KR20060098705A - Micro robot inspector for water supply feed pipe - Google Patents

Abstract

A self-driving car (refering to a micro robot equipped with a driving means, a drill, a CCTV, and a lighting means) is inserted into a water supply pipe inside and outside a small diameter (13 to 65 mm or less), and a water supply pipe is installed by a drill mounted on the self-driving car. The scales that are harmful to the human body attached to the inside are cleaned, the micrographs of the cracks in the water supply pipes are made by CCTV, and the ultrasonic probes are used to perform detailed diagnosis on the photographing site to detect the deterioration state (which refers to the thickness and defect state). To determine whether the water supply pipe is old according to the judgment of the control device installed outside the water supply pipe,

The microrobot diagnostic apparatus for a water supply pipe according to the present invention includes a self-propelled vehicle having a pair of bodies that are mounted on both sides to be movable inside and outside the water supply pipe, and foldably connected by a universal joint,

A drill detachably mounted to a holder on a front side of a self-driving car and removing scale and impurities formed on an inner surface of a water supply pipe,

CCTV and lighting means mounted on the front of the self-driving car, photographing the inner surface of the water supply pipe of the scale and impurities removed;

An ultrasonic probe which detaches the drill from the holder but is detachably mounted to the holder in which the drill is detached and finely diagnoses the ultrasonic wave by sending an ultrasonic wave to the photographed part by CCTV;

Controlled to connect the self-propelled vehicle with wire, drive the vehicle's driving means and drill outside the water supply pipe, and judge the corrosion of the inner surface of the water supply pipe by data related to the thickness and crack of the water supply pipe transmitted from CCTV and ultrasonic probe. With a device.

Water pipe, micro robot diagnostic device, water pipe, ultrasonic wave, cleaning, CCTV

Description

Micro robot inspector for water supply feed pipe

1 is a schematic configuration diagram of a microrobot diagnostic apparatus for water supply pipes according to the present invention,

Figure 2a is a view showing the microscopic diagnosis of the inner surface of the water supply pipe using the ultrasonic probe of the diagnostic device shown in FIG.

Figure 2b is a diagram showing the removal of the scale formed on the inner surface of the water supply pipe using a drill of the diagnostic device shown in Figure 1 by a drilling operation,

3 is a state diagram of use of the diagnostic apparatus shown in FIG.

4 is a diagram illustrating a process of driving and working in a water supply pipe embedded in a vertical direction by the diagnostic apparatus shown in FIG. 1.

* Explanation of symbols used in the main part of the drawing

10; feed pipe

11; Vehicle

12; Universal joint

13,14; Body

15; Self-driving car

16; holder

17; drill

18; CCTV

19; Lighting

20; Ultrasonic Probe (U / T probe)

21; Controller

The present invention removes the scale of the old water pipe by inserting a self-driving vehicle (means a micro robot equipped with a driving means, a drill, a CCTV, a lighting means) into the inside and outside of the water supply pipe having a small diameter (less than 13 to 65 mm). After photographing the cracks of the water supply pipe finely, the detected data is sent to the control device (referring to the equipment equipped with a PC and a monitor) installed outside the water supply pipe so that the water supply pipe can be judged according to the detection result. It relates to a conventional microrobot diagnostic device.

More specifically, a scale mounted on a self-propelled vehicle that is movable in the water supply pipe is used to clean scales harmful to the human body attached to the water supply pipe, and to finely photograph the cracks of the water supply pipe by CCTV, and by the ultrasonic probe. For the water supply pipe which makes a detailed diagnosis of the photographing part and detects the deterioration state (meaning the thickness and defect state), and the result of the detection is judged by the control device installed outside the water supply pipe so that the old water supply pipe can be replaced or regenerated. A microrobot diagnostic device is provided.

In general, a large diameter pipe with a large diameter (generally 65 mm or more) is used as an outdoor water supply pipe that supplies purified water to consumers' water meters through a predetermined pipe after purification. For indoor water pipes to be jointed, use small pipes with small diameters (typically less than 65 mm).

Therefore, inside the pipe from the water purification plant to the water meter, various advanced equipment (for example, an ultrasonic diagnostic device using pig technology) is put into the water supply pipe to detect the degree of corrosion or accumulation of harmful substances in the water supply pipe. The old water pipe can be replaced or regenerated according to the detection result.

