WO2021109301A1 - 智能语音控制管道及风管视频检测设备和机器人系统 - Google Patents

智能语音控制管道及风管视频检测设备和机器人系统 Download PDF

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Publication number
WO2021109301A1
WO2021109301A1 PCT/CN2019/129914 CN2019129914W WO2021109301A1 WO 2021109301 A1 WO2021109301 A1 WO 2021109301A1 CN 2019129914 W CN2019129914 W CN 2019129914W WO 2021109301 A1 WO2021109301 A1 WO 2021109301A1
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WIPO (PCT)
Prior art keywords
shaft
frame
rotating shaft
pipeline
connecting rod
Prior art date
Application number
PCT/CN2019/129914
Other languages
English (en)
French (fr)
Inventor
戴斐
Original Assignee
戴斐
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 戴斐 filed Critical 戴斐
Publication of WO2021109301A1 publication Critical patent/WO2021109301A1/zh
Priority to US17/848,018 priority Critical patent/US20220317699A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0054—Cooling means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/026—Acoustical sensing devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00—Speech recognition
    • G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00—Speech recognition
    • G10L15/28—Constructional details of speech recognition systems
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00—Speech recognition
    • G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
    • G10L2015/223—Execution procedure of a spoken command
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication

Definitions

  • the invention relates to the technical field of pipeline/air duct video detection robots, in particular to an intelligent voice control pipeline and air duct video detection equipment and a robot system.
  • the invention provides an intelligent voice control pipeline and air duct video detection equipment and a robot system, which are used for realizing the detection purposes of improving work efficiency, saving manpower and facilitating operation in the pipeline/air duct detection process.
  • An intelligent voice control pipeline and air duct video detection equipment and robot system comprising: an image acquisition unit, a control unit, a voice control device, and an in-pipe crawling device.
  • the image acquisition unit is arranged on the pipeline in-crawling device.
  • the in-pipe crawling device and the control unit are connected by a cable; the in-pipe crawling device is used to move in the pipeline and use the image acquisition unit to collect images in the pipeline, and then transmit the collected image information to the The control unit;
  • the voice control device is connected to the control unit;
  • the in-pipe crawling device includes an electric crawling device and a hand-pushing crawling device.
  • control unit is provided on a cable car
  • a cable winding device is provided on the cable car
  • one end of the cable connected to the control unit is wound on the cable winding device.
  • the electric crawling device includes: a frame and rollers; the frame is set in a plate-like structure, one end of the frame is provided with an image acquisition unit; both sides of the frame are provided with bearings at intervals, and the bearings are connected with Roller; the frame is provided with a driving device at one end away from the image capture unit, the drive device is connected to the roller shafts on both sides of the frame, and is used to drive the two rollers at one end away from the image capture unit to move in the pipeline .
  • the sound control device includes a pickup and a sound processing chip, the pickup is connected to the sound processing chip, and the sound processing chip is connected to the control chip of the control unit.
  • a display screen is provided on the cable car, the display screen is connected to the control unit, and the display screen is used to display the information collected by the image acquisition unit;
  • the image acquisition unit is set as a pan-tilt camera,
  • the pan-tilt camera and the frame are connected by a pan-tilt frame,
  • the pan-tilt frame includes a base and a rotating device,
  • the rotating device includes a rotating controller and a rotating frame, and the bottom of the base is connected to the frame
  • a rotating frame and a rotating controller are connected above the base, and the rotating controller is used to drive the rotating frame to rotate on the base;
  • the frame is also provided with a first short-wave radio station, and the rotating
  • the controller and the driving device are electrically connected to the first short-wave radio station;
  • a second short-wave radio station is provided on the cable car, and the second short-wave radio station is connected to the control unit through a wire;
  • the first The short-wave radio station is the transmitting end;
  • the hand-push crawling device includes: a wire frame and a cable;
  • the wire frame includes a wire frame and a supporting frame, the wire frame is rotatably arranged on the supporting frame, and the supporting frame is also arranged There is a handle;
  • the wire rack is set to a circular frame structure, the cable is coiled on the circular frame structure, the support frame is also provided with an image capture device, and the image capture device is connected by the cable Control unit;
  • the cable is an elastic cable.
  • an operating platform is further provided on the cable car, and the operating platform is connected to the control unit through a wire.
  • both ends of the winding device are rotatably connected to the cable car through a first rotating shaft
  • the winding device is configured as a cylindrical structure
  • a disk is arranged between the winding device and the first rotating shaft.
  • the cable car is provided with a bearing, the bearing is used to rotatably connect the first rotating shaft, and one end of the first rotating shaft away from the blocking disk is connected to a motor, and the motor is used to drive the
  • the first rotating shaft rotates on the cable car via a bearing; a limiting groove is provided on one side of the stop plate close to the inner wall of the cable car, a limiting ring is provided on the circumference of the limiting groove, and a limiting device is provided through the side of the cable car ,
  • the limiting device and the limiting ring cooperate to limit the rotation of the winding device;
  • the side wall of the cable car is provided with a limiting device opening that penetrates, and the center of the limiting device opening is horizontal
  • a first connecting rod is provided, and the first
  • the limiting device includes a splint, a movable block, a fixed rod, and a connecting rod group.
  • One end of the connecting rod group is hinged to the movable block, the other end is hinged to one end of the fixed rod, and the other end of the fixed rod is fixed.
  • the splint is hinged on both sides of the first connecting rod by a first fixing plate and a second rotating shaft; the end of the splint close to the limit ring is provided with a chuck, so The chuck and the splint are L-shaped, and the chuck is used to clamp or loosen the limit ring; the other end of the splint is provided with a U-shaped frame, and a rotating wheel is hinged on the U-shaped frame
  • the two splints are connected by a spring, the spring is arranged at one end close to the U-shaped frame; a movable block is provided between the runners of the two splints, and one end of the movable block is connected to a connecting rod Group, the other end is provided with a movable shaft, the first connecting rod is provided with a second shaft hole for the movable shaft to move back and forth, the movable block is provided with a guide surface on the outer side wall of one end close to the movable shaft, the
  • it further comprises a cooling device, the cooling device comprising a first cooling plate, a second cooling plate and a sixth rotating shaft, the sixth rotating shaft is rotatably arranged inside the cable car, and the sixth rotating shaft is arranged in the cable car.
  • a cooling device comprising a first cooling plate, a second cooling plate and a sixth rotating shaft, the sixth rotating shaft is rotatably arranged inside the cable car, and the sixth rotating shaft is arranged in the cable car.
  • the axis of the sixth rotating shaft and the axis of the winding device are arranged in parallel; the sixth rotating shaft and the peripheral outer wall of the first rotating shaft are respectively provided with fifth gears, the The fifth gear is linked by an annular chain; the sixth shaft is also provided with a U-shaped shaft, the U-shaped shaft is rotatably connected with a fifth connecting rod, and the other end of the fifth connecting rod is provided with a ball joint
  • the ball joint is hinged on the upper surface of the first cooling plate, and both ends of the first cooling plate are rotatably connected to the bottom position in the cable car through a fourth rotating shaft;
  • the second cooling plate The plate is arranged above the cable car, and the upper surface of the second cooling plate is used to place the control unit; the second cooling plate is provided with cooling water pipes, and the two ends of the cooling water pipe are water inlet and outlet respectively.
  • the inside of the second cooling plate is set as a cavity
  • the bottom of the second cooling plate is provided with a first circulation opening and a second circulation opening
  • the first circulation opening is connected to the first cooling plate through a connecting water pipe.
  • the second circulation opening is provided with a micro water pump; one end of the micro water pump is connected to the second circulation opening, and the other end is connected to the water outlet of the first cooling plate through a connecting water pipe.
  • the image acquisition device When in use, the image acquisition device enters the pipeline or air duct together through the in-pipe crawling device, and the image acquisition device transmits the collected signal to the control unit through a cable, and the control unit is provided with a device for viewing the
  • the display screen of the image information returned by the image acquisition device can realize the intuitive display of the internal situation of the pipeline through the display screen, and realize the purpose of detecting the inside of the pipeline;
  • the crawling device in the pipeline is a hand-pushing crawling device, then Workers manually push the hand-push crawling device into the pipeline or air duct, and collect video, image and audio information in the pipeline through manual operation, thereby realizing the purpose of detecting the inside of the pipeline, greatly improving the current manual access to the pipeline
  • the electric crawling device in the pipeline is controlled by the control unit so that it can automatically crawl inside the pipeline, and thereby collect video, image and audio information inside the pipeline , So as to achieve the purpose of inspecting the inside of the pipeline; compared with the hand-push crawling device, it improves work efficiency, and at the same time reduces the situation of workers entering the pipeline due to construction errors or operating errors that cause personal injury to workers in the pipeline;
  • the present invention is also provided with a voice control device, and workers sometimes need to operate multiple devices at the same time on the construction site, and they often have to use dirty hands to operate the console/tablet/computer on site. Therefore, people sometimes have to cooperate with other people to complete a detection job on the spot, and sometimes it is even a simple job. In this case, it is very important to develop a more effective, manpower-saving and easier-to-operate video detection robot system.
  • the invention integrates the speech recognition technology into the video detection robot system. Through this system with voice activation control function, people can operate the system by using voice commands very easily, and work with minimal manual operations. Such a voice-controlled video detection robot system allows people to complete a relatively complex detection task more easily and independently without the help of others.
  • Figure 1 is a schematic diagram of the structure of the present invention
  • Figure 2 is a schematic diagram of the cable car structure of the present invention.
  • FIG. 3 is a schematic diagram of the structure of the pan-tilt frame of the present invention.
  • FIG. 5 is a logic diagram of the control unit of the present invention.
  • FIG. 6 is another logic diagram of the control unit of the present invention.
  • Fig. 7 is a schematic diagram of the connection structure of the limit ring of the present invention.
  • Figure 8 is a schematic diagram of the structure of the limiting device of the present invention.
  • Figure 9 is a schematic diagram of the connection structure of the limiting device of the present invention.
  • FIG. 10 is a schematic diagram of the connection structure of the first gear and the second gear of the present invention.
  • FIG. 11 is a schematic diagram of the connection structure of the cooling device of the present invention.
  • FIG. 12 is a schematic diagram of the structure of the first cooling plate of the present invention.
  • Figure 13 is a schematic diagram of the cooling water pipe structure of the present invention.
  • FIG. 14 is a schematic diagram of the structure of the hand-push crawling device of the present invention.
  • 15 is a schematic diagram of the connection structure of the first shaft and the fifth shaft of the present invention.
