Pipeline geological radar robot and pipeline geological detection system

Abstract

The present invention discloses a geological radar robot in a pipe and a geological detection system in a pipe, wherein the geological radar robot in a pipe comprises: a driving component, used to drive the geological radar robot in a pipe to walk along the axial direction of the pipe; the driving component comprises a first driving mechanism and a second driving mechanism, a carrying platform, and the carrying platform is connected between the first driving component and the second driving component; a geological radar installation component, used to install the geological radar; the geological radar installation component is connected to the carrying platform. The technical solution of the present invention aims to solve the technical problem in the prior art that the geological radar cannot simultaneously take into account the detection depth and detection resolution when detecting from the ground to the underground.

Description

Technical Field

[0001] The present invention relates to the technical field of geological radar carrying equipment, and in particular to a geological radar robot in a tube and a geological detection system in a tube. Background Art

[0002] As a new electromagnetic technology, geological radar is widely used in the detection of metal pipes, foundation layers, steel bars, etc. It can detect holes, sewers, concrete structures, etc., making it convenient for workers to understand the construction status of the project in a timely manner. It is of great significance to my country's urban construction work.

[0003] Urban underground rainwater and sewage pipes are damaged due to factors such as aging of equipment or damage by human activities, which causes the pipes to be damaged and the soil around the pipes to be eroded, thus forming underground cavities. Such underground cavities gradually "grow" over time, causing road collapse and thus causing a series of property and life losses. For the detection of underground cavities around pipes caused by the damage of rainwater and sewage pipes, the traditional method is to use geological radar to detect from the ground.

[0004] However, due to the physical characteristics of geological radar, it is impossible to take into account both the detection depth and detection resolution when detecting underground cavities from the ground. In other words, when a low-frequency antenna is used, cavities of greater depth can be detected, but cavities of smaller sizes cannot be distinguished; when a medium- and high-frequency antenna is used, cavities of smaller sizes can be distinguished, but the signal attenuation is relatively fast, and cavities of greater depth cannot be detected.

[0005] That is, the existing geological radar cannot take into account the technical problem of both detection depth and detection resolution when detecting from the ground to the underground. Summary of the invention

[0006] The main purpose of the present invention is to provide a geological radar robot in a tube, aiming to solve the technical problem in the prior art that the geological radar cannot take into account both the detection depth and the detection resolution when detecting from the ground to the underground.

[0007] To achieve the above-mentioned purpose, in a first aspect, the present invention provides a geohazard radar robot in a tube; the geohazard radar robot in a tube comprises:

[0008] A driving assembly is used to drive the in-pipe geological radar robot to move along the axial direction of the pipeline; the driving assembly includes a first driving mechanism and a second driving mechanism,

[0009] a loading platform connected between the first driving assembly and the second driving assembly;

[0010] The geological radar installation component is used to install the geological radar; the geological radar installation component is connected to the carrying platform.

[0011] Optionally, the mounting platform includes a first shell, a driven gear and a driving gear; the first shell is connected to the geological radar mounting assembly; the driven gear is fixedly connected to the inner wall of the first shell, and the driven gear and the driving gear are meshed, so that the first shell can rotate.

[0012] Optionally, the mounting platform further includes a fixed shaft and a first driving member, the first driving member is connected to the fixed shaft, wherein the first driving member is used to drive the driven gear; and the first housing is coaxial with the fixed shaft.

[0013] Optionally, the geological radar installation assembly includes a lifting mechanism, the geological radar installation assembly includes a lifting mechanism,

[0014] Wherein, the lifting mechanism is connected to the first shell, so that the geological radar can approach the inner wall of the pipe based on the extension or shortening of the lifting mechanism.

[0015] Optionally, the geological radar installation assembly also includes a first platform and a rotating mechanism; the first platform is connected to the geological radar; and the rotating mechanism is used to drive the first platform to rotate.

[0016] Optionally, the geological radar installation assembly also includes a second platform; the second platform is connected to the lifting mechanism; and the second platform is connected to the rotating mechanism.

[0017] Optionally, the mounting platform further includes a flange, which is fixedly connected to the fixed shaft, and the first driving mechanism includes a frame, which is fixedly connected to the flange.

[0018] Optionally, the first driving mechanism includes a driving wheel set evenly arranged along the circumference of the frame.

[0019] Optionally, the first driving mechanism further includes a telescopic member, and the driving wheel set is connected to the frame via the telescopic member; and a telescopic direction of the telescopic member is parallel to a radial direction of the first shell.

[0020] Optionally, in a second aspect, the present invention further proposes a geological exploration system, which comprises the aforementioned in-tube geological radar robot.

