding to the bottom of the connecting groove.
Further, laser acquisition head is including bearing post, light, survey camera, laser scanner, transparent protecting cover, gravity sensor, acceleration sensor, temperature and humidity sensor, locating rack and binding post, bear the post and be cylindrical cavity structure, its preceding terminal surface establishes an observation window rather than coaxial distribution, and the lateral wall establishes at least three survey and drawing window that encircles bearing post axis equipartition, and observation window and survey and drawing window department all establish transparent protecting cover, bear the post and constitute closed cavity structure through transparent protecting cover, light, temperature and humidity sensor all at least one, inlay in bearing post preceding terminal surface and with bear post axis parallel distribution, the locating rack inlays in bearing post for with bear post coaxial distribution's frame construction and be connected with bearing post medial surface, survey camera, laser scanner all are located bearing post and are connected with the locating rack, survey and draw and be coaxial distribution between the window, laser scanner and survey and drawing window quantity are unanimous, and every survey and drawing window corresponds the position and all establish a laser scanner rather than coaxial distribution, and each mutual independence operation between the laser scanner, gravity sensor and acceleration sensor, acceleration sensor and the connection terminal surface, auxiliary connection, electric control terminal connection, auxiliary connection terminal, and the terminal connection.
Further, the guide way is all established to the sampling protecting crust that corresponds and the tail cover lateral surface that bear to climb the foot, and when bearing to climb sufficient axis and sampling protecting crust and tail cover axis parallel distribution, bear to climb sufficient and inlay in the guide way, bear to climb sufficient including electric telescopic column, leading wheel, stereoplasm sheath post, load spring, the adjustment tank rather than coaxial distribution is established to stereoplasm sheath post up end, electric telescopic column lower half inlays in the adjustment tank, with adjustment tank coaxial distribution and with adjustment tank lateral wall sliding connection, electric telescopic column lower terminal surface offsets through the load spring simultaneously with the adjustment tank bottom, and electric telescopic column up end is articulated with sampling protecting crust and tail cover surface through elastic hinge simultaneously, and the terminal surface is connected with the skid board under the stereoplasm sheath post, at least two leading wheels along its axis equipartition are established to stereoplasm sheath post lateral surface, and when bearing to climb sufficient axis and sampling protecting crust and tail cover axis parallel distribution, the leading wheel face exceeds sampling protecting crust and tail cover lateral surface by at least 5 millimeters.
Further, when the bearing foot climbing axis is parallel to the axis of the sampling protecting shell and the axis of the tail sleeve, the bearing foot climbing connected with the sampling protecting shell exceeds the front end face of the sampling protecting shell by at least 3 cm, the bearing foot climbing connected with the tail sleeve exceeds the rear end face of the tail sleeve by at least 3 cm, and the wheel face of the guide wheel is of any one structure of which the cross section is isosceles trapezoid and isosceles triangle.
Furthermore, two ends of the electro-hydraulic servo propulsion mechanism are respectively hinged with the sampling protecting shell and the tail sleeve through elastic hinges, an elastic sheath is arranged between the sampling protecting shell and the tail sleeve corresponding to the electro-hydraulic servo propulsion mechanism, and the elastic sheath is coated outside the liquid servo propulsion system.
Furthermore, the auxiliary control circuit and the main controller are all circuit systems based on any one of an FPGA and a DSP, the auxiliary control circuit and the main controller are respectively provided with a wireless communication circuit and a serial port communication circuit, the auxiliary control circuit and the main controller are simultaneously connected with each other through the wireless communication circuit and the serial port communication circuit, and in addition, the auxiliary control circuit is additionally provided with a GNSS satellite positioning circuit, a UWB communication circuit and an emergency driving power supply; the main controller is additionally provided with a control console, a multi-channel voltage stabilizing circuit and a control interface based on any one or more of a display, a potentiometer, a signal indicator lamp and a button, wherein the main controller and the multi-channel voltage stabilizing circuit are both positioned in the control console, and the control interface is embedded on the outer side surface of the control console.