  • the embodiment of the present invention provides an intelligent voice control pipeline and duct video detection equipment and robot system, including: an image acquisition unit 1, a control unit 2, a voice control device 9 and an in-pipe crawling device 3 ,
  • the image acquisition unit 1 is provided on the in-pipe crawling device 3, the in-pipe crawling device 3 and the control unit 2 are connected by a cable 20;
  • the in-pipe crawling device 3 is used to move in the pipeline , And use the image acquisition unit 1 to collect the images in the pipeline, and then transmit the collected image information to the control unit 2 through the cable 20;
  • the voice control device 9 is connected to the control unit 2;
  • the crawling device in the pipeline 3 Including electric crawling device and hand crawling device.
  • the image acquisition device When in use, the image acquisition device enters the pipeline or air duct together through the in-pipe crawling device, and the image acquisition device transmits the collected signal to the control unit through a cable, and the control unit is provided with a device for viewing the
  • the display screen of the image information returned by the image acquisition device can realize the intuitive display of the internal situation of the pipeline through the display screen, and realize the purpose of detecting the inside of the pipeline;
  • the crawling device in the pipeline is a hand-pushing crawling device, then Workers manually push the hand-push crawling device into the pipeline or air duct, and collect video, image and audio information in the pipeline through manual operation, thereby realizing the purpose of detecting the inside of the pipeline, greatly improving the current manual access to the pipeline
  • the electric crawling device in the pipeline is controlled by the control unit so that it can automatically crawl inside the pipeline, and thereby collect video, image and audio information inside the pipeline , So as to achieve the purpose of inspecting the inside of the pipeline; compared with the hand-push crawling device, it improves work efficiency, and at the same time reduces the situation of workers entering the pipeline due to construction errors or operating errors that cause personal injury to workers in the pipeline;
  • the present invention is also provided with a voice control device, and workers sometimes need to operate multiple devices at the same time on the construction site, and they often have to use dirty hands to operate the console/tablet/computer on site. Therefore, people sometimes have to cooperate with other people to complete a detection job on the spot, and sometimes it is even a simple job. In this case, it is very important to develop a more effective, manpower-saving and easier-to-operate video detection robot system.
  • the invention integrates the speech recognition technology into the video detection robot system. Through this system with voice activation control function, people can operate the system by using voice commands very easily, and work with minimal manual operations. Such a voice-controlled video detection robot system allows people to complete a relatively complex detection task more easily and independently without the help of others.
  • control unit 2 is provided on the cable car 4, the cable car 4 is provided with a winding device 5, and the end of the cable 20 connected to the control unit 2 is wound on the cable winding device 5 on.
  • the wire winding device 5 is also provided with a handle, the handle is connected to the shaft of the wire winding device 5, and the handle is provided on the outer side wall of the cable car 4; when it is necessary to wire the wire winding device 5
  • the retractable handle is used to rotate the wire winding device 5 to realize the storage of the cable 20; when the crawling device is moving in the pipeline, the wire winding device 5 is The movement of the crawling device rotates on the cable car 4, and achieves the purpose of setting the line.
  • the electric crawling device includes: a frame 6 and a roller 7; the frame 6 is set in a plate-like structure, and one end of the frame 6 is provided with an image acquisition unit 1; the two sides of the frame 6 are separated A bearing 21 is provided with a roller 7 connected to the bearing 21; an end of the frame 6 away from the image acquisition unit 1 is provided with a driving device 8 which is connected to the rollers 7 shafts on both sides of the frame 6, And it is used to drive the two rollers 7 away from one end of the image acquisition unit 1 to move in the pipeline.
  • the driving device 8 When in use, the driving device 8 is used to drive the crawling device to move in the pipeline. Specifically, the driving device 8 drives the roller 7 axis of the roller 7, and the roller 7 can rotate. 7 After rotating, the frame 6 can move in the pipeline, thereby achieving the purpose of moving the image acquisition unit 1 on the frame 6 and realizing the purpose of detecting the image acquisition unit 1 continuously and moving in the pipeline. .
  • the electric crawling device it is used in conjunction with the cable car 4, that is, the cable car 4 is used outside the pipeline to retract the cable 20 according to the movement of the electric crawling device; the purpose is to reduce the operation of the electric crawling device. During the process, the load is reduced, the battery usage time is increased, and the purpose of running briskly in the pipeline.
  • the cable connected to the image acquisition unit is a soft cable, preferably a silicone cable.
  • the sound control device 9 includes a pickup 10 and a sound processing chip 11, the pickup 10 is connected to the sound processing chip 11, and the sound processing chip 11 is connected to the control chip of the control unit 2.
  • the pickup 10 is used to pick up the sound and provide the collected sound to the sound processing chip 11.
  • the sound processing chip 11 converts the sound into an analog/digital signal, and then transmits the digital sound signal to the control unit 2.
  • the control unit 2 implements the corresponding operations according to the digital sound signal. For example, when the staff uses the voice control device 9 to start the driving device 8 to work, first dictate "start crawling" to the pickup 10, and the pickup 10 collects the sound. , Transmitted to the sound processing chip 11, the sound processing chip 11 transmits the processed sound information to the control chip, and the control chip transmits the control signal to the driving device 8 through the cable 20, and the driving device 8 It can be started, and the rotation of the roller 7 can be realized, thereby realizing the purpose of moving the crawling device in the pipeline.
  • a display screen 12 is provided on the cable car 4, the display screen 12 is connected to the control unit 2, and the display screen 12 is used to display the information collected by the image acquisition unit 1;
  • the image acquisition unit 1 is set as a pan/tilt camera, and the pan/tilt camera and the frame 6 are connected by a pan/tilt mount.
  • the pan/tilt mount includes a base 13 and a rotating device, and the rotating device includes a rotation controller 14 and Rotating frame 15, the bottom of the base 13 is connected to the upper surface of the frame 6, the upper part of the base 13 is connected to the rotating frame 15 and the rotating controller 14, the rotating controller 14 is used to drive the rotating frame 15 in The base 13 rotates; the frame 6 is also provided with a first short-wave radio station 16, and the rotation controller 14 and the driving device 8 are electrically connected to the first short-wave radio station 16; A second short-wave radio station 17 is provided on the cable car 4, and the second short-wave radio station 17 is connected to the control unit 2 through a wire; the first short-wave radio station 16 is the transmitting end; the second short-wave radio station 17 is Receiving end.
  • the display screen 12 can intuitively display the situation in the pipeline, which is helpful for the staff to observe and record the detection status of the pipeline.
  • the first short-wave radio station 16 and the second short-wave radio station 17 are used to realize the connection of the rotation controller 14, the driving device 8 and the control unit 2.
  • the first shortwave radio station 16 and the second shortwave radio station 17 can also be used for signal transmission and control purposes; the rotation device is used for all
  • the pan-tilt camera can be rotated during inspection work in the pipeline to realize multi-directional and multi-angle image or video acquisition in the pipeline, thereby improving the quality of inspection and reducing the occurrence of missed inspections.
  • the hand-push crawling device includes: a wire frame and a cable 20; the wire frame includes a wire frame 68 and a support frame 66, and the wire frame 68 is rotatably arranged on the support frame 66 ,
  • the supporting frame 66 is also provided with a handle; the wire frame 68 is set as a circular frame structure, the cable 20 is coiled on the circular frame structure, and the supporting frame 66 is also provided with image capture Device, the image acquisition device is connected to the control unit 2 through the cable 20; the cable 20 is an elastic cable.
  • the support frame is provided with a frame wheel 67 under the support frame, and the frame wheel 67 is used for the convenient movement of the support frame in the pipeline;
  • the cable 20 of the hand-push crawling device is a flexible cable, which is realized by manual pushing.
  • the worker pulls the cable out of the wire rack 66, and uses the elastic cable to push the under-picture acquisition unit 1 into the pipeline or ventilation pipe, so as to achieve the purpose of smoothly collecting data in the pipeline by the image acquisition device; It can not only improve the purpose of real-time transmission of detection data to the control unit 2, but also reduce the purpose of workers who do not need to manually drag the heavy cable 20 forward when working in the pipeline.
  • the cable is specifically a glass fiber cable, and the glass fiber cable can not only meet the certain elasticity of the cable, but also improve the wear resistance of the outer sheath of the core during use, thereby increasing the service life of the cable.
  • control unit 2 has at least two control logics, one is the main control logic of the video recording board, and the other is the main control logic of the Windows/Android/iOS system.
  • the control unit 2 is mainly controlled by a single-chip microcomputer.
  • the single-chip microcomputer is preferably STM 8-3UARTS.
  • the single-chip microcomputers are connected to three signal paths, The signal paths are: voice recognition module, RS485 transceiver chip and DVR main control (DVR is Digital Video Recorder (DVR));
  • the voice recognition module is used to connect mic2 (microphone 2) and the speaker, mainly to recognize the control password shouted by the worker, the control password shouted by the worker is picked up by mic2 and transmitted to the voice recognition module, and then passed through the voice recognition module
  • the information of the control password is transmitted to the single-chip microcomputer mcu1, which is used to further identify and judge the control password, and output matching control commands to the RS485 transceiver chip;
  • the RS485 transceiver chip is used to transmit the control instructions of the single-chip microcomputer mcu1 to control the endoscope, periscope and crawler respectively to perform corresponding actions.
  • the endoscope, periscope and crawler are all set in all The crawling device;
  • the endoscope, periscope, and crawler are respectively provided with a charging indicator circuit, which is mainly displayed on the control unit 2 end through an LED light array.
  • a charging indicator circuit which is mainly displayed on the control unit 2 end through an LED light array.
  • the DVR master control includes instruction operations such as video recording, recording, and snapshot; the single-chip microcomputer mcu1 can directly send control instructions to the DVR master control, and the DVR master control can use the camera and mic1 in the pipeline according to the instructions of the single-chip microcomputer mcu1 Video, image or sound collection;
  • the mic2 collects voice instructions through the voice recognition module, and the output instructions are sent to the single-chip microcomputer mcu1, thereby realizing the use of voice instructions to replace most of the key input instructions, thereby achieving the purpose of intelligent voice control;
  • the single-chip microcomputer mcu1 is used for Receive keyboard input instructions and voice module instructions, and then control the camera, crawling device and DVR master control equipment, and control the voice module to emit; optionally, the voice module is superimposed by the character superimposing circuit after the voice is superimposed
  • the instructions are transmitted to the DVR main control, so as to achieve the purpose of voice control.
  • the main control logic of the video recording board also includes another implementation method, specifically: firstly, use mic1 to pick up the sound inside the pipeline, and then transmit the picked up sound to the DVR main control through the sound input circuit, and the DVR main control will then The picked-up sound in the pipeline is transmitted to the single-chip microcomputer mcu1; then, the single-chip microcomputer mcu2 is used to transmit the comparison video or image to the DVR master, and the DVR master transmits the video or image photos collected by the camera together with the comparison video or image to the MCU1 In this way, it is realized that the comparison video or image is compared with the collected video or image, thereby improving the efficiency of pipeline detection; and it is realized that the damaged part can be analyzed based on the video or image stored for multiple inspections, and the damaged part that is not necessary for maintenance can be analyzed.
