一种用于管道检测的智能机器人 An intelligent robot for pipeline inspection
本实用新型涉及一种新型的用于管道检测的智能机器人，它是属于对各种管道内、长距离行走检测内表面的形态及管道本身存在的损伤探测的综合性仪器。 The present invention relates to a novel intelligent robot for pipe inspection, it belongs to the general damage to the various conduits instrument, walk long distances and form the inner surface of the pipeline itself detecting the presence of the probe. 它主要是采用了摄像机和探伤仪与专用的信号发射装置相结合的方法，并与可在管道内行走的机器人相配合，使得信号可以通过有线或无线的方式传输给待测管道外端的接收装置，从而使施工或操作人员能够及时、真实地了解管道内部的情况，以便施工人员对待测管道进行诊断，为确定修理和施工方案提供可靠的依据。 It is mainly used a method with a dedicated camera detector and signal emitting means in combination, and cooperating with the robot may be running in the pipe, so that the signal can be transmitted to the receiving device outer tube under test through a wired or wireless manner so that the construction or operator timely, realistic picture of the internal pipe, in order to treat the test pipeline construction personnel to diagnose, provide a reliable basis for determining the repair and construction program. 它适用于钢管、塑料管、承插铸铁管、承插水泥管等的检测。 It is suitable for steel pipes, plastic pipes, cast iron pipe socket, like cement pipe socket detected.
目前，在油气管道的检修、施工前的机器人检测工作中，由于所用的管子大多都是钢管，其屏蔽性能较好，一般选用的机器人都是将采集到的图像信号通过机器人尾部的发射天线来发射信号，直接沿管筒向外传送。 Currently, the detection of the robot work before oil and gas pipeline maintenance, construction, since pipes are often used in steel, which is better shielding performance, robots are generally used to capture the image signal through the transmitting antenna to the tail of the robot transmission signal transmitted directly along the tube outwardly. 在管端的接收天线则将收到的信号传给监视器和录像机，在监视器上可以直接观察管内的各类情况，并可随时通过录像机录制下来作为资料保存。 In the monitor signal to the receiving antenna and the VCR will receive the tube end, various types on the monitor can be directly observed in the case of pipe, and at any time by the recorder as an information recorded and saved. 但是，在城市的供水管网中，很多采用承插水泥管，这种管道由于塑性差，受地面压力或地下原基础水平面不同或质量差等因素造成沉降不同而引起水泥管错位、承插口漏水等现象。 However, in the city water supply networks, many using cement socket tube, this difference due to the plastic pipe, by different surface or underground pressures or poor quality of the original base level subsidence caused by different factors cement pipe misalignment, leakage socket and so on. 对于这种管线在检修前的检测，若采用现有的天线发送射频微波来传送，信号只能传送几十米，其图像便模糊不清；若采用同轴视频电缆进行传送也只能达到300米左右，信号就衰减的无法使用；若选用国外进口的优质同轴视频电缆也只能在500米以内使用，无法满足目前现场施工的要求。 For this pipeline detection before inspection, the use of a conventional microwave radio frequency transmitting antenna to transmit, transmits a signal only tens of meters, its image will be blurred; if video transmitted using coaxial cable can only reach 300 meters or so, the signal attenuation can not be used; if the choice of high-quality coaxial video cable of foreign imports can only be used within 500 meters, can not meet the current requirements of the construction site.
本实用新型的目的就在于避免现有技术的不足之处而提供了一种用于管道检测的智能机器人，它主要是采用了摄像机和探伤仪与专用的信号发射装置相结合的方法，并与可在管道行走的机器人相配合，使得信号可以通过有线或无线的方式传输给待测管道外端的接收装置，施工和检测人员可以通过图像检测装置观察到管道内部的真实情况。 Purpose of the present invention is to avoid the shortcomings of the prior art and provides an intelligent robot A pipe for detection, which method is mainly used and the camera detector to the dedicated transmission device in combination, and with mateable walking robot pipe, so that the signal can be transmitted to the receiving device outside the pipe under test, construction and testing personnel can observe the real image of the internal duct by the detecting means through a wired or wireless manner. 它主要是由机器人壳体、探伤机、照明灯、摄像机、驱动装置、信号发射与接收机、可视电话与电缆、录像机等构成，其主要的技术特点在于机器人壳体是由前舱、中舱和后舱三部分构成，照明灯、摄像机和探伤机则都设置在前舱，其照明灯是设置于机器人壳体的前部，摄像机也设置在壳体的前端，其探伤机则设置在摄像机的后部，并将其探头设置成面向待测管道的方向；驱动装置和驱动电源设置在中舱；信号发射装置则设置于后舱，信号接收装置则设置在待测管道的外端。 It is mainly composed of a robot housing, testing machine, lights, cameras, drive means, the signal transmitter and the receiver, video telephone cable, VCR, etc., the main technical features that are the robot from the front compartment housing, in aft cabin and three parts, lights, cameras, and the testing machine in front of the cabin are provided, which are disposed in the lamp housing front portion of the robot, the camera is also provided at the front end of the housing, which is disposed testing machine a rear camera, and the probe is arranged to face the direction of the pipe to be measured; and a driving means driving power source provided in spaces; signal transmitting means is disposed in the rear compartment, the signal receiving means is disposed at the outer end of the pipe to be tested.