On the other hand, the water supply pipes of each generation from the water meter to the faucet are too small in diameter to insert various advanced equipment into the water supply pipes, and thus the water supply pipes continue to be used until the water supply pipes are ruptured due to corrosion.

Due to this, various scales and impurities harmful to the human body accumulate on the inner surface of the indoor and external water supply pipes connected to the old faucets that have been buried. However, the quality of drinking water supplied to the citizens is gradually deteriorated. Unable to judge, drinking contaminated drinking water continuously causes various diseases such as skin disease, and in order to drink cleaner water than tap water, each household has to install a water purifier separately or purchase a certain amount of purified water periodically. Therefore, there is a problem that costs.

On the other hand, the service life of the water supply pipe is shortened due to gradual aging due to cracks or cracks caused by oxidative corrosion of the water supply pipe.However, when the water supply pipe is suddenly ruptured because the aging degree of the water supply pipe cannot be easily confirmed from the outside, In addition to the loss of drinking water (단 水), residents of the region due to the singular (斷水) has a problem that must take the inconvenience.

An object of the present invention is to clean the scale or impurities harmful to the human body formed on the inner surface of the indoor and external water supply pipes connected to the faucet, so that water is not installed separately to drink drinking water in a clean state, and there is no purchase of purified water to reduce costs. The present invention provides a microrobot diagnostic device for a feed pipe.

Another object of the present invention, since the fine film of the corrosion of the water supply pipe through the CCTV / ultrasonic device mounted on the self-driving car is driven to run inside the small water supply pipe diameter, it is possible to check the crack state of the water supply pipe from time to time outside the water supply pipe It is to provide a microrobot diagnostic device for a water supply line which prevents a sudden rupture and leakage of drinking water due to this crack or corrosion.

Still another object of the present invention is to provide a microrobot diagnostic apparatus for a water supply pipe, which can check the degree of cracking or corrosion of the water supply pipe from time to time, thereby minimizing the pipe construction cost required to replace the old water supply pipe.

An object of the present invention described above, a self-propelled vehicle consisting of a pair of bodies that are mounted on both sides so as to be movable in the inside and outside of the water supply pipe, foldable by a universal joint,

A drill detachably mounted to a holder on a front side of a self-driving car and removing scale and impurities formed on an inner surface of a water supply pipe,

CCTV and lighting means mounted on the front of the self-driving car, photographing the inner surface of the water supply pipe of the scale and impurities removed;

An ultrasonic probe which detaches the drill from the holder but is detachably mounted to the holder in which the drill is detached and finely diagnoses the ultrasonic wave by sending an ultrasonic wave to a portion photographed by CCTV;

It is connected to the self-propelled vehicle by wire and drives the driving means and drill of the autonomous vehicle outside the water supply pipe, and judges the corrosion of the inner surface of the water supply pipe by data related to the thickness and crack of the water supply pipe transmitted from CCTV and ultrasonic probe. It is achieved by providing a microrobot diagnostic device for a water supply pipe, characterized in that it comprises a control device.

According to a preferred embodiment, the above-described control device may be used either a notebook or a PC.

In addition, the water supply pipe described above is a pipe for connecting the joint between the faucet and the faucet, the diameter of the water supply pipe is 13 ~ 65mm or less so as to secure a passage through which a car can move.

In addition, the driving means for moving the above-mentioned independent vehicle,

With a tongs-shaped legs formed by several joints foldable with respect to both sides of the body, and wheels that are integrally attached to the tongs-type legs and in close contact with the inner surface of the water supply pipe when the tongs-type legs are deployed,

When the pair of forceps-type legs of the front and rear body are alternately deployed, the wheel can be detached from the inner side of the water supply pipe, so that the car can move inside the water supply pipe buried in the vertical direction.

In addition, the above-described drill may be connected to the hydraulic motor inherent in the autonomous vehicle to be driven.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, which are intended to explain to the extent that those skilled in the art to which the present invention pertains can easily carry out the invention, and thus the present invention. It does not mean that the technical spirit and scope of the company is limited.