  • the single-chip microcomputer mcu2 is also connected with a keyboard, and the purpose of operating the control instructions of the single-chip microcomputer mcu2 can be realized through the keyboard; the single-chip microcomputer mcu2 is superimposed by the character superimposing circuit and the video controlled by the DVR and then displayed by the screen driving module, thereby achieving Comparing the display of the video or image information and the collected video or image information, you can intuitively see the situation inside the pipeline.
  • the control unit 2 is mainly controlled by a single-chip microcomputer.
  • the single-chip microcomputer is preferably STM 8-3UARTS, and the single-chip microcomputers are connected to three signals respectively.
  • the three signal paths are: voice recognition module, RS485 transceiver chip and ARM (Advanced RISC Machine) master control; among them, in the Windows/Android/iOS system master control logic, the voice recognition module, RS485 transceiver chip and the The architecture of the main control logic of the video recording board is the same, the main difference is the ARM main control; the ARM main control is used to control the command control of the camera or recorder, specifically, the voice control command issued by the voice recognition module is uploaded to the mcu1 ARM master control, which reacts to various commands such as the ARM master control integrated buttons, remote control, and voice control, and sends instructions to MCU1; MCU1 controls voice control and controls the working status of cameras/crawlers and other equipment through the 485 bus; the arm The video or image information received by the main control is displayed on the LCD screen, and the arm main control is also provided with a keyboard for operating operations that cannot be completed by voice commands, such as powering on and off.
  • ARM Advanced RISC
  • the cable car 4 is also provided with an operating platform, and the operating platform is connected to the control unit 2 through a wire.
  • a plurality of buttons are provided on the operation console, and each button is used for a worker to manually operate the control unit 2 so as to realize the work control purpose of the crawling device or the image acquisition unit 1.
  • the control unit 2 further includes a control circuit, the control circuit includes: resistors R1, R2, R3, R4, R5, R6, R7, R8, R9, R10, R11, R12, R13, R14 , R15, R16, R17, capacitors C1, C2, C3, C4, C5, transistors V1, V2, V3, V4, V5, V6 and diode D1.
  • One end of the resistor R1 is the input end, and the input end is the control The signal input terminal of unit 2, the other end of the resistor R1 is connected to the resistor R2, the capacitor C2, and the base of the transistor V1; the collector of the transistor V1 is connected to the resistor R4 and the capacitor C3, and the emitter of the transistor V1
  • the resistors R5 and R7 are respectively connected; the other end of the resistor R2 is connected to the capacitor C1, the other end of the capacitor C1 is respectively connected to the resistor R4 and the resistor R6, and the other end of the resistor R6 is connected to the collector of the transistor V2; the transistor The base of V2 is connected to the capacitor C3, the emitter of the transistor V2 is connected to the resistor R8; the other end of the resistor R8 is connected to the resistor R7 and the collector of the transistor V3; the base of the transistor V3 is connected to the resistor R17 and ground, respectively, The reflector of the transistor V3 is connected to the resistor R11
  • the control circuit is used to provide a stable power supply to the control unit 2 to ensure that the control unit 2 can achieve low power consumption, high efficiency and stable operation during operation.
  • the resistor R1 is the input terminal, and the input terminal is connected to the power supply. After the power is turned on, the current passes through the transistors V2, V3, V4, and V6 to achieve the rectification and voltage stabilization of the current and voltage.
  • the resistor R16 is used to output the current and To achieve the purpose of controlling the power supply of the chip; further, there is also a blocking circuit, the blocking circuit through the transistor V5 and the diode D1 to achieve the current signal in the transmission process of the current signal will not appear excessive current and cause breakdown, greatly improving The breakdown of the control chip due to excessive instantaneous current during the working process greatly improves the working stability of the control chip.
  • both ends of the winding device 5 are rotatably connected to the cable car 4 through the first rotating shaft 22, the winding device 5 is configured as a cylindrical structure, and the winding device 5 and A disc-shaped block 24 is arranged between the first rotating shaft 22; a bearing 21 is arranged on the cable car 4, and the bearing 21 is used to rotatably connect the first rotating shaft 22, and the first rotating shaft 22 is far away
  • One end of the stop plate 24 is connected to a motor 57, and the motor 57 is used to drive the first rotating shaft 22 to rotate on the cable car 4 via the bearing 21; the stop plate 24 is provided with a limit position on the side close to the inner wall of the cable car 4
  • the groove 23 is provided with a limit ring 25 in the circumferential direction of the limit groove 23, and a limit device 28 is provided through the side of the cable car 4, and the limit device 28 and the limit ring 25 cooperate and limit the roll Rotation of the cable device 5; a limiting device opening 65 is provided on the side wall of the cable car 4, the center
  • the wire winding device 5 When in use, the wire winding device 5 is used to wind the cable 20, and the stop plate 24 is used to restrict the cable 20 from being located at the winding position of the wire winding device 5, and the wire winding device 5 passes through the first
  • the rotating shaft 22 is rotatably connected to the bearing 21 provided on the inner wall of the cable car 4; further, the motor 57 is used to drive the first rotating shaft 22, so that the first rotating shaft 22 rotates and the winding device 5 rotates;
  • the winding device 5 can achieve the purpose of unwinding;
  • the limiting device 28 is located on the side of the cable car 4, and the limiting device opening 65 provided on the side of the cable car 4 is used The limiting end of the limiting device 28 penetrates, and the limiting ring 25 provided on the outside of the winding device 5 is clamped, thereby achieving the purpose of fixing the position of the winding device 5.
  • the limiting device 28 facilitates the winding device 5 to be able to restrict the winding device 5 when not in use, reducing the rotation of the winding device 5 when not in use, causing the cable 20 to be unrestricted. ⁇ detach the reeling device 5.
  • the limiting device 28 includes a splint 26, a movable block 35, a fixed rod 41, and a connecting rod group.
  • One end of the connecting rod group is hinged to the movable block 35, and the other end is hinged to the fixed rod 41.
  • the clamping plate 26 is provided with a clamping head 29 at one end close to the limiting ring 25, the clamping head 29 and the clamping plate 26 are L-shaped, and the clamping head 29 is used to clamp or loosen the limiting ring 25;
  • the other end of the splint 26 is provided with a U-shaped frame 33, the U-shaped frame 33 is hinged with a runner 34;
  • the two splints 26 are connected by a spring 42, the spring 42 is located near the One end of the U-shaped frame 33;
  • a movable block 35 is provided between the runners 34 of the two splints 26, one end of the movable block 35 is connected to the connecting rod group, and the other end is provided with a movable shaft 43, the first
  • the connecting rod 31 is provided with a second shaft hole 32 for the movable shaft 43 to
  • the movable block 35 is provided with a guide surface near the outer side wall of one end of the movable shaft 43, and the inclination direction of the guide surface faces the The movable shaft 43; the movable block 35 is provided with a first movable groove 37 at one end away from the movable shaft 43, a third rotating shaft 36 is provided in the first movable groove 37, and the third rotating shaft 36 is rotatably connected with
  • the connecting rod group includes a second connecting rod 38, a third connecting rod 39, and a fourth connecting rod 40; the fourth connecting rod 40 is rotatably connected to the third shaft 36, and the fourth connecting rod
  • the other end of the connecting rod 40 is hinged to the second connecting rod 38, the end of the second connecting rod 38 away from the fourth connecting rod 40 is fixedly connected to one end of the third connecting rod 39, and the third connecting rod
  • the rod 39 penetrates the end of the fixed rod 41 away from the first connecting rod 31, and the third connecting rod 39 is rotatably connected to the through hole of the fixed rod 41
  • the third connecting rod 39 When in use, the third connecting rod 39 is rotated by the handle. When the third connecting rod 39 rotates on the fixed rod 41, the second connecting rod 38 is driven to rotate. After the second connecting rod 38 rotates, , Drive the fourth link 40; because one end of the fourth link 40 is rotatably arranged at one end of the movable block 35, the other end of the movable block 35 is connected to the first link through the movable shaft 43 31 reciprocating movement in the second shaft hole 32; when the movable block 35 passes through the fourth link 40 and moves around the end of the second link 38, the movable block 35 can pass through the The movable shaft 43 moves back and forth in the second shaft hole 32 to realize the reciprocating movement of the movable block 35.
  • a fifth shaft 56 is also connected between the motor 57 and the first shaft 22, the fifth shaft 56 is located on the outer side wall of the cable car 4, and the fifth shaft
  • a fourth gear 55 is provided on the circumference of the rotating shaft 56 to the outer wall.
  • the fourth gear 55 meshes with the third gear 54.
  • the third gear 54 and the fourth gear 55 are bevel gears; the third gear 54 is far away from the fourth gear.
  • One end of the gear 55 is provided with a second gear 52, the second gear 52 meshes with the first gear 51, and the first gear 51 is fixedly connected to the third connecting rod 39 through an adapter shaft; the third gear 54 and the second gear
  • the gear 52 is connected as a whole by a shaft, and the shaft is fixed on the outer side wall of the cable car 4 by a fixing frame 53.
  • the power of the fifth shaft 56 is converted to the power of the motor 57 through the fourth gear 55 and the third gear 54
  • the third gear 54 transmits the rotating force to the first gear 51 via the second gear 52 at the other end of the shaft.
  • the first gear 51 rotates, it can drive the The third connecting rod 39 rotates.
  • the limiting device 28 can be rotated, thereby driving the limiting device 28 to work, and finally the limiting device 28
  • the limit ring 25 serves the purpose of clamping or loosening. Therefore, the purpose of manually operating the limit device 28 is reduced.
  • the first shaft 22 is provided with a cross post 70 at one end close to the fifth shaft 56, and the cross groove 69 is used for the insertion of the cross post 70;
  • the fifth shaft 56 is provided with an extension A rod 71, one end of the extension rod 71 close to the first shaft 22 is provided with a matching cross groove 69;
  • the extension rod 71 and the outer wall of the first shaft 22 are also provided with a fixing sleeve 72, the The fixing sleeve 72 is used to fix the extension rod 71 and the first rotating shaft 22 into one body;
  • the peripheral outer wall of the extension rod 71 and the first rotating shaft 22 is provided with threads, and the inner wall of the fixing sleeve 72 is also A screw hole is provided, and the fixing sleeve 72, the extension rod 71, and the first rotating shaft 22 are fixed as a whole by threads.
  • the fixing sleeve 72 is unscrewed from the first rotating shaft 22 and the extension rod 71 to disengage the first rotating shaft 22 and the extension rod 71.
  • the limiting device 28 can be driven separately, so as to achieve the purpose of clamping the winding device 5 by the limiting device 28 in a static state.
  • the fifth shaft 56 and the extension rod 71 are provided with a telescopic structure, that is, the fifth shaft 56 is provided with a telescopic hole, the extension rod 71 is provided with a telescopic rod, and the telescopic rod
  • the hole expands and contracts, and the cross groove 69 of the extension rod 71 can limit the position of the cross post 70 of the first rotating shaft 22.