The novel structure is simple, the operation is flexible and convenient, the inspection operation on the internal state of a narrow space such as a pipeline can be effectively realized, the data interaction communication capacity is high, on one hand, the equipment structure can be effectively and flexibly adjusted according to the pipeline structure, so that the requirement of detecting operation on pipeline equipment with different inner diameters is effectively met, the flexibility and the universality of the equipment use are greatly improved, and the barrier resistance of the equipment in operation is effectively improved; on the other hand, the detection precision of the interior of the pipeline is high, the information data is comprehensive, and the accurate observation of the distribution position, thickness and distribution appearance mechanism of sundries attached to the wall of the pipeline can be realized while the video signal acquisition is effectively carried out on the interior environment of the pipeline; in addition, the system can synchronously and accurately detect the observation position and the distribution trend state of the pipeline in operation, so that the precision and the comprehensiveness of pipeline detection operation are greatly improved.
Drawings
The present utility model will be described in detail below with reference to the attached drawings and detailed description;
FIG. 1 is a schematic diagram of the novel structure;
FIG. 2 is a schematic view of a partial structure of the novel section;
FIG. 3 is a schematic diagram of a local connection structure among a laser acquisition head, a sampling protective shell, an electrohydraulic servo propulsion mechanism and a tail sleeve;
Detailed Description
In order to facilitate the technical means, creation characteristics, achievement of the purpose and efficacy of the present utility model, the present utility model is further described below in connection with the specific embodiments.
As shown in fig. 1-3, a pipeline and hole wall scanning robot based on 3D laser scanning comprises a laser acquisition head 1, a sampling protecting shell 2, an electrohydraulic servo propulsion mechanism 3, a tail sleeve 4, a bearing foot 5, a skid plate 6, an elastic sealing ring 7, an auxiliary control circuit 8 and a main controller 9, wherein the sampling protecting shell 2 and the tail sleeve 4 are of columnar cavity structures with axial sections of , the rear end surface of the sampling protecting shell 2 and the front end surface of the tail sleeve 4 are connected through the electrohydraulic servo propulsion mechanism 3 and coaxially distributed, the front end surface of the sampling protecting shell 2 and the rear end surface of the tail sleeve 4 are respectively provided with the elastic sealing ring 7 coaxially distributed, the laser acquisition head 1 is embedded in the sampling protecting shell 2 and coaxially distributed and slidingly connected with the sampling protecting shell 2, the auxiliary control circuit 8 is embedded in the tail sleeve 4 and is respectively electrically connected with the laser acquisition head 1, the sampling protecting shell 2, the liquid servo propulsion system 3 and the main controller 9, the main controller 9 is positioned outside the sampling protecting shell 2 and the tail sleeve 4, the sampling protecting shell 2 and the tail sleeve 4 are connected with the tail sleeve 4 around the axial lines of the foot 5 through the bearing hinge 5 and the bearing foot plate 5 and the tail sleeve 4 at an included angle of 0 DEG, and the bearing foot 4 is connected with the tail sleeve 4 through the bearing foot 5 and the bearing hinge 5 and the other foot plate 4 and the bearing surface of the tail sleeve 4 at an included angle of 0 degrees and the angle of 0 degrees.