[0021] The technical solution of the present invention is to install the geological radar on the geological radar installation component; connect the geological radar installation component to the carrying platform, and the first driving machine and the second driving mechanism are connected to the two ends of the carrying platform; the first driving mechanism and the second driving mechanism move axially along the inner wall of the pipeline, and the geological radar detects underground cavities in the underground pipeline, which can solve the technical problem that the detection depth and detection resolution cannot be taken into account at the same time: when the low-frequency antenna is selected, it can detect cavities of greater depth and distinguish cavities of smaller sizes; when the medium- and high-frequency antenna is selected, it can distinguish cavities of smaller sizes and can detect cavities of greater depth when moving in the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0023] Figure 1 This is a schematic diagram of the structure of the in-tube geological radar robot proposed by the present invention;

[0024] Figure 2 It is a schematic diagram of a preferred embodiment of the carrying platform of the present invention from one viewing angle;

[0025] Figure 3 for Figure 2 A cross-sectional view of the AA section;

[0026] Figure 4 It is a schematic diagram of the connection structure between the preferred carrying platform and the geological radar installation assembly of the present invention;

[0027] Figure 5 It is a schematic diagram of the connection structure between the preferred carrying platform and the lifting mechanism of the present invention;

[0028] Figure 6 It is a schematic diagram of a preferred structure of the first lifting structure of the present invention;

[0029] Figure 7 It is a schematic diagram of a preferred structure of the second lifting structure of the present invention;

[0030] Figure 8 It is a schematic diagram of a preferred structure of the rotating mechanism of the present invention from one viewing angle;

[0031] Fig. 9 It is a schematic diagram of a preferred structure of the rotating mechanism of the present invention from another perspective;

[0032] Fig.10A schematic diagram of a preferred structure of a drive assembly of the present invention from one perspective;

[0033] Fig.11 It is a schematic diagram of a preferred structure of the telescopic member of the driving assembly of the present invention;

[0034] Fig.12 for Fig.11 A local enlarged schematic diagram of the A region;

[0035] Fig.13 for Fig.11 A local enlarged schematic diagram of the B region;

[0036] Fig.14 A schematic diagram of a preferred structure of a driving wheel set of a driving assembly of the present invention from one perspective;

[0037] Fig.15 It is a schematic diagram of a preferred structure of a driving wheel set of a driving assembly of the present invention from another perspective;

[0038] Fig.16 for Fig.15 Cross-sectional view of section BB.

[0039] Description of Figure Numbers:

[0040]

[0041]

[0042] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0045] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0047] This embodiment proposes a geological radar robot in a tube, referring to Figure 1 As shown, the in-tube geological radar robot comprises:

[0048] A driving assembly, wherein the driving assembly contacts the inner wall of the pipeline and drives the in-pipe geological radar robot to move along the axial direction of the pipeline; the driving assembly comprises a first driving mechanism 100a and a second driving mechanism 100b,

[0049] A loading platform 300, wherein the loading platform 300 is connected between the first driving mechanism 100a and the second driving assembly 100b;

[0050] The geological radar installation assembly 200 is used to install the geological radar 200c; the geological radar installation assembly 200 is connected to the mounting platform 300.

[0051] The technical solution of the present invention is as follows: the geological radar is installed on the geological radar installation component 200; the geological radar installation component 200 is connected to the carrying platform 300, and the first driving mechanism 100a and the second driving mechanism 100b are connected to the two ends of the carrying platform 300; the first driving mechanism 100a and the second driving mechanism 100b move axially along the inner wall of the pipeline, and the geological radar detects underground cavities in the underground pipeline, which can solve the technical problem that the detection depth and detection resolution cannot be taken into account at the same time: when a low-frequency antenna is selected, it can detect cavities of greater depth and distinguish cavities of smaller sizes; when a medium- and high-frequency antenna is selected, it can distinguish cavities of smaller sizes and can detect cavities of greater depth when moving in the pipeline.

[0052] In addition, compared with the prior art, the present invention has at least the following technical advantages:

[0053] First: transform the ground detection scene into an underground detection scene to avoid the impact of ground detection on road traffic;

[0054] Second: the traditional manual or vehicle-mounted geological radar detection is replaced by automated detection by robots, which greatly reduces the workload during the detection process and improves the detection efficiency;

[0055] Third: It avoids the trade-off between detection depth and detection resolution when using geological radar to detect underground cavities on the ground;

[0056] Fourth: moving the geological radar into the pipeline can make it closer to the diseased body (loose soil / empty soil / cavity around the pipeline), and then choose high-frequency antenna for detection, which can not only improve the resolution of the detection results, but also detect and distinguish smaller-sized diseased bodies, and then find the diseased body in the "germination" state, which has the effect of early prevention;

[0057] Fifth: The smaller distance between the geological radar antenna and the target diseased body will weaken the signal attenuation, and the reflection intensity formed in the radar map will be larger, with obvious contrast with the background noise, which will help improve the credibility of radar map interpretation;