附图即为本实用新型的结构示意图。 BRIEF is the novel structural diagram of the present invention.
附图的图面说明如下：1---照明灯 2---摄像机 3---探伤机 4---悬挂式变速箱5---直流电机 6---主动轮 7---可视电话线 8---同轴电缆9---直流电源 10---发射天线 11---监视器 12---接收天线13---发射可视电话 14---从动轮 15---接收可视电话 16---录像机为了更好地实现本实用新型的上述目的，本实用新型的设计者对设置于后舱的信号发射装置的信号采集设计成来自于前舱的摄像机和探伤机，并通过信号线使两者相连接，其发射的形式可以是通过发射天线将信号发射给管道外端接收天线和显示装置，也可以是通过专用的信号发射可视电话和通讯电缆传递给管道外端的信号接收装置；其信号接收装置主要是由信号接收可视电话、图像监视器和录像机构成。 Brief Description of the drawings as follows: 1 2 --- --- lighting flaw detector camera 3 --- 4 --- --- hanging DC motor gearbox 5 6 --- 7 --- may capstan videophone. 9 coaxial line 8 --- 10 --- --- DC power supply monitor transmit antenna 11 --- 12 --- --- receiving antenna 13 transmit a visual telephone 14 --- follower wheel 15 - receiving phone 16 --- visual recorder order to better achieve the above object of the present invention, the designer of the present invention to the signal acquisition is provided on the transmission device is designed as a rear compartment from the front compartment and a camera testing machine, and so that the two are connected by a signal line, which may be transmitted in the form of signal transmitting and receiving antenna means to the outer end of the conduit through the transmission antenna and a display, transmit videophone may be transmitted through a dedicated communication cable and a signal to the signal receiving means in the outer end of the conduit; signal receiving apparatus which receives the main signal from the video telephone, monitor images and VCRs. 其机器人壳体的中舱的驱动装置主要是由两组主动轮和一组从动轮组成，并通过来自直流电源的电力行走于待测的管道之中。 Drive apparatus in which the robot housing compartment mainly by two driving wheel and a driven wheel set composed by power from the DC power supply to travel in the test pipe.
下面将结合附图和实施例来详述本实用新型的结构特点。 And following with reference to embodiments described in detail the structural characteristics of the present invention.
在实际设计和制造中，本实用新型所设计的智能机器人是由摄像观察系统、金属探伤系统和直流电机带动的行走机构和信号发射与接收装置等构成。 In actual design and manufacture, the present invention is designed intelligent robot and the walking mechanism constituting the signal transmitting and receiving apparatus or the like driven by observation imaging system, metal detection system and DC motor. 在现场施工的运行中，对钢管的检测是采用信号发射天线直接将信号发出，通过管内腔发向管外端，在通过接收天线将信号传送监视器及录像机；对非金属管道(即屏蔽性能差)的检测采用低损耗的同轴视频电缆(不加放大器)直接与监视器连接，观察管内状况或录制、记录管内的情况。 In operation in the construction site, the detection signal is to use steel pipe directly transmit antenna signal emitted by an outer tube lumen sent to the pipe end, the receiving antenna by transmitting a signal recorder and a monitor; non-metallic conduit (i.e., shielding performance differential) detection using the low-loss coaxial video cable (without amplifier) directly connected to the monitor, observe the condition of the tube or recording, where the recording in the tube. 在此项工作中，摄像机所采集的信号传给设置在机器人后舱的专用可视电话，再通过电话线传给管道外端的另一部可视电话来获取图像，并通过地面的这部可视电话发送双音频信号的各种指令给机器人。 In this work, a signal is transmitted to the camera in the robot acquired dedicated videophone rear compartment, and then acquire an image of the end of the outer tube to pass another videophone via the telephone line through the ground and this dual audio signal transmitting videophone various instructions to the robot. 其设置在中舱的行走机构是由4个悬挂式自平衡机构组成主动行走轮，它能够在爬坡和局部凸起时能自动找平衡保持与管壁的正常接触和与管壁的摩擦力。 Traveling mechanism disposed in the chamber 4 is suspended from the running wheel balancing institutions active, it can automatically find a balance to maintain a frictional force and the normal contact with the wall when the wall climbing and partial projection .
本实用新型设计合理、结构简单、操作方便灵活，其性能可达到清晰地传送1000米之外的监视器和录像机，非常适用于钢管、塑料管、承插铸铁管和承插水泥管的检测与施工，尤其是对管内出现的锈蚀、结垢、穿孔、脱皮、裂纹、错口、变形以及管内的异物等可进行全行程的直接观察、检测和录像。 The present invention is designed, simple structure, convenient operation, its performance can be achieved and the monitor transmitting clearly outside the recorder 1000 m, ideal for steel pipe, plastic pipe, cast iron pipe socket and socket concrete pipes and detection construction, especially for the corrosion occurring within the tube, fouling, perforation, peeling, cracking, wrong port, modifications and other foreign matter in the pipe can be directly observed full stroke, the detection and recording. 能够帮助施工人员诊断待测管道的状况，为其制定修理和施工方案提供可靠的依据。 Construction workers can help diagnose the condition of the pipeline to be tested, to provide a reliable basis for the establishment repair and construction programs.