The main description is that the sampling protective shell 2 comprises a hard sleeve 21, a tray 22, a horizontal driving mechanism 23, a rotary driving mechanism 24, a positioning clamp 25 and a cleaning brush 26, wherein the hard sleeve 21 is of a columnar cavity structure with an axial section in a shape of ', at least two horizontal driving mechanisms 23 are embedded in the hard sleeve 21 and uniformly distributed around the axis of the hard sleeve 21, the tray 22 is embedded in the hard sleeve 21 and coaxially distributed with the hard sleeve 21, the side wall of the tray 22 is in sliding connection with the inner side surface of the hard sleeve 21 through the horizontal driving mechanism 23, the front end surface of the tray 22 is provided with the rotary driving mechanism 24 coaxially distributed with the front end surface of the tray 22, the rotary driving mechanism 24 is additionally connected with at least two positioning clamps 25 uniformly distributed around the axis of the rotary driving mechanism, the rear end of the laser acquisition head 1 through the positioning clamp 25, the laser acquisition head 1 performs a 0-360-degree range rotary motion through the rotary driving mechanism 24, the distance between the front end surface of the tray 22 and the front end surface of the hard sleeve 21 is 1.5 times the length of the laser acquisition head 1, the front end surface of the tray 22 is correspondingly distributed with the inner side surface of the hard sleeve 21 coaxially with the inner side surface of the hard sleeve 21, the side surface of the rotary driving mechanism 24 is abutted against the main control rod of the laser acquisition head 8, the main control rod is electrically connected with the auxiliary brush 8, and the auxiliary electric brush is electrically connected with the cleaning brush 8, and the auxiliary electric circuit 8 is electrically connected with the main control circuit 8, and the auxiliary electric circuit is electrically connected with the cleaning brush 8, and the cleaning brush is electrically connected with the main control circuit 8 and the auxiliary circuit and the cleaning brush 8.
Further preferably, the horizontal driving mechanism is any one of a linear motor and a screw rod mechanism; the rotary driving mechanism is an electric motor.
The side wall of the hard sleeve 21 corresponding to the cleaning brush 26 is provided with a connecting groove 27, the rear end face of the cleaning brush 26 is embedded in the connecting groove 27 and is connected with the hard sleeve 21 through the connecting groove 27, and the side wall of the hard sleeve 21 corresponding to the bottom of the connecting groove 27 is provided with at least two through holes 28 uniformly distributed along the axis of the connecting groove.
When the laser acquisition head is retracted into the hard sleeve, the hard sleeve provides protection for the laser acquisition head; on the other hand, the laser acquisition head rotates under the driving of the rotary driving mechanism, and the cleaning brush is used for cleaning the side surface of the laser acquisition head in the rotating process, so that the damage resistance and the environmental pollution resistance of the laser acquisition head are improved, and the damage or the interference caused by external force impact or pollutant corrosion to the laser acquisition head are prevented.
In this embodiment, the laser acquisition head 1 includes a carrying column 101, an illumination lamp 102, an observation camera 103, a laser scanner 104, a transparent protecting cover 105, a gravity sensor 106, an acceleration sensor 107, a temperature and humidity sensor 108, a positioning rack 109 and a connection terminal 100, the carrying column 101 is in a cylindrical cavity structure, a front end face of the carrying column 101 is provided with an observation window 110 coaxially distributed with the carrying column, side walls of the carrying column are provided with at least three mapping windows 120 uniformly distributed around the axis of the carrying column 101, the observation window 110 and the mapping window 120 are respectively provided with the transparent protecting cover 105, the carrying column 101 forms a closed cavity structure through the transparent protecting cover 105, at least one of the illumination lamp 102 and the temperature and humidity sensor 108 is embedded in the front end face of the carrying column 101 and is parallel to the axis of the carrying column 101, the positioning rack 109 is embedded in the carrying column 101, is in a frame structure coaxially distributed with the carrying column 101 and is connected with the inner side face of the carrying column 101, the observation camera 103 and the laser scanners 104 are all positioned in the bearing column 101 and connected with the positioning frame 109, the observation camera 103 and the observation window 110 are coaxially distributed, the number of the laser scanners 104 is consistent with that of the mapping windows 120, the corresponding positions of each mapping window 120 are provided with one laser scanner 104 which is coaxially distributed with the laser scanners, the laser scanners 104 independently operate, the gravity sensor 106, the acceleration sensor 107 and the wiring terminal 100 are all connected with the rear end face of the positioning frame 109, the wiring terminal 100 is provided with a wiring hole 130 corresponding to the rear end face of the bearing column 101, the wiring terminal 100 is respectively electrically connected with the illuminating lamp 102, the observation camera 103, the laser scanners 104, the gravity sensor 106, the acceleration sensor 107, the temperature and humidity sensor 108 and the auxiliary control circuit 8, and is electrically connected with the main controller 9 through the auxiliary control circuit 8.