As shown in Figures 1 to 4, the microrobot diagnostic apparatus for water pipes according to the present invention, the traveling means 11 (wheels) on both sides so as to be able to move inside the inside and outside the water supply pipe 10 filled with water. ) And a self-propelled vehicle 15 (referred to as a micro robot) consisting of a pair of bodies 13 and 14 foldably connected by a universal joint 12 mounted in the middle thereof, and the front of the autonomous vehicle 15. It is provided with a drill (17) detachably mounted to the holder (16) of the water supply pipe (10) formed on the inner surface of the water supply pipe (10) to remove scale and impurities harmful to the human body.

In this case, the drill 17 may be connected to and driven by a hydraulic motor (not shown) installed in the self-propelled vehicle 15, and since their configuration belongs to the technical details used in the art, a detailed description thereof will be omitted below. do.

In addition, the CCTV 18 and the lighting means 19 (referring to the lamp) and the holder 16 which photograph the inner surface of the water supply pipe 10 of the portion mounted on the front of the self-driving car 15 and the scale and impurities are removed. The drill 17 is separated from the holder, but the drill 17 is detachably mounted to the separated holder 16, and the ultrasonic wave is sent to the portion photographed by the CCTV 18 to finely diagnose the water supply pipe 10. Ultrasonic probe 20 for detecting the diameter, defect, and leakage of the car, and connected to the self-propelled vehicle 15 in a wired manner and drives the driving means and the drill 17 of the self-propelled vehicle 15 outside the water supply pipe 10, The control unit 21 determines the degree of corrosion of the inner surface of the water supply pipe 10 based on data related to the thickness and cracks of the water supply pipe 10 transmitted from the CCTV 18 and the ultrasonic probe 20.

At this time, the above-described control device 21 is any one of the control equipment having a control technology such as a laptop or a PC is used, the water supply pipe 10 is a pipe of the section connecting the faucet between the faucet from the water meter (A) , The diameter of the water supply pipe 10 is 13 ~ 65mm or less so as to secure a passage through which the microrobot can move.

In addition, the traveling means for moving the self-propelled vehicle 15 described above,

In the water supply pipe 10 when the forceps-type leg 22 is integrally attached to the forceps-type leg 22 and integrally attached to the forceps-type leg 22 when the forceps-type legs 22 are deployed. It is provided with a wheel 23 in close contact with the side to move the self-propelled vehicle 15,

Slippery water pipes buried in the vertical direction because the wheel 23 is detached from the inner surface of the water supply pipe 10 when the pair of tongs of the front and rear bodies 13 and 14 are alternately deployed. 10) The self-propelled vehicle 15 may move inside.

Hereinafter, with reference to the accompanying drawings an example of the use of the microrobot diagnostic apparatus for water supply pipe according to the present invention will be described in detail.

As shown in FIG. 1 and FIG. 2, the self-propelled vehicle 15 is introduced into the water supply pipe 10 corresponding to the pipe line between the taps from the water meter A installed in each home, and the self-propelled vehicle 15 at this time. Is connected to the control unit 21 is installed in the water supply pipe 10 is filled with water outside the wire line receives the drive signal of the driving means 11, the drill 17 of the self-propelled vehicle (15).

On the other hand, the scale harmful to the human body accumulated on the inner surface of the water supply pipe 10 described above, or impurities are removed due to the rotation of the drill 17 detachably fixed to the holder 16 formed on the front of the self-driving car 15. do. At this time, the drill 17 is driven by the rotational force transmitted from the hydraulic motor (not shown) in the self-propelled vehicle (15).

In addition, the control device 21 is provided to the outside of the water supply pipe 10 to be drilled portion of the water supply pipe 10 by the light emitted from the lighting means 19 (referring to the lamp) installed in the self-propelled vehicle 15 ( Or a PC with a laptop or monitor).