  • the fourth gear 55 is provided on the extension rod 71, and when the extension rod 71 is expanding or contracting, the meshing of the fourth gear 55 and the third gear 54 can be directly changed. This achieves the purpose of not driving the limiting device 28 at the same time when the fifth rotating shaft 56 drives the winding device 5; or, the side wall of the cable car 4 is provided with a chute, and the fixing
  • the frame 53 is provided with a sliding block, and the sliding block is movable in the chute.
  • the fixing frame 53 When the limiting device 28 is driven by the motor 57, the fixing frame 53 is slid toward the fifth rotating shaft 56 and causes the The fourth gear 55 and the third gear 54 mesh with each other; when the limit device 28 is not needed, the fixing frame 53 slides toward the motor 57, so that the third gear 54 is disengaged from the mesh of the fourth gear 55, It is no longer linked with the rotation of the fourth gear 55.
  • the cooling device includes a first cooling disk 46, a second cooling disk 50, and a sixth rotating shaft 60.
  • the sixth rotating shaft 60 is rotatably arranged inside the cable car 4 , And the sixth rotating shaft 60 is arranged below the control unit 2, and the axis of the sixth rotating shaft 60 and the axis of the winding device 5 are arranged in parallel; the sixth rotating shaft 60 and the first A fifth gear 58 is respectively provided on the outer wall of a rotating shaft 22, and the fifth gears 58 are connected by an annular chain 44; the sixth rotating shaft 60 is also provided with a U-shaped shaft 59, the U-shaped shaft 59
  • the fifth connecting rod 48 is connected to the upper rotation, the other end of the fifth connecting rod 48 is provided with a ball joint 61, the ball joint 61 is hinged on the upper surface of the first cooling plate 46, and the first cooling plate 46
  • the two ends of a cooling plate 46 are rotatably connected to the bottom of the cable car 4 through a fourth rotating
  • the first rotating shaft 22 When in use, when the winding device 5 is working, the first rotating shaft 22 must be rotated. When the first rotating shaft 22 rotates, it passes through the annular chain 44 and the first rotating shaft 22 to be circumferentially arranged on the outer wall
  • the fifth gear 58 is linked with the fifth gear 58 provided on the sixth rotating shaft 60, thereby driving the sixth rotating shaft 60 to rotate in the cable car 4; when the sixth rotating shaft 60 rotates, the first rotating shaft 60 rotates.
  • the U-shaped shaft 59 provided on the six rotating shaft 60 also rotates, and the fifth link 48 connected in the ring on the U-shaped shaft 59 rotates accordingly around the sixth rotating shaft 60; thereby driving the first A cooling plate 46 swings in the cable car 4 via the fourth rotating shaft 47; because the water inlet 62 and the water outlet 64 of the first cooling plate 46 are respectively connected to the first circulation opening and the first circulation opening of the second cooling plate 50 Two circulation openings.
  • the control unit 2 above the second cooling plate 50 When the control unit 2 above the second cooling plate 50 is working and generates heat, it is cooled by the second cooling plate 50, and the second cooling plate 50 is heated by the control unit 2 and passes through the first circulation
  • the opening flows into the water inlet 62 of the first cooling plate 46; then, after the first cooling plate 46 swings back and forth and the cooling water pipe 63 is cooled, the cooled water is then discharged through the water outlet 64 of the first cooling plate 46.
  • the micro water pump 49 is connected through the connecting water pipe 45. The micro water pump 49 pumps the cooled water into the second cooling plate 50.
  • the inner cavity of the second cooling plate 50 is cooled by the first cooling plate 46 to the control unit again.
  • the main heating components of the control unit 2 are derived from the control chip. When the control chip is working, it will run at a high speed. A large amount of heat will be generated during high-speed operation. Therefore, reducing the temperature of the control chip can ensure that the control chip can operate at normal operating temperature. Long-term work; otherwise continuous high temperature will cause the control chip to collapse or burn out.

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Abstract

本发明提供了一种智能语音控制管道及风管视频检测设备和机器人系统，包括：图像采集单元、控制单元、声控装置以及管道内爬行装置，所述管道内爬行装置包括电动爬行装置和手推爬行装置；所述图像采集装置是通过电动爬行装置或手推爬行装置一起进入管道或风管内，所述控制单元设有用于查看所述图像采集装置所传回的图像信息的显示屏，并实现对管道内部进行检测的目的；本发明中还设置有声控装置，通过这种具有语音激活控制功能的系统，人们可以通过非常容易地使用语音命令来操作系统，以最少的手动操作进行工作。这样的声控视频检测机器人系统使人们可以在没有他人帮助的情况下，更从容地独立完成一项相对复杂的检测任务。

Description

智能语音控制管道及风管视频检测设备和机器人系统 技术领域
本发明涉及管道/风管视频检测机器人技术领域，特别涉及一种智能语音控制管道及风管视频检测设备和机器人系统。