Specifically stated, the outer side surfaces of the sampling protecting shell 2 and the tail sleeve 4 corresponding to the bearing climbing foot 5 are respectively provided with a guide groove 10, when the axis of the bearing climbing foot 5 is parallel to the axes of the sampling protecting shell 2 and the tail sleeve 4, the bearing climbing foot 5 is embedded in the guide groove 10, the bearing climbing foot 5 comprises an electric telescopic column 51, a guide wheel 52, a hard protecting sleeve 53 and a bearing spring 54, an adjusting groove 55 coaxially distributed with the upper end surface of the hard protecting sleeve 53 is arranged on the upper end surface of the hard protecting sleeve 53, the lower half part of the electric telescopic column 51 is embedded in the adjusting groove 55, coaxially distributed with the adjusting groove 55 and in sliding connection with the side wall of the adjusting groove 55, the lower end surface of the electric telescopic column 51 is abutted against the groove bottom of the adjusting groove 55 through a bearing spring 54, the upper end surface of the electric telescopic column 51 is hinged with the outer surfaces of the sampling protecting shell 2 and the tail sleeve 4 through an elastic hinge, the lower end surface of the hard protecting sleeve 53 is connected with a skid plate 6, at least two guide wheels 52 are arranged on the outer side surfaces of the hard protecting sleeve 53 along the axes, when the axis of the bearing climbing foot 5 is parallel to the axes of the sampling protecting shell 2 and the tail sleeve 4, the lower half part is parallel to the side surface of the guide wheel 52 and the electric protecting sleeve 4, and the electric protecting sleeve 2 is at least exceeds the outer side of the electric protecting sleeve 2, and is connected with the electric protecting sleeve 8 through the auxiliary electric protecting sleeve 8, and the auxiliary electric protecting sleeve 8.
Further preferably, a pressure sensor 56 is additionally arranged between the bearing spring 54 and the electric telescopic column 51, and the pressure sensor 56 is electrically connected with the auxiliary control circuit 8.
When the displacement operation is carried out, when the displacement operation is required to be carried out forwards, the electric telescopic column connected with the tail sleeve and used for bearing the climbing foot is driven to extend, the whole length of the bearing climbing foot is increased, and the driving force generated when the electric telescopic column extends is utilized to increase the pressure between the skid plate at the tail sleeve and the tube wall, so that the tail sleeve is positioned; meanwhile, the electric telescopic column corresponding to the sampling protective shell and used for bearing the climbing foot is retracted, the pressure of the climbing foot skid plate and the inner wall of the pipeline at the position of the sampling protective shell is reduced, then the electrohydraulic servo propulsion mechanism is driven to operate, the electrohydraulic servo propulsion mechanism provides forward or backward driving force for the sampling protective shell, the sampling protective shell is moved, after the sampling protective shell is moved, the climbing feet are respectively borne at the positions of the sampling protective shell and the tail sleeve in a reverse operation manner, the forward or backward movement of the tail sleeve is completed, and therefore the purpose that equipment moves in the pipeline is achieved.
Through the guide way that sets up, can make bear and climb sufficient when distributing with sampling protecting crust and tail cover parallel, the at utmost reduces scanning robot device structure to satisfy narrow and small space and detect needs.
Meanwhile, when the inner diameter in the pipeline is changed, on one hand, the included angle between the bearing climbing foot and the sampling protecting shell and the tail sleeve can be adjusted through the elastic hinge, so that the maximum outer diameter of the scanning robot can be adjusted to meet the detection requirements of pipelines with different pipe diameters; on the other hand, the length of the electric telescopic column is compressed and the length of the electric telescopic column embedded into the hard sheath column is adjusted to adjust the length of the bearing climbing foot, so that the maximum outer diameter of the sweeping robot is further adjusted, and the requirements of detection of pipelines with different pipe diameters are met.
