Underground drainage pipe network automatic detection robot

Abstract

The invention discloses an underground drainage pipe network automatic detection robot, which comprises a vehicle body, a telescopic arm, a camera system, a sonar system and a walking component; one end of the telescopic arm is connected to the vehicle body; the other end of the telescopic arm is provided with the camera system; the sonar system is arranged on the vehicle body; a sound wave emitting direction of a sonar probe of the sonar system is consistent with the water flowing direction in an underground drainage pipe network, and the camera system and the sonar system are connected with a display device outside the underground drainage pipe network. Pipeline detection is conducted through video detection and sonar detection, the camera system detects a water-free or low-water-level area, the sonar system detects a high-water-level area, the detection process is easy to operate, preparation work conducted on the pipeline before detection is reduced, the detection efficiency is improved, and internal defects of the pipeline can be effectively detected; and operators are prevented from operating in the pipeline, the personal safety of the operators is protected, the working efficiency is improved, the robot is suitable for water-free and water pipelines, and pipeline detection operation in various environments can be achieved.

Description

technical field [0001] The invention relates to an automatic detection robot for an underground drainage pipe network. Background technique [0002] Urban water supply and drainage pipelines are an important part of urban municipal facilities, and at the same time they are the underground lifeline of the city. They are responsible for the supply of tap water and the discharge of rainwater and sewage. With the continuous expansion of city scale, the construction speed and scale of pipeline projects have reached an unprecedented high level. For example, the pipeline mileage in the downtown area of ​​Guangzhou has reached 1297.495km. With the development of the economy, the scale of urban construction is getting bigger and bigger, the drainage pipelines are getting longer and longer, and the remaining service life of the pipelines is getting shorter and shorter. According to statistics, since 2001, my country's urban drainage pipes have increased at a rate of 22441.7km / year. B...

AI Technical Summary

Problems solved by technology

At present, the detection and maintenance of underground pipelines in China still mainly rely on manual work. Although the manual field detection method has high accuracy for pipeline defect detection, the internal environment of the pipeline is harsh, the gas composition is complex, and the pipeline space is limited by many factors. The efficiency of manual work is low; the mud bucket method is mainly used to detect the thickness of mud deposits in inspection wells and nozzles, and it cannot reflect the functional or structural defects inside the pipeline, which has limitations; the mirror method is through the refraction of sunlight or other light sources. By visually observing the defects of the pipeline, you can understand the misalignment or blockage of the pipeline, but the detection range is small, and it is mostly used in anhydrous pipelines

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