背景技术
目前，大型管道或风管在使用一段时间后，都应进行检修，目的是为了减少管道长期使用过程中小问题累积成大问题造成管道损坏的情况；而管道在检测过程中，均需要人工进入管道内进行探查，以减少管道因小问题造成后续使用时出现泄漏等情况的发生；人工进入管道内进行探查检测需要耗费大量的工人进入管道进行探查；同时还会造成工人在管道内的情况不可控时(例如上游误操作开闸的情况)，造成工人出现人身伤害的情况，因此急需一种能够替代工人进入管道内进行管道检测的系统。
发明内容
本发明提供一种智能语音控制管道及风管视频检测设备和机器人系统，用以实现管道/风管检测过程中提高工作效率，节省人力和便于操作的检测目的。
一种智能语音控制管道及风管视频检测设备和机器人系统，包括：图像采集单元、控制单元、声控装置和管道内爬行装置，所述图像采集单元设在所述管道内爬行装置上，所述管道内爬行装置和所述控制单元通过线缆连接；所述管道内爬行装置用于在管道内移动，并利用 图像采集单元将管道内图像进行采集后，通过线缆将采集的图像信息传输至所述控制单元；所述声控装置连接所述控制单元；所述管道内爬行装置包括电动爬行装置和手推爬行装置。
优选地，所述控制单元设在缆车上，所述缆车上设置有卷线装置，所述线缆连接控制单元的一端卷设在所述卷线装置上。
优选地，所述电动爬行装置包括：框架和滚轮；所述框架设为板状结构，所述框架的一端设有图像采集单元；所述框架的两侧间隔设有轴承，所述轴承连接有滚轮；所述框架远离所述图像采集单元的一端设有驱动装置，所述驱动装置连接所述框架两侧的滚轮轴，并用于驱动远离所述图像采集单元一端的两个滚轮在管道内移动。
优选地，所述声控装置包括拾音器和声音处理芯片，所述拾音器连接声音处理芯片，所述声音处理芯片连接控制单元的控制芯片。
优选地，所述缆车上设置有显示屏，所述显示屏连接所述控制单元，所述显示屏用于显示所述图像采集单元所采集的信息；所述图像采集单元设为云台摄像头，所述云台摄像头和所述框架之间通过云台架连接，所述云台架包括底座和旋转装置，所述旋转装置包括旋转控制器和旋转架，所述底座的底部连接所述框架的上表面，所述底座的上方连接旋转架和旋转控制器，所述旋转控制器用于驱动所述旋转架在所述底座上旋转；所述框架上还设有第一短波无线电台，所述旋转控制器、所述驱动装置均和所述第一短波无线电台电性连接；所述缆车上设有第二短波无线电台，所述第二短波无线电台通过导线连接所述控制单元；所述第一短波无线电台为发射端；所述第二短波无线电台为接收端。
优选地，所述手推爬行装置包括：卷线架和线缆；所述卷线架包括线架和支撑架，所述线架转动设在所述支撑架上，所述支撑架上还 设置有把手；所述线架设为圆形框架结构，所述线缆盘绕在所述圆形框架结构上，所述支撑架上还设有图像采集装置，所述图像采集装置通过所述线缆连接控制单元；所述线缆为弹力电缆。
优选地，所述缆车上还设置有操作台，所述操作台通过导线连接所述控制单元。
优选地，所述卷线装置的两端通过第一转轴转动连接在所述缆车上，所述卷线装置设为圆柱结构，且所述卷线装置和所述第一转轴之间设置有盘形结构的挡盘；所述缆车上设置有轴承，所述轴承用于转动连接所述第一转轴，所述第一转轴远离所述挡盘的一端连接电机，所述电机用于驱动所述第一转轴经轴承在缆车上转动；所述挡盘靠近所述缆车内壁的一侧设置有限位凹槽，所述限位凹槽的周向设有限位环，所述缆车的侧面贯穿设置有限位装置，所述限位装置和所述限位环配合并限制所述卷线装置的转动；所述缆车的侧壁上设置有贯穿的限位装置开孔，所述限位装置开孔的中心水平设置有第一连杆，所述第一连杆用于安装所述限位装置；
优选地，所述限位装置包括夹板、活动块、固定杆和连杆组，所述连杆组一端铰接所述活动块，另一端铰接在固定杆的一端，所述固定杆的另一端固定在所述第一连杆上；所述夹板通过第一固定板和第二转轴铰接在所述第一连杆的两侧；所述夹板靠近所述限位环的一端设置有夹头，所述夹头和所述夹板呈L状，所述夹头用于夹紧或松开所述限位环；所述夹板的另一端设置有U型架，所述U型架上铰接有转轮；两个所述夹板之间通过弹簧连接，所述弹簧设在靠近所述U型架的一端；两个所述夹板的转轮之间设置有活动块，所述活动块的一端连接连杆组，另一端设置有活动轴，所述第一连杆上设置有供所述活动轴来回活动的第二轴孔，所述活动块靠近所述活动轴一端外侧 壁设置有导向面，所述导向面的倾斜方向朝向所述活动轴；所述活动块远离所述活动轴的一端设置有第一活动槽，所述第一活动槽内设有第三转轴，所述第三转轴上转动连接有连杆组，所述连杆组包括第二连杆、第三连杆和第四连杆；所述第四连杆转动连接在所述第三转轴上，所述第四连杆的另一端和所述第二连杆铰接，所述第二连杆远离所述第四连杆的一端固定连接所述第三连杆的一端，所述第三连杆贯穿所述固定杆远离所述第一连杆的一端，且所述第三连杆转动连接在所述固定杆的贯穿孔上，所述第三连杆远离所述固定杆的一端设有把手；所述电机和所述第一转轴之间还连接有第五转轴，所述第五转轴位于所述缆车的外侧壁，且所述第五转轴的周向外壁设置有第四齿轮，所述第四齿轮啮合第三齿轮，所述第三齿轮和第四齿轮均为锥齿轮；所述第三齿轮远离第四齿轮的一端设有第二齿轮，所述第二齿轮啮合第一齿轮，所述第一齿轮通过转接轴固定连接第三连杆；所述第三齿轮和第二齿轮通过轴连接为一体，所述轴通过固定架固定在所述缆车的外侧壁上；所述第一转轴靠近所述第五转轴的一端设置有十字柱，所述十字槽用于所述十字柱插入；所述第五转轴设有延长杆，所述延长杆轴靠近所述第一转轴的一端设置有相匹配的十字槽；所述延长杆和所述第一转轴的外壁还设置有固定套，所述固定套用于将所述延长杆和所述第一转轴固定为一体；所述延长杆和所述第一转轴的周向外壁设置有螺纹，所述固定套的内壁也设置有螺孔，所述固定套和所述延长杆、所述第一转轴通过螺纹固定为一体。
优选地，还包括冷却装置，所述冷却装置包括第一冷却盘、第二冷却盘和第六转轴，所述第六转轴转动设在所述缆车的内部，且所述第六转轴设在所述控制单元的下方，所述第六转轴的轴心和所述卷线装置的轴心平行设置；所述第六转轴和所述第一转轴的周向外壁分别 设置有第五齿轮，所述第五齿轮之间通过环形链条链接；所述第六转轴上还设置有U型轴，所述U型轴上转动连接第五连杆，所述第五连杆的另一端设有球头铰接件，所述球头铰接件铰接在所述第一冷却盘的上表面，所述第一冷却盘的两端通过第四转轴转动连接在所述缆车内靠底部的位置；所述第二冷却盘设在所述缆车的上方，且所述第二冷却盘的上表面用于放置控制单元；所述第二冷却盘内设有冷却水管，所述冷却水管的两端分别为进水口和出水口，所述第二冷却盘内部设为空腔，所述第二冷却盘的底部间隔设有第一循环开口和第二循环开口，所述第一循环开口通过连接水管连接所述第一冷却盘的进水口，所述第二循环开口设置有微型水泵；所述微型水泵的一端连通第二循环开口，另一端经连接水管连通所述第一冷却盘的出水口。
本发明的工作原理和有益效果：
使用时，所述图像采集装置是通过所述管道内爬行装置一起进入管道或风管内，所述图像采集装置通过线缆将采集的信号传输至控制单元，所述控制单元设有用于查看所述图像采集装置所传回的图像信息的显示屏，通过显示屏可实现对管道内部情况进行直观的显示，并实现对管道内部进行检测的目的；当管道内爬行装置为手推爬行装置时，则通过工人手动将所述手推爬行装置推入管道或风管内，经人工操作对管道内进行视频、图像和音频信息的采集，从而实现对管道内部进行检测的目的，大大提高了目前人工进入管道内进行管道检查的施工效率；
当管道内爬行装置为电动爬行装置时，经所述控制单元对所述电动爬行装置进行控制，使其自动能够在管道内部进行爬行，并由此对管道内部进行视频、图像和音频信息的采集，从而实现对管道内部进行检测的目的；与所述手推爬行装置相比较，提高了工作效率，同时 还减少了人工进入管道因施工失误或操作失误造成工人在管道内出现人身伤害的情况；
另外，本发明中还设置有声控装置，工作人员有时需要在工地中同时操作多个设备，他们在现场还经常不得不用脏手操作控制台/平板电脑/电脑。因此，人们有时必须与其他人合作才能在现场完成一项检测工作，甚至有时是一件简单的工作。在这种情况下，开发一个更有效的，能够节省人力和更便于操作的视频检测机器人系统就显得非常重要。本发明将语音识别技术集成到视频检测机器人系统中。通过这种具有语音激活控制功能的系统，人们可以通过非常容易地使用语音命令来操作系统，以最少的手动操作进行工作。这样的声控视频检测机器人系统使人们可以在没有他人帮助的情况下，更从容地独立完成一项相对复杂的检测任务。
本发明的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明而了解。本发明的目的和其他优点可通过在所写的说明书、权利要求书、以及附图中所特别指出的结构来实现和获得。
下面通过附图和实施例，对本发明的技术方案做进一步的详细描述。
附图说明
附图用来提供对本发明的进一步理解，并且构成说明书的一部分，与本发明的实施例一起用于解释本发明，并不构成对本发明的限制。在附图中：
图1为本发明的结构示意图；
图2为本发明的缆车结构示意图；
图3为本发明的云台架结构示意图；
图4为本发明的控制电路结构示意图；
图5为本发明的控制单元逻辑图；
图6为本发明的控制单元另一种逻辑图；
图7为本发明的限位环连接结构示意图；
图8为本发明的限位装置结构示意图；
图9为本发明的限位装置连接结构示意图；
图10为本发明的第一齿轮和第二齿轮连接结构示意图；
图11为本发明的降温装置连接结构示意图；
图12为本发明的第一冷却盘结构示意图；
图13为本发明的冷却水管结构示意图；
图14为本发明的手推爬行装置的结构示意图；
图15为本发明的第一转轴和第五转轴连接结构示意图；
其中，1-图像采集单元，2-控制单元，3-管道内爬行装置，4-缆车，5-卷线装置，6-框架，7-滚轮，8-驱动装置，9-声控装置，10-拾音器，11-声音处理芯片，12-显示屏，13-底座，14-旋转控制器，15-旋转架，16-第一短波无线电台，17-第二短波无线电台，20-线缆，21-轴承，22-第一转轴，23-限位凹槽，24-挡盘，25-限位环，26-夹板，27-第二转轴，28-限位装置，29-夹头，30-第一固定板，31-第一连杆，32-第二轴孔，33-U型架，34-转轮，35-活动块，36-第三转轴，37-第一活动槽，38-第二连杆，39-第三连杆，40-第四连杆，41-固定杆，42-弹簧，43-活动轴，44-环形链条，45-连接水管，46-第一冷却盘，47-第四转轴，48-第五连杆，49-微型水泵，50-第二冷却盘，51-第一齿轮，52-第二齿轮，53-固定架，54-第三齿轮，55-第四齿轮，56-第五转轴，57-电机，58-第五齿轮，59-U型轴，60-第六转轴，61-球头 铰接件，62-进水口，63-冷却水管，64-出水口，65-限位装置开孔，66-支撑架，67-架轮，68-线架，69-十字槽，70-十字柱，71-延长杆，72-固定套。
具体实施方式
以下结合附图对本发明的优选实施例进行说明，应当理解，此处所描述的优选实施例仅用于说明和解释本发明，并不用于限定本发明。
根据图1-3所示，本发明实施例提供了一种智能语音控制管道及风管视频检测设备和机器人系统，包括：图像采集单元1、控制单元2、声控装置9和管道内爬行装置3，所述图像采集单元1设在所述管道内爬行装置3上，所述管道内爬行装置3和所述控制单元2通过线缆20连接；所述管道内爬行装置3用于在管道内移动，并利用图像采集单元1将管道内图像进行采集后，通过线缆20将采集的图像信息传输至所述控制单元2；所述声控装置9连接所述控制单元2；所述管道内爬行装置3包括电动爬行装置和手推爬行装置。