Meanwhile, when the axis of the bearing climbing foot 5 is parallel to the axes of the sampling protective shell 2 and the tail sleeve 4, the bearing climbing foot 5 connected with the sampling protective shell 2 exceeds the front end face of the sampling protective shell 2 by at least 3 cm, the bearing climbing foot 5 connected with the tail sleeve 4 exceeds the rear end face of the tail sleeve 4 by at least 3 cm, and the wheel face of the guide wheel 52 is of any one of isosceles trapezoid and isosceles triangle in cross section.
Through the guide wheel, the sampling protecting shell and the tail sleeve can be effectively supported when the bearing climbing feet are distributed in parallel with the sampling protecting shell and the tail sleeve, friction force between the sampling protecting shell and the tail sleeve and the inside of a pipeline is reduced, operation flexibility of the sampling protecting shell and the tail sleeve is improved, and friction loss of the sampling protecting shell and the tail sleeve during operation is reduced; in addition, the wheel surface of any one of the isosceles trapezoid and the isosceles triangle of the skid plate and the guide wheel can effectively squeeze and destroy sundries on the felt inner wall, so that the aim of assisting in cleaning the pipeline is fulfilled.
In this embodiment, two ends of the electrohydraulic servo propulsion mechanism 3 are respectively hinged with the sampling protecting shell 2 and the tail sleeve 4 through elastic hinges, and an elastic sheath 11 is arranged between the sampling protecting shell 2 and the tail sleeve 4 corresponding to the electrohydraulic servo propulsion mechanism 3, and the elastic sheath 11 is coated outside the electrohydraulic servo propulsion system 3.
Further preferably, the electrohydraulic servo propulsion mechanism is any one of an electric telescopic rod and an electrohydraulic telescopic rod.
In this embodiment, the auxiliary control circuit 8 and the main controller 9 are circuit systems based on any one of FPGA and DSP, the auxiliary control circuit 8 and the main controller 9 are both provided with a wireless communication circuit and a serial communication circuit, and data connection is established between the auxiliary control circuit 8 and the main controller 9 through the wireless communication circuit and the serial communication circuit, and in addition, the auxiliary control circuit 8 is additionally provided with a GNSS satellite positioning circuit, a UWB communication circuit and an emergency driving power supply; the main controller 9 is additionally provided with a console 91, a multi-path voltage stabilizing circuit 92 and a control interface 93 based on any one or more of a display, a potentiometer, a signal indicator and a button, the main controller 9 and the multi-path voltage stabilizing circuit 92 are both positioned in the console 91, and the control interface 93 is embedded on the outer side surface of the console 91.
The utility model discloses when specifically using, specific application method does:
firstly, setting a sampling protective shell and a tail sleeve directly according to the average inner diameter of pipeline equipment to be detected, simultaneously setting the maximum length of each bearing climbing foot and the length of a wire for connecting an auxiliary control circuit and a main controller, and then assembling a laser acquisition head, the sampling protective shell, an electrohydraulic servo propulsion mechanism, the tail sleeve, the bearing climbing foot, a skid plate, an elastic sealing ring, the auxiliary control circuit and the main controller to obtain a finished scanning robot;
inserting the assembled scanning robot into a pipeline to be detected, enabling the bearing climbing foot of the scanning robot to be propped against the inner wall of the pipeline to be detected through a skid plate, enabling the sampling protecting shell and the tail sleeve to be distributed coaxially, then sending a pipeline detection control command to an auxiliary control circuit by a main controller, driving an electrohydraulic servo propulsion mechanism, a laser acquisition head and the sampling protecting shell to synchronously operate by the auxiliary control circuit, firstly providing forward driving force for the fixed sampling protecting shell and the tail sleeve by the electrohydraulic servo propulsion mechanism in the operation process, enabling the scanning robot to operate along the axis direction of the pipeline, then driving a horizontal driving mechanism of the sampling protecting shell to operate, and enabling the laser acquisition head positioned in the sampling protecting shell to extend out of the sampling protecting shell; finally, an observation camera, a laser scanner, a gravity sensor, an acceleration sensor and a temperature and humidity sensor of the laser acquisition head are driven to operate, and when the laser acquisition head operates:
directly detecting the video data of the internal environment of the pipeline by an observation camera;