Next, the inner surface of the water supply pipe 10 of the portion where the scale and impurities are removed by the CCTV 18 mounted on the front of the self-propelled vehicle 15 is photographed. After the drill 17 is separated from the holder 16 described above, the ultrasonic wave is generated from the ultrasonic probe 20 detachably mounted to the holder 16, and is ultrasonically reflected by penetrating the corrosion portion of the water supply pipe 10. The diameter, defect, and leaking part of the water supply pipe 10 are detected. At this time, since the ultrasonic signal is displayed on the CRT screen of the control device 21 through the wire, the defects formed on the inner surface of the water supply pipe 10 are determined by reading the position and size of the ultrasonic signal displayed on the CRT screen.

On the other hand, as shown in Figure 3, when the water supply pipe 10 is embedded in the vertical direction, tongs legs 22 formed to be folded on both sides of the pair of bodies (13, 14) forming the self-propelled vehicle (15) Are repeated alternately deployed, so that the wheel 23 integrally formed on the tongs leg 22 is in close contact with the inner surface of the water supply pipe 10 to alternately supply any one of the bodies 13 and 14 to the water supply pipe. Since it is supported by (10), the self-propelled vehicle 15 is able to move along the inner surface of the water supply pipe 10 in a state where the water is filled and the inner surface is slippery.

In addition, when the water supply pipe 10 is bent in an elbow shape and the driving direction of the self-propelled vehicle 15 is changed, the water supply pipe 10 is frequently rotated by the universal joint 12 which rotatably connects the pair of bodies 13 and 14. The car 15 can pass through the bent portion of the water supply pipe 10 without difficulty.

As described above, the microrobot diagnostic apparatus for water pipes according to the present invention has the following advantages.

It cleans scales or impurities harmful to the human body formed on the inner side of indoor and outdoor water pipes connected to the faucet, so that it does not require consumers to purchase water purifiers or purified water to drink clean drinking water, thereby preventing consumers from harming their health. Have

In addition, the degree of corrosion of the water supply pipe is finely photographed through CCTV installed in a self-driving car that is driven to travel inside a small water supply pipe, and thus, the water supply pipe can be frequently checked from the outside of the water supply pipe. It can rupture suddenly and prevent loss due to drinking water leakage.

In addition, the degree of cracking or corrosion of the water supply pipe can be checked at any time, thereby minimizing the pipe construction cost required to replace the old water supply pipe.

Claims (5)

A self-driving vehicle made of a pair of bodies which are mounted on both sides to be movable in the inside and outside of the water supply pipe, and are foldably connected by a universal joint; A drill detachably mounted to a holder on the front side of the self-driving vehicle and removing a scale and impurities formed on an inner surface of the water supply pipe; CCTV and lighting means mounted on the front of the self-driving vehicle, and photographing the inner surface of the water supply pipe of the portion where the scale and impurities are removed; An ultrasonic probe which separates the drill from the holder but is detachably mounted to the holder in which the drill is separated, and finely diagnoses the ultrasonic wave by sending an ultrasonic wave to a portion photographed by CCTV; And It is connected to the self-propelled vehicle by wire and drives the driving means and the drill of the self-propelled vehicle outside the water supply pipe, and the degree of corrosion of the inner surface of the water supply pipe by data related to the crack of the water supply pipe transmitted from the CCTV and the ultrasonic probe. Water supply pipe microrobot diagnostic device comprising a control device for determining. The microrobot diagnostic apparatus for water supply pipe according to claim 1, wherein the control device is one of a laptop and a PC. The water supply pipe according to claim 1 or 2, wherein the water supply pipe is a pipe of a section connecting the faucet from the water meter to the faucet, and the diameter of the water supply pipe is 13 to 65 mm or less so as to secure a passage through which the independent vehicle can move. Microrobot diagnostic device for water supply pipe. The driving means for moving the self-propelled vehicle according to claim 1 or 2, A tongs-shaped leg formed of several joints foldable with respect to both sides of the body; And It is integrally attached to the tongs-type legs, and provided with a wheel that is in close contact with the inner surface of the water supply pipe when the tongs-type legs are deployed, to move the autonomous vehicle, When the pair of forceps-type legs of the front and rear body are alternately deployed, the wheels are detached from the inner surface of the water supply pipe, so the car is moved in and out of the water supply pipe embedded in the vertical direction. Device. The water supply microrobot diagnostic apparatus according to claim 1 or 2, wherein the drill is connected to and driven by a hydraulic motor installed in a self-propelled vehicle.

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