使用时，所述图像采集装置是通过所述管道内爬行装置一起进入管道或风管内，所述图像采集装置通过线缆将采集的信号传输至控制单元，所述控制单元设有用于查看所述图像采集装置所传回的图像信息的显示屏，通过显示屏可实现对管道内部情况进行直观的显示，并实现对管道内部进行检测的目的；当管道内爬行装置为手推爬行装置时，则通过工人手动将所述手推爬行装置推入管道或风管内，经人工操作对管道内进行视频、图像和音频信息的采集，从而实现对管道内部进行检测的目的，大大提高了目前人工进入管道内进行管道检查的施工效率；
当管道内爬行装置为电动爬行装置时，经所述控制单元对所述电动爬行装置进行控制，使其自动能够在管道内部进行爬行，并由此对 管道内部进行视频、图像和音频信息的采集，从而实现对管道内部进行检测的目的；与所述手推爬行装置相比较，提高了工作效率，同时还减少了人工进入管道因施工失误或操作失误造成工人在管道内出现人身伤害的情况；
另外，本发明中还设置有声控装置，工作人员有时需要在工地中同时操作多个设备，他们在现场还经常不得不用脏手操作控制台/平板电脑/电脑。因此，人们有时必须与其他人合作才能在现场完成一项检测工作，甚至有时是一件简单的工作。在这种情况下，开发一个更有效的，能够节省人力和更便于操作的视频检测机器人系统就显得非常重要。本发明将语音识别技术集成到视频检测机器人系统中。通过这种具有语音激活控制功能的系统，人们可以通过非常容易地使用语音命令来操作系统，以最少的手动操作进行工作。这样的声控视频检测机器人系统使人们可以在没有他人帮助的情况下，更从容地独立完成一项相对复杂的检测任务。
根据图1-3所示，所述控制单元2设在缆车4上，所述缆车4上设置有卷线装置5，所述线缆20连接控制单元2的一端卷设在所述卷线装置5上。
所述卷线装置5上还设有把手，所述把手连接所述卷线装置5的轴，且所述把手设在所述缆车4的外侧壁；当需要对所述卷线装置5进行线缆20收纳时，利用伸缩把手对所述卷线装置5进行旋转，即可实现所述线缆20的收纳；当所述爬行装置在管道内进行移动工作时，所述卷线装置5根据所述爬行装置的运动而在所述缆车4上进行旋转，并实现放线的目的。
根据图1所示，所述电动爬行装置包括：框架6和滚轮7；所述框架6设为板状结构，所述框架6的一端设有图像采集单元1；所述 框架6的两侧间隔设有轴承21，所述轴承21连接有滚轮7；所述框架6远离所述图像采集单元1的一端设有驱动装置8，所述驱动装置8连接所述框架6两侧的滚轮7轴，并用于驱动远离所述图像采集单元1一端的两个滚轮7在管道内移动。
使用时，所述驱动装置8用于驱动所述爬行装置在管道内进行移动，具体的，所述驱动装置8驱动所述滚轮7的滚轮7轴，所述滚轮7即可转动，所述滚轮7转动后，所述框架6即可在管道内移动，由此实现所述框架6上的图像采集单元1进行移动的目的，实现了图像采集单元1持续并且移动的在管道内进行检测的目的。所述电动爬行装置使用时是配合所述缆车4共同使用的，即，所述缆车4在管道外面根据电动爬行装置的运动实现收放线缆20；目的在于，减少所述电动爬行装置在运行过程中减少负重，提高电量使用时间，以及轻快的在管道内运行的目的。所述电动爬行装置中，图像采集单元所连接的线缆为软质线缆，优选为硅胶线缆。
根据图2所示，所述声控装置9包括拾音器10和声音处理芯片11，所述拾音器10连接声音处理芯片11，所述声音处理芯片11连接控制单元2的控制芯片。
所述拾音器10用于拾取声音，并将采集到的声音提供给声音处理芯片11，所述声音处理芯片11将声音进行模/数信号转化后，将数字声音信号传输给控制单元2，所述控制单元2根据数字声音信号实现对应的操作，例如，当工作人员利用声控装置9启动所述驱动装置8工作，首先对着所述拾音器10口述“启动爬行”，所述拾音器10将声音采集后，传输给声音处理芯片11，所述声音处理芯片11将处理后的声音信息传输给控制芯片，所述控制芯片再通过线缆20将控制信号传输至所述驱动装置8，所述驱动装置8即可启动，并实现所 述滚轮7的转动，由此实现所述爬行装置在管道内进行移动的目的。
根据图1所示，所述缆车4上设置有显示屏12，所述显示屏12连接所述控制单元2，所述显示屏12用于显示所述图像采集单元1所采集的信息；所述图像采集单元1设为云台摄像头，所述云台摄像头和所述框架6之间通过云台架连接，所述云台架包括底座13和旋转装置，所述旋转装置包括旋转控制器14和旋转架15，所述底座13的底部连接所述框架6的上表面，所述底座13的上方连接旋转架15和旋转控制器14，所述旋转控制器14用于驱动所述旋转架15在所述底座13上旋转；所述框架6上还设有第一短波无线电台16，所述旋转控制器14、所述驱动装置8均和所述第一短波无线电台16电性连接；所述缆车4上设有第二短波无线电台17，所述第二短波无线电台17通过导线连接所述控制单元2；所述第一短波无线电台16为发射端；所述第二短波无线电台17为接收端。
所述显示屏12可直观的显示管道内的情况，利于工作人员观察并记录管道的检测状态。所述第一短波无线电台16和所述第二短波无线电台17用于实现所述旋转控制器14、所述驱动装置8与所述控制单元2的连接，当所述线缆20中用于控制所述旋转控制器14或驱动装置8的线束出现故障后，还可利用所述第一短波无线电台16和第二短波无线电台17实现信号传输和控制的目的；所述旋转装置用于所述云台摄像头能够在管道内进行检测工作时进行旋转，实现多方位、多角度的对管道内进行图像或视频采集，由此提高检测质量，减少漏检情况的发生。
根据图14所示，所述手推爬行装置包括：卷线架和线缆20；所述卷线架包括线架68和支撑架66，所述线架68转动设在所述支撑架66上，所述支撑架66上方还设置有把手；所述线架68设为圆形 框架结构，所述线缆20盘绕在所述圆形框架结构上，所述支撑架66上还设有图像采集装置，所述图像采集装置通过所述线缆20连接控制单元2；所述线缆20为弹力电缆。
所述支撑架的下方设有架轮67，所述架轮67用于所述支撑架在管道内方便的移动；所述手推爬行装置的线缆20是具有弹性的电缆，利用人工推动实现将图像采集单元1送入管道或风管中。使用时，工人将电缆从线架66里拉出，并利用弹力电缆将图下采集单元1推送到管道或通风管内，从而实现所述图像采集装置能够顺利的在管道内进行数据采集的目的；既能提高检测数据实时传输给控制单元2的目的，还能减少工人在管道内工作时不需要人工拖着沉重的线缆20前行的目的。
所述线缆具体为玻璃纤维电缆，玻璃纤维电缆既能满足线缆有一定的弹性，还能提高线芯在使用过程中外包皮的耐磨度，从而提高线缆的使用寿命。
根据图5和图6所示，所述控制单元2至少有两种控制逻辑，一种为录像板主控逻辑，另一种为Windows/Android/iOS系统主控逻辑。
根据图5所示，为录像板主控逻辑的框架6图，所述控制单元2主要通过单片机实现控制，所述单片机优选为STM 8-3UARTS，所述单片机分别连接三个信号通路，三个信号通路分别为：语音识别模块、RS485收发芯片和DVR主控(DVR为数字录像机(Digital Video Recorder，简称DVR)；
所述语音识别模块用于连接mic2(麦克风2)和扬声器，主要是识别工人喊出的控制口令，将工人喊出的控制口令利用mic2拾取后传输给语音识别模块，再经所述语音识别模块将控制口令的信息传输给单片机mcu1，所述单片机mcu1用于对控制口令进行进一步的识 别和判断，并输出相匹配的控制指令给RS485收发芯片；
所述RS485收发芯片用于传输所述单片机mcu1的控制指令分别对内窥镜、潜望镜和爬行器进行控制，使其进行对应的动作执行，所述内窥镜、潜望镜和爬行器均设置在所述爬行装置上；
同时，所述内窥镜、潜望镜和爬行器还分别设置有充电指示电路，主要是通过LED灯阵列显示在控制单元2端，当所述内窥镜、潜望镜和爬行器出现电量不足的情况时，通过LED灯的显示就能看出电量情况，并根据电量情况进行充电选择；
所述DVR主控包括录像、录音和抓拍等指令操作；所述单片机mcu1可直接发送控制指令给所述DVR主控，所述DVR主控根据单片机mcu1的指令在管道内可利用摄像头、mic1进行视频、图像或声音的采集；
所述mic2经语音识别模块进行语音指令的采集，输出的指令送达单片机mcu1，由此实现了利用语音指令替代大部分按键输入指令的情况，从而实现了智能语音控制的目的；单片机mcu1用于接收键盘输入的指令和语音模块指令，之后控制摄像头、爬行装置和DVR主控等设备，并控制语音模组发声；可选的，所述语音模组发声后经字符叠加电路进行叠加后将语音指令传输给DVR主控，从而实现语音控制的目的。
录像板主控逻辑还包括另一种实施方式，具体为：首先是利用mic1对管道内部进行声音拾取，接着经过声音输入电路将拾取到的声音传输给DVR主控，所述DVR主控再将拾取到的管道内的声音传输给单片机mcu1；接着，利用单片机mcu2将对比视频或图像传输给DVR主控，所述DVR主控将摄像头采集的视频或图像照片连同对比视频或图像共同传输给mcu1，由此实现利用对比视频或图像与采 集的视频或图像进行对比，从而提高管道检测效率；并且实现能够根据多次检测存储的视频或图像对损坏部位进行分析，对非必要维修的损坏部位起到长期监控的目的，并根据其长期监控的变化情况对其采取维修或非维修的选择，大大提高了管道检测和维修的施工效率；同时，还可以实现管道检测和维修的非专业人员对其进行系统操作，以及信息采集后，反馈给专业人员的目的；由此，可以减少当专业人员较少而检测管道较多时，专业人员不足造成检测时间延长的情况。
所述单片机mcu2还连接有键盘，可以通过键盘实现对单片机mcu2的控制指令进行操作的目的；所述单片机mcu2经字符叠加电路与DVR主控的视频进行叠加之后通过屏驱动模块进行显示，从而实现对比视频或图像信息和采集的视频或图像信息的显示，直观的可以看到管道内部的情况。
根据图6所示，为Windows/Android/iOS系统主控逻辑的框架6图，所述控制单元2主要通过单片机实现控制，所述单片机优选为STM 8-3UARTS，所述单片机分别连接三个信号通路，三个信号通路分别为：语音识别模块、RS485收发芯片和ARM(Advanced RISC Machine)主控；其中，所述Windows/Android/iOS系统主控逻辑中，语音识别模块、RS485收发芯片和所述录像板主控逻辑的架构一致，主要区别在于所述ARM主控；所述ARM主控用于控制摄像头或录音器的指令控制，具体为，语音识别模块发出的声音控制指令经mcu1上传至ARM主控，由ARM主控综合按键、遥控器、声控等各种指令做出反应，并发指令给MCU1；MCU1控制声控发声与通过485总线控制摄像头/爬行器等设备的工作状态；所述arm主控所接收到的视频或图像信息经lcd屏进行显示，以及所述arm主控同样设置有键盘，用于操作语音指令不能完成的操作，例如开机关机等操作。