detecting the distance between sundries at the pipe wall position of the pipeline and the laser scanner by the laser scanner, and scanning the structural state of the sundries at the same time, so as to obtain the stacking thickness data and the three-dimensional distribution state parameters of the sundries, synchronously driving the laser scanner to rotate by a rotary driving mechanism when the laser scanner operates, realizing comprehensive detection of the inner wall of the pipeline by the laser scanner through rotary operation, and simultaneously realizing accurate adjustment of the working position of the laser scanner according to the position of the sundries;
the gravity sensor obtains the gravity center change of the scanning robot in the detection process, so as to obtain the current pipeline distribution trend; meanwhile, through a GNSS satellite positioning circuit of the auxiliary control circuit, the pipeline is further accurately positioned under the condition of good wireless communication condition;
detecting the running speed of the scanning robot during running by an acceleration sensor;
detecting temperature and humidity parameters inside the pipeline by a temperature and humidity sensor;
thirdly, the data obtained by the detection operation is firstly sent to an auxiliary control circuit, and after the acquired data is processed by the auxiliary control circuit, the data is transmitted to a main controller through a lead; on the other hand, the data wireless transmission operation is carried out through the wireless communication circuit between the auxiliary control circuit and the main controller.
In actual operation, when the interval between the main controller and the auxiliary control circuit is larger than the length of an initially set wire or the wire fails, the auxiliary control circuit and the main controller are intermittently connected by wires, on one hand, the emergency driving power supply of the auxiliary control circuit provides operation power, and on the other hand, the wireless communication circuit is used for detecting data wireless transmission.
The novel structure is simple, the operation is flexible and convenient, the inspection operation on the internal state of a narrow space such as a pipeline can be effectively realized, the data interaction communication capacity is high, on one hand, the equipment structure can be effectively and flexibly adjusted according to the pipeline structure, so that the requirement of detecting operation on pipeline equipment with different inner diameters is effectively met, the flexibility and the universality of the equipment use are greatly improved, and the barrier resistance of the equipment in operation is effectively improved; on the other hand, the detection precision of the interior of the pipeline is high, the information data is comprehensive, and the accurate observation of the distribution position, thickness and distribution appearance mechanism of sundries attached to the wall of the pipeline can be realized while the video signal acquisition is effectively carried out on the interior environment of the pipeline; in addition, the system can synchronously and accurately detect the observation position and the distribution trend state of the pipeline in operation, so that the precision and the comprehensiveness of pipeline detection operation are greatly improved.
The foregoing has outlined and described the basic principles and main features of the present utility model and the advantages of the present utility model. It will be appreciated by those skilled in the art that the present utility model is not limited by the foregoing embodiments, which have been described in the foregoing embodiments and description merely illustrates the principles of the utility model, and that various changes and modifications may be made therein without departing from the spirit and scope of the utility model, which is defined by the appended claims. The scope of protection of this utility model is defined by the claims that follow and equivalents thereof.
Claims (8)
1. Pipeline and pore wall scanning robot based on 3D laser scanning, its characterized in that: pipeline and pore wall scanning robot based on 3D laser scanning include laser acquisition head, sampling protecting crust, electrohydraulic servo propulsion mechanism, tail housing, bear and climb sufficient, skid board, elastic sealing ring, auxiliary control circuit, main control unit, sampling protecting crust and tail housing are the column cavity structure of axial cross-section "" font, and connect and coaxial distribution through electrohydraulic servo propulsion mechanism between terminal surface before sampling protecting crust rear end face and the tail housing terminal surface, the elastic sealing ring rather than coaxial distribution is all established to terminal surface before sampling protecting crust, tail housing rear end face all, the laser acquisition head inlays in sampling protecting crust, with sampling protecting crust coaxial distribution and sliding connection, auxiliary control circuit inlays in the tail housing to respectively with laser acquisition head, sampling protecting crust, liquid servo propulsion system and main control unit between electric connection, just main control unit is located outside sampling protecting crust and the tail housing, all with 3-6 bear climbing foot between around its axis through elastic hinge connection, just bear climbing foot axis and the tail housing axis and be 0-90 degrees and the tail housing axis and bear the skid board and be 0 contained angle between the skid board and the side of 60-60 degrees.
2. The 3D laser scanning-based pipeline and hole wall scanning robot according to claim 1, wherein: the sampling protective shell comprises a hard sleeve, a tray, horizontal driving mechanisms, rotary driving mechanisms, positioning clamps and cleaning brushes, wherein the hard sleeve is of a columnar cavity structure with an axial section in a shape of , at least two horizontal driving mechanisms are embedded in the hard sleeve and surround the hard sleeve in an axial uniformly distributed manner, the tray is embedded in the hard sleeve and is coaxially distributed with the hard sleeve, the side wall of the tray is in sliding connection with the inner side surface of the hard sleeve through the horizontal driving mechanisms, the front end surface of the tray is provided with the rotary driving mechanisms which are coaxially distributed with the tray, the rotary driving mechanisms are additionally connected with at least two positioning clamps which surround the axial uniformly distributed manner, the laser acquisition head is in rotary motion in a range of 0-360 degrees through the rotary driving mechanisms, the distance between the front end surface of the tray and the front end surface of the hard sleeve is 1.5 times the length of the laser acquisition head, at least two cleaning brushes surround the hard sleeve in the axial uniformly distributed manner are arranged on the inner side surface of the hard sleeve corresponding to the laser acquisition head, and the cleaning brushes are in parallel connection with the outer side surface of the laser acquisition head and the auxiliary driving circuit, and are in parallel with the auxiliary driving circuit, and are in parallel connection with the outer side surface of the auxiliary driving circuit, and the auxiliary driving circuit is in parallel with the laser acquisition circuit.
3. The pipeline and hole wall scanning robot based on 3D laser scanning according to claim 2, wherein the hard sleeve side wall corresponding to the cleaning brush is provided with a connecting groove, the rear end face of the cleaning brush is embedded in the connecting groove and is connected with the hard sleeve through the connecting groove, and the hard sleeve side wall corresponding to the bottom of the connecting groove is provided with at least two through holes uniformly distributed along the axis of the connecting groove.
4. The pipeline and pore wall scanning robot based on 3D laser scanning of claim 1, wherein the laser acquisition head comprises a bearing column, an illuminating lamp, an observation camera, a laser scanner, a transparent protecting cover, a gravity sensor, an acceleration sensor, a temperature and humidity sensor, a positioning frame and a wiring terminal, wherein the bearing column is of a cylindrical cavity structure, an observation window coaxially distributed with the bearing column is arranged on the front end face of the bearing column, at least three mapping windows uniformly distributed around the axis of the bearing column are arranged on the side wall of the bearing column, the transparent protecting covers are arranged at the positions of the observation window and the mapping window, the bearing column forms a closed cavity structure through the transparent protecting covers, the illuminating lamp and the temperature and humidity sensor are at least one and are embedded in the front end face of the bearing column and are parallel to the axis of the bearing column, the positioning frame is of a frame structure coaxially distributed with the bearing column and is connected with the inner side face of the bearing column, the observation camera and the laser scanner are both positioned in the bearing column and are coaxially distributed between the positioning frame, the laser scanner and the observation camera is consistent with the mapping windows, each mapping window is correspondingly arranged in number, and each mapping window is connected with the corresponding position, and the wiring terminal is connected with the corresponding to the corresponding position of the laser scanner and the wiring terminal, and the wiring terminal is connected with the main control circuit and the wiring terminal through the auxiliary control terminal.