根据图1和图2所示，所述缆车4上还设置有操作台，所述操作台通过导线连接所述控制单元2。所述操作台上设有多个按钮，各所述按钮用于工作人员对所述控制单元2进行手动操作，由此实现爬行装置或图像采集单元1的工作控制目的。根据图4所示，所述控制单元2还包括控制电路，所述控制电路包括：电阻R1、R2、R3、R4、R5、R6、R7、R8、R9、R10、R11、R12、R13、R14、R15、R16、R17、电容C1、C2、C3、C4、C5、三极管V1、V2、V3、V4、V5、V6和二极管D1，所述电阻R1的一端为输入端，所述输入端为控制单元2的信号输入端，所述电阻R1的另一端分别连接电阻R2、电容C2和三极管V1的基极；所述三极管V1的集电极分别连接电阻R4和电容C3，所述三极管V1的发射极分别连接电阻R5、R7；所述电阻R2的另一端连接电容C1，所述电容C1的另一端分别连接电阻R4和电阻R6，所述电阻R6的另一端连接三极管V2的集电极；所述三极管V2的基极连接电容C3，所述三极管V2的发射极连接电阻R8；所述电阻R8的另一端连接电阻R7和三极管V3的集电极；所述三极管V3的基极分别连接电阻R17和接地，所述三极管V3的反射极连接电阻R11和三极管V6的基极；所述电阻R7的另一端分别连接电阻R3、R5，所述电阻R3的另一端连接电容C2；所述电阻R11的另一端连接电阻R10，所述电阻R10的另一端分别连接电阻R9和三极管V4的基极；所述电阻R9的另一端分别连接三极管V2的集电极和三极管V4的集电极，所述三极管V4的发射极分别连接电容C4和三极管V5的基极；所述电容C4的另一端连接三极管V6的集电极，所述三极管V6的发射极分别接地和连接电容C5，所述电容C5的另一端连接电阻R13，所述电阻R13的另一端连接三极管V5的发射极，所述三极管V5的集电极连接电阻R12，所述电阻R12的另一端分别连接三极管V4的 集电极和电阻R14之间；所述电阻R14的另一端连接二极管D1的阴极，所述二极管D1的阳极分别连接电阻R16和电阻R15，所述电阻R16的另一端为输出端。
所述控制电路用于给所述控制单元2提供一个稳定的电源，保证所述控制单元2在进行工作时能够实现低功耗、高效稳定的工作。具体的，所述电阻R1为输入端，输入端连接电源，接通电源后，电流通过三极管V2、V3、V4、V6实现电流和电压的整流稳压目的，最后利用电阻R16将电流进行输出并实现控制芯片供电工作的目的；进一步的，还设有截流电路，所述截流电路通过三极管V5和二极管D1实现了电流信号在传输过程中不会出现电流过大出现击穿的情况，大大提高了所述控制芯片在工作过程中因瞬间电流过大造成击穿的情况，大大提高了所述控制芯片的工作稳定性。
根据图7-9所示，所述卷线装置5的两端通过第一转轴22转动连接在所述缆车4上，所述卷线装置5设为圆柱结构，且所述卷线装置5和所述第一转轴22之间设置有盘形结构的挡盘24；所述缆车4上设置有轴承21，所述轴承21用于转动连接所述第一转轴22，所述第一转轴22远离所述挡盘24的一端连接电机57，所述电机57用于驱动所述第一转轴22经轴承21在缆车4上转动；所述挡盘24靠近所述缆车4内壁的一侧设置有限位凹槽23，所述限位凹槽23的周向设有限位环25，所述缆车4的侧面贯穿设置有限位装置28，所述限位装置28和所述限位环25配合并限制所述卷线装置5的转动；所述缆车4的侧壁上设置有贯穿的限位装置开孔65，所述限位装置开孔65的中心水平设置有第一连杆31，所述第一连杆31用于安装所述限位装置28。
使用时，所述卷线装置5用于卷设线缆20，所述挡盘24用于限 制所述线缆20位于所述卷线装置5的盘绕位置，所述卷线装置5通过第一转轴22转动连接在缆车4内壁设置的轴承21上；进一步的，利用电机57驱动所述第一转轴22，使得所述第一转轴22转动，并使得所述卷线装置5转动；由此使得所述电动爬行装置在管道内进行运动时，所述卷线装置5能够实现放线目的；所述限位装置28位于缆车4的侧面，所述缆车4侧面设置的限位装置开孔65用于所述限位装置28的限位端贯穿，并对所述卷线装置5外侧设置的限位环25进行卡紧，并由此实现对所述卷线装置5位置固定的目的。所述限位装置28利于所述卷线装置5在不使用的时候能够将所述卷线装置5进行限位，减少所述卷线装置5在不使用的时候出现转动造成线缆20无限制的脱开所述卷线装置5。
根据图7-10所示，所述限位装置28包括夹板26、活动块35、固定杆41和连杆组，所述连杆组一端铰接所述活动块35，另一端铰接在固定杆41的一端，所述固定杆41的另一端固定在所述第一连杆31上；所述夹板26通过第一固定板30和第二转轴27铰接在所述第一连杆31的两侧；所述夹板26靠近所述限位环25的一端设置有夹头29，所述夹头29和所述夹板26呈L状，所述夹头29用于夹紧或松开所述限位环25；所述夹板26的另一端设置有U型架33，所述U型架33上铰接有转轮34；两个所述夹板26之间通过弹簧42连接，所述弹簧42设在靠近所述U型架33的一端；两个所述夹板26的转轮34之间设置有活动块35，所述活动块35的一端连接连杆组，另一端设置有活动轴43，所述第一连杆31上设置有供所述活动轴43来回活动的第二轴孔32，所述活动块35靠近所述活动轴43一端外侧壁设置有导向面，所述导向面的倾斜方向朝向所述活动轴43；所述活动块35远离所述活动轴43的一端设置有第一活动槽37，所述 第一活动槽37内设有第三转轴36，所述第三转轴36上转动连接有连杆组，所述连杆组包括第二连杆38、第三连杆39和第四连杆40；所述第四连杆40转动连接在所述第三转轴36上，所述第四连杆40的另一端和所述第二连杆38铰接，所述第二连杆38远离所述第四连杆40的一端固定连接所述第三连杆39的一端，所述第三连杆39贯穿所述固定杆41远离所述第一连杆31的一端，且所述第三连杆39转动连接在所述固定杆41的贯穿孔上，所述第三连杆39远离所述固定杆41的一端设有把手。
使用时，通过把手旋转所述第三连杆39，所述第三连杆39在所述固定杆41上转动时，带动所述第二连杆38转动，所述第二连杆38转动后，带动所述第四连杆40；由于所述第四连杆40的一端是转动设在所述活动块35一端，所述活动块35的另一端通过活动轴43在所述第一连杆31上设置的第二轴孔32内往复运动；所述活动块35在经过所述第四连杆40绕着所述第二连杆38端部进行联动时，所述活动块35能够经所述活动轴43在所述第二轴孔32来回活动，从而实现所述活动块35往复运动，所述活动块35往复运动的过程中，由于所述夹板26靠近所述活动块35的一端设有转轮34，所述转轮34就在所述活动块35的外侧壁滚动，且所述夹板26靠近活动块35的一端还通过弹簧42连接，所述弹簧42在不夹紧的情况下是压缩状态；当所述活动块35由所述连杆组联动并向所述夹板26方向运动是，所述弹簧42经所述活动块35的运动而拉开，所述夹板26远离活动块35的一端经所述第一固定板30和所述第二转轴27的转动连接夹紧，从而使得所述夹板26端部是夹头29将限位环25进行夹紧，从而实现所述卷线装置5的固定，介绍所述卷线装置5在不使用的时候不会出现转动的情况，实现所述线缆20能够根据需要进行收放的目 的。
根据图10和图15所示，所述电机57和所述第一转轴22之间还连接有第五转轴56，所述第五转轴56位于所述缆车4的外侧壁，且所述第五转轴56的周向外壁设置有第四齿轮55，所述第四齿轮55啮合第三齿轮54，所述第三齿轮54和第四齿轮55均为锥齿轮；所述第三齿轮54远离第四齿轮55的一端设有第二齿轮52，所述第二齿轮52啮合第一齿轮51，所述第一齿轮51通过转接轴固定连接第三连杆39；所述第三齿轮54和第二齿轮52通过轴连接为一体，所述轴通过固定架53固定在所述缆车4的外侧壁上。
使用时，当所述第一转轴22和第五转轴56不连接的时候，所述第五转轴56的动力通过所述第四齿轮55、第三齿轮54将所述电机57的动力转换至所述第三齿轮54的轴上，所述第三齿轮54再将转动力经所述轴另一端的第二齿轮52传输给第一齿轮51，所述第一齿轮51转动后，就能够驱动所述第三连杆39转动，所述第三连杆39转动后就能够使得所述限位装置28实现转动，并由此驱动所述限位装置28工作，最后经所述限位装置28对所述限位环25进行夹紧或松开的目的。由此减少人工操作限位装置28的目的。
根据图15所示，所述第一转轴22靠近所述第五转轴56的一端设置有十字柱70，所述十字槽69用于所述十字柱70插入；所述第五转轴56设有延长杆71，所述延长杆71轴靠近所述第一转轴22的一端设置有相匹配的十字槽69；所述延长杆71和所述第一转轴22的外壁还设置有固定套72，所述固定套72用于将所述延长杆71和所述第一转轴22固定为一体；所述延长杆71和所述第一转轴22的周向外壁设置有螺纹，所述固定套72的内壁也设置有螺孔，所述固定套72和所述延长杆71、所述第一转轴22通过螺纹固定为一体。
当对所述卷线装置5进行驱动时，使用时，首先将所述第一转轴22上的十字柱70插入所述延长杆71的十字槽69内，再用所述固定套72将所述延长杆71和所述第一转轴22进行紧固，从而实现所述第一转轴22和所述第五转轴56的固定，由此即可实现所述卷线装置5利用电机57驱动转动的目的；
当不需要对卷线装置5进行驱动时，将所述固定套72从所述第一转轴22和所述延长杆71上拧开，使第一转轴22和延长杆71脱开，此时，所述电机57在工作时，就能够对所述限位装置28进行单独驱动，从而实现静止状态下所述卷线装置5经限位装置28进行卡紧的目的。
所述第五转轴56和所述延长杆71之间设为伸缩结构，即，所述第五转轴56内设有伸缩孔，所述延长杆71上设有伸缩杆，所述伸缩杆根据伸缩孔进行伸缩，并实现所述延长杆71的十字槽69能够将所述第一转轴22的十字柱70进行限位的目的。
在另一个实施例中，所述第四齿轮55设在所述延长杆71上，当所述延长杆71在进行伸缩时，可直接改变所述第四齿轮55和第三齿轮54的啮合，由此实现所述第五转轴56在给所述卷线装置5驱动时，不会同时驱动限位装置28工作的目的；或者，所述缆车4的侧壁上设置有滑槽，所述固定架53上设有滑块，所述滑块在所述滑槽内活动，当利用电机57驱动限位装置28时，则使固定架53朝向所述第五转轴56方向滑动，并使得所述第四齿轮55和第三齿轮54相互啮合；当不需要使用限位装置28的时候，所述固定架53朝向所述电机57方向滑动，使得第三齿轮54脱开第四齿轮55的啮合，使其不再经过第四齿轮55转动而联动。
根据图11-13所示，还包括冷却装置，所述冷却装置包括第一冷 却盘46、第二冷却盘50和第六转轴60，所述第六转轴60转动设在所述缆车4的内部，且所述第六转轴60设在所述控制单元2的下方，所述第六转轴60的轴心和所述卷线装置5的轴心平行设置；所述第六转轴60和所述第一转轴22的周向外壁分别设置有第五齿轮58，所述第五齿轮58之间通过环形链条44链接；所述第六转轴60上还设置有U型轴59，所述U型轴59上转动连接第五连杆48，所述第五连杆48的另一端设有球头铰接件61，所述球头铰接件61铰接在所述第一冷却盘46的上表面，所述第一冷却盘46的两端通过第四转轴47转动连接在所述缆车4内靠底部的位置；所述第二冷却盘50设在所述缆车4的上方，且所述第二冷却盘50的上表面用于放置控制单元2；所述第二冷却盘50内设有冷却水管63，所述冷却水管63的两端分别为进水口62和出水口64，所述第二冷却盘50内部设为空腔，所述第二冷却盘50的底部间隔设有第一循环开口和第二循环开口，所述第一循环开口通过连接水管45连接所述第一冷却盘46的进水口62，所述第二循环开口设置有微型水泵49；所述微型水泵49的一端连通第二循环开口，另一端经连接水管45连通所述第一冷却盘46的出水口64。