5. The 3D laser scanning-based pipeline and hole wall scanning robot according to claim 1, wherein: the outer side surfaces of the sampling protecting shell and the tail sleeve corresponding to the bearing climbing foot are respectively provided with a guide groove, when the bearing climbing foot axis is parallel to the axes of the sampling protecting shell and the tail sleeve, the bearing climbing foot is embedded in the guide grooves, the bearing climbing foot comprises an electric telescopic column, a guide wheel, a hard protecting sleeve column and a bearing spring, the upper end surface of the hard protecting sleeve column is provided with an adjusting groove coaxially distributed with the upper end surface of the hard protecting sleeve column, the lower half part of the electric telescopic column is embedded in the adjusting groove, coaxially distributed with the adjusting groove and in sliding connection with the side wall of the adjusting groove, simultaneously, the lower end face of the electric telescopic column is propped against the bottom of the regulating groove through a bearing spring, meanwhile, the upper end face of the electric telescopic column is hinged with the outer surfaces of the sampling protecting shell and the tail sleeve through an elastic hinge, the lower end face of the hard protecting column is connected with the skid plate, at least two guide wheels uniformly distributed along the axis of the hard protecting column are arranged on the outer side face of the hard protecting column, and when bearing the foot climbing axis and the sampling protecting shell and the tail sleeve are distributed in parallel, the wheel faces of the guide wheels exceed the outer side faces of the sampling protecting shell and the tail sleeve by at least 5 mm.
6. The 3D laser scanning-based pipeline and hole wall scanning robot according to claim 5, wherein: when the bearing foot climbing axis is parallel to the axis of the sampling protecting shell and the axis of the tail sleeve, the bearing foot climbing connected with the sampling protecting shell exceeds the front end face of the sampling protecting shell by at least 3 cm, the bearing foot climbing connected with the tail sleeve exceeds the rear end face of the tail sleeve by at least 3 cm, and the wheel face of the guide wheel is of any one of isosceles trapezoid and isosceles triangle in cross section.
7. The 3D laser scanning-based pipeline and hole wall scanning robot according to claim 1, wherein: the two ends of the electrohydraulic servo propulsion mechanism are respectively hinged with the sampling protecting shell and the tail sleeve through elastic hinges, an elastic sheath is arranged between the sampling protecting shell and the tail sleeve corresponding to the electrohydraulic servo propulsion mechanism, and the elastic sheath is coated outside the electrohydraulic servo propulsion system.
8. The 3D laser scanning-based pipeline and hole wall scanning robot according to claim 1, wherein: the auxiliary control circuit and the main controller are all circuit systems based on any one of FPGA and DSP, the auxiliary control circuit and the main controller are respectively provided with a wireless communication circuit and a serial port communication circuit, the auxiliary control circuit and the main controller are simultaneously connected with each other through the wireless communication circuit and the serial port communication circuit, and in addition, the auxiliary control circuit is additionally provided with a GNSS satellite positioning circuit, a UWB communication circuit and an emergency driving power supply; the main controller is additionally provided with a control console, a multi-channel voltage stabilizing circuit and a control interface based on any one or more of a display, a potentiometer, a signal indicator lamp and a button, wherein the main controller and the multi-channel voltage stabilizing circuit are both positioned in the control console, and the control interface is embedded on the outer side surface of the control console.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222699300.6U CN219121438U (en) | 2022-10-13 | 2022-10-13 | Pipeline and hole wall scanning robot based on 3D laser scanning |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222699300.6U CN219121438U (en) | 2022-10-13 | 2022-10-13 | Pipeline and hole wall scanning robot based on 3D laser scanning |
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| CN219121438U true CN219121438U (en) | 2023-06-02 |
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| CN202222699300.6U Active CN219121438U (en) | 2022-10-13 | 2022-10-13 | Pipeline and hole wall scanning robot based on 3D laser scanning |
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| Country | Link |
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| CN (1) | CN219121438U (en) |
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