使用时，当所述卷线装置5工作时，所述第一转轴22必然是转动的，当第一转轴22转动后，经过所述环形链条44和所述第一转轴22周向外壁设置的第五齿轮58和所述第六转轴60上设置的第五齿轮58联动，从而带动所述第六转轴60在所述缆车4内进行转动；当所述第六转轴60转动后，所述第六转轴60上设置的U型轴59也随之转动，所述U型轴59上环形连接的第五连杆48则绕着所述第六转轴60而随之转动；由此带动所述第一冷却盘46经第四转轴47在所述缆车4内摆动；由于所述第一冷却盘46的进水口62和出水口 64分别连接了所述第二冷却盘50的第一循环开口和第二循环开口，当所述第二冷却盘50上方的控制单元2工作出现发热情况时，经过所述第二冷却盘50进行冷却，第二冷却盘50的被控制单元2加热并经第一循环开口流入所述第一冷却盘46的进水口62；接着，第一冷却盘46经来回摆动以及所述冷却水管63的冷却后，再经第一冷却盘46的出水口64将冷却后的水通过连接水管45连接微型水泵49，所述微型水泵49将冷却后的水泵入第二冷却盘50内，所述第二冷却盘50的内腔经第一冷却盘46冷却的水再次对控制单元2进行散热，从而减少控制单元2因温度过高造成设备损坏或寿命减少的情况。所述控制单元2主要发热器件来源于控制芯片，当控制芯片工作时会高速运转，高速运转过程中会产生大量热能，因此降低控制芯片的温度，可以保证控制芯片能够在正常的工作温度下进行长效工作；否则持续高温会导致控制芯片崩溃或烧坏的情况。
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，如将智能语音控制技术应用于普通管道和风管检测设备或管道和风管检测及维修机器人设备，以及其他相关技术领域，则本发明也意图包含这些改动和变型在内。

Claims (10)

  1. 一种智能语音控制管道及风管视频检测设备和机器人系统，其特征在于，包括：图像采集单元(1)、控制单元(2)、声控装置(9)和管道内爬行装置(3)，所述图像采集单元(1)设在所述管道内爬行装置(3)上，所述管道内爬行装置(3)和所述控制单元(2)通过线缆(20)连接；所述管道内爬行装置(3)用于在管道内移动，并利用图像采集单元(1)将管道内图像进行采集后，通过线缆(20)将采集的图像信息传输至所述控制单元(2)；所述声控装置(9)连接所述控制单元(2)；所述管道内爬行装置(3)包括电动爬行装置和手推爬行装置。
  2. 如权利要求1所述的一种智能语音控制管道及风管视频检测设备和机器人系统，其特征在于，所述控制单元(2)设在缆车(4)上，所述缆车(4)上设置有卷线装置(5)，所述线缆(20)连接控制单元(2)的一端卷设在所述卷线装置(5)上。
  3. 如权利要求1所述的一种智能语音控制管道及风管视频检测设备和机器人系统，其特征在于，所述电动爬行装置包括：框架(6)和滚轮(7)；所述框架(6)设为板状结构，所述框架(6)的一端设有图像采集单元(1)；所述框架(6)的两侧间隔设有轴承(21)，所述轴承(21)连接有滚轮(7)；所述框架(6)远离所述图像采集单元(1)的一端设有驱动装置(8)，所述驱动装置(8)连接所述框架(6)两侧的滚轮(7)轴，并用于驱动远离所述图像采集单元(1)一端的两个滚轮(7)在管道内移动。
  4. 如权利要求1所述的一种智能语音控制管道及风管视频检测设备和机器人系统，其特征在于，所述声控装置(9)包括拾音器(10)和声音处理芯片(11)，所述拾音器(10)连接声音处理芯片(11)， 所述声音处理芯片(11)连接控制单元(2)的控制芯片。
  5. 如权利要求3所述的一种智能语音控制管道及风管视频检测设备和机器人系统，其特征在于，所述缆车(4)上设置有显示屏(12)，所述显示屏(12)连接所述控制单元(2)，所述显示屏(12)用于显示所述图像采集单元(1)所采集的信息；所述图像采集单元(1)设为云台摄像头，所述云台摄像头和所述框架(6)之间通过云台架连接，所述云台架包括底座(13)和旋转装置，所述旋转装置包括旋转控制器(14)和旋转架(15)，所述底座(13)的底部连接所述框架(6)的上表面，所述底座(13)的上方连接旋转架(15)和旋转控制器(14)，所述旋转控制器(14)用于驱动所述旋转架(15)在所述底座(13)上旋转；所述框架(6)上还设有第一短波无线电台(16)，所述旋转控制器(14)、所述驱动装置(8)均和所述第一短波无线电台(16)电性连接；所述缆车(4)上设有第二短波无线电台(17)，所述第二短波无线电台(17)通过导线连接所述控制单元(2)；所述第一短波无线电台(16)为发射端；所述第二短波无线电台(17)为接收端。
  6. 如权利要求1所述的一种智能语音控制管道及风管视频检测设备和机器人，其特征在于，所述手推爬行装置包括：卷线架(68)和线缆(20)；所述卷线架(68)包括线架(68)和支撑架(66)，所述线架(68)转动设在所述支撑架(66)上，所述支撑架(66)上方还设置有把手；所述线架(68)设为圆形框架(6)结构，所述线缆(20)盘绕在所述圆形框架(6)结构上，所述支撑架(66)上还设有图像采集装置，所述图像采集装置通过所述线缆(20)连接控制单元(2)；所述线缆(20)为弹力电缆。
  7. 如权利要求2所述的一种智能语音控制管道及风管视频检测 设备和机器人系统，其特征在于，所述缆车(4)上还设置有操作台，所述操作台通过导线连接所述控制单元(2)。
  8. 如权利要求2所述的一种智能语音控制管道及风管视频检测设备和机器人系统，其特征在于，所述卷线装置(5)的两端通过第一转轴(22)转动连接在所述缆车(4)上，所述卷线装置(5)设为圆柱结构，且所述卷线装置(5)和所述第一转轴(22)之间设置有盘形结构的挡盘(24)；所述缆车(4)上设置有轴承(21)，所述轴承(21)用于转动连接所述第一转轴(22)，所述第一转轴(22)远离所述挡盘(24)的一端连接电机(57)，所述电机(57)用于驱动所述第一转轴(22)经轴承(21)在缆车(4)上转动；所述挡盘(24)靠近所述缆车(4)内壁的一侧设置有限位凹槽(23)，所述限位凹槽(23)的周向设有限位环(25)，所述缆车(4)的侧面贯穿设置有限位装置(28)，所述限位装置(28)和所述限位环(25)配合并限制所述卷线装置(5)的转动；所述缆车(4)的侧壁上设置有贯穿的限位装置开孔(65)，所述限位装置开孔(65)的中心水平设置有第一连杆(31)，所述第一连杆(31)用于安装所述限位装置(28)。
  9. 如权利要求8所述的一种智能语音控制管道及风管视频检测设备和机器人系统，其特征在于，所述限位装置(28)包括夹板(26)、活动块(35)、固定杆(41)和连杆组，所述连杆组一端铰接所述活动块(35)，另一端铰接在固定杆(41)的一端，所述固定杆(41)的另一端固定在所述第一连杆(31)上；所述夹板(26)通过第一固定板(30)和第二转轴(27)铰接在所述第一连杆(31)的两侧；所述夹板(26)靠近所述限位环(25)的一端设置有夹头(29)，所述夹头(29)和所述夹板(26)呈L状，所述夹头(29)用于夹紧或松开所述限位环(25)；所述夹板(26)的另一端设置有U型架(33)， 所述U型架(33)上铰接有转轮(34)；两个所述夹板(26)之间通过弹簧(42)连接，所述弹簧(42)设在靠近所述U型架(33)的一端；两个所述夹板(26)的转轮(34)之间设置有活动块(35)，所述活动块(35)的一端连接连杆组，另一端设置有活动轴(43)，所述第一连杆(31)上设置有供所述活动轴(43)来回活动的第二轴孔(32)，所述活动块(35)靠近所述活动轴(43)一端外侧壁设置有导向面，所述导向面的倾斜方向朝向所述活动轴(43)；所述活动块(35)远离所述活动轴(43)的一端设置有第一活动槽(37)，所述第一活动槽(37)内设有第三转轴(36)，所述第三转轴(36)上转动连接有连杆组，所述连杆组包括第二连杆(38)、第三连杆(39)和第四连杆(40)；所述第四连杆(40)转动连接在所述第三转轴(36)上，所述第四连杆(40)的另一端和所述第二连杆(38)铰接，所述第二连杆(38)远离所述第四连杆(40)的一端固定连接所述第三连杆(39)的一端，所述第三连杆(39)贯穿所述固定杆(41)远离所述第一连杆(31)的一端，且所述第三连杆(39)转动连接在所述固定杆(41)的贯穿孔上，所述第三连杆(39)远离所述固定杆(41)的一端设有把手；所述电机(57)和所述第一转轴(22)之间还连接有第五转轴(56)，所述第五转轴(56)位于所述缆车(4)的外侧壁，且所述第五转轴(56)的周向外壁设置有第四齿轮(55)，所述第四齿轮(55)啮合第三齿轮(54)，所述第三齿轮(54)和第四齿轮(55)均为锥齿轮；所述第三齿轮(54)远离第四齿轮(55)的一端设有第二齿轮(52)，所述第二齿轮(52)啮合第一齿轮(51)，所述第一齿轮(51)通过转接轴固定连接第三连杆(39)；所述第三齿轮(54)和第二齿轮(52)通过轴连接为一体，所述轴通过固定架(53)固定在所述缆车(4)的外侧壁上；所述第一转轴(22)靠近所述第五转 轴(56)的一端设置有十字柱(70)，所述十字槽(69)用于所述十字柱(70)插入；所述第五转轴(56)设有延长杆(71)，所述延长杆(71)轴靠近所述第一转轴(22)的一端设置有相匹配的十字槽(69)；所述延长杆(71)和所述第一转轴(22)的外壁还设置有固定套(72)，所述固定套(72)用于将所述延长杆(71)和所述第一转轴(22)固定为一体；所述延长杆(71)和所述第一转轴(22)的周向外壁设置有螺纹，所述固定套(72)的内壁也设置有螺孔，所述固定套(72)和所述延长杆(71)、所述第一转轴(22)通过螺纹固定为一体。
  10. 如权利要求2所述的一种智能语音控制管道及风管视频检测设备和机器人系统，其特征在于，还包括冷却装置，所述冷却装置包括第一冷却盘(46)、第二冷却盘(50)和第六转轴(60)，所述第六转轴(60)转动设在所述缆车(4)的内部，且所述第六转轴(60)设在所述控制单元(2)的下方，所述第六转轴(60)的轴心和所述卷线装置(5)的轴心平行设置；所述第六转轴(60)和所述第一转轴(22)的周向外壁分别设置有第五齿轮(58)，所述第五齿轮(58)之间通过环形链条(44)链接；所述第六转轴(60)上还设置有U型轴(59)，所述U型轴(59)上转动连接第五连杆(48)，所述第五连杆(48)的另一端设有球头铰接件(61)，所述球头铰接件(61)铰接在所述第一冷却盘(46)的上表面，所述第一冷却盘(46)的两端通过第四转轴(47)转动连接在所述缆车(4)内靠底部的位置；所述第二冷却盘(50)设在所述缆车(4)的上方，且所述第二冷却盘(50)的上表面用于放置控制单元(2)；所述第二冷却盘(50)内设有冷却水管(63)，所述冷却水管(63)的两端分别为进水口(62)和出水口(64)，所述第二冷却盘(50)内部设为空腔，所述第二冷却盘(50)的底部间隔设有第一循环开口和第二循环开口，所述第一 循环开口通过连接水管(45)连接所述第一冷却盘(46)的进水口(62)，所述第二循环开口设置有微型水泵(49)；所述微型水泵(49)的一端连通第二循环开口，另一端经连接水管(45)连通所述第一冷却盘(46)的出水口(64)。
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