[0058] Optionally, refer to Figure 3As shown, the mounting platform 300 includes a first housing 300a, a driven gear 300b and a driving gear 300c; the first housing 300a is connected to the geological radar installation assembly 200; the driven gear 300b is fixedly connected to the inner wall of the first housing 300a, and the driven gear 300b and the driving gear 300c are meshed, so that the first housing 300a can rotate. In the specific implementation process, the driven gear is an internal gear; the driving gear 300c is an external gear. According to this arrangement, when the driven gear 300b rotates to drive the driving gear 300c, the first housing 300a rotates, and the radar on the geological radar installation assembly 200 can detect the cavities in the stratum in different radial directions of the pipeline. Specifically, the driven gear 300b is connected end to end to form a circle, so that the first housing 300a can rotate 360°. Without giving examples one by one, the profile of the driven gear 300b can also be 3 / 4 circle (270°), semicircle (180°), etc., in which case the first housing 300a can achieve rotation within a certain angle. In a specific implementation, the driven gear 300b is fixed to the inner wall of the first housing 300a by means of studs, welding, etc. Figure 2 As shown in or 3, the mounting platform 300 includes a driven gear end cover 300i, and the driven gear end cover 300i is connected to the driven gear 300b by a stud; the outer peripheral surface of the driven gear end cover 300i has an annular protrusion (unnumbered), and the inner wall of the first shell 300a has a corresponding annular groove, and the annular protrusion is interference fit with the annular groove, thereby achieving the fixation of the first shell 300a and the driven gear 300b; when the driving gear 300c rotates, it drives the driven gear 300b to rotate, so that the first shell 300a rotates.

[0059] Optionally, the mounting platform 300 further includes a fixed shaft 300d and a first driving member 300e, wherein the first driving member 300e is connected to the fixed shaft 300d, wherein the first driving member 300e is used to drive the driven gear 300b; and the first housing 300a is coaxial with the fixed shaft 300d. Preferably, the first driving member 300e is a servo motor or a stepping motor. In the specific implementation process, the output shaft of the first driving member 300e is fixedly connected to the driving gear 300c to drive the driven gear 300b to rotate. The first housing 300a has sufficient hollow area for installing the first driving member 300e and the fixed shaft 300d; the fixed shaft 300a is connected to the first driving member 300e by a stud. The fixed shaft 300d is installed at the center of the first shell 300a, and the two are coaxial, so that the first shell 300a rotates around the axis of the fixed shaft 300d; generally, when the robot walks in the pipeline, the axis of the fixed shaft 300d coincides with or is parallel to the axis of the pipeline.

[0060] Optionally, refer to Figure 4 As shown, the geological radar installation assembly 200 includes a lifting mechanism 200a, wherein the lifting mechanism 200a is connected to the first housing 300a; so that the geological radar can approach the inner wall of the pipe based on the extension or shortening of the lifting mechanism. In the specific implementation process, the lifting direction of the lifting mechanism 200a is parallel to the radial direction of the first housing 300a. Figure 5 As shown, the lifting mechanism 200a includes two lifting structures (a first lifting structure 200a-1 and a second lifting structure 200a-2); the two lifting structures are respectively arranged on both sides of the axis of the first housing 300a. The lifting mechanism 200a also includes a driving structure 200a-3. Among them, the first lifting structure 200a-1 includes a first lifting rod 200a-1a and a second lifting rod 200a-1b; the first lifting rod 200a-1a and the second lifting rod 200a-1b are hinged to each other to form an X-shaped lifting structure. Figure 6 As shown, the driving structure 200a-3 includes a moving nut 200a-3a, a first lead screw 200a-3b, a driving wheel 200a-3c, a driving wheel 200a-3d and a second driving member 200a-3e. The output shaft of the first driving member 200a-3e is connected to the driving wheel 200a-3d by a key; the driving wheel 200a-3c and the driving wheel 200a-3d are driven by a belt; the driving wheel 200a-3c is connected to the first lead screw 200a-3b by a key. The moving nut 200a-3a and the first lead screw 200a-3b cooperate with each other. The mounting platform 300 also includes a first platform 300f, the first platform 300f has a slideway (not numbered) running along the axial direction of the first shell 300a, and the moving nut 200a-3a is slidably matched with the slideway (not numbered); the first platform 300f is fixedly connected to the first shell 300a. Among them, the first lifting rod 200a-1a is hinged to the moving nut 200a-3a; the second lifting rod 200a-1b is hinged to the first platform 300f; when the second driving member 200a-3e is started, the first lead screw 200a-3b drives the moving nut 200a-3a to move, thereby driving the first lifting rod 200a-1a to move, and the first lifting rod 200a-1a rotates around the moving nut 200a-3a, thereby driving the second lifting rod 200a-1b to rotate around the first platform 300f, thereby realizing the lifting and lowering of the lifting mechanism 200a.

[0061] Optionally, refer to Figure 4As shown, the first lifting structure 200a-1 includes an X structure formed by hingedly connecting two first lifting rods 200a-1a and two second lifting rods 200a-1b. The driving structure 200a-3 includes two moving nuts 200a-3a, two first lead screws 200a-3b and two driving wheels 200a-3c; the first gantry 300f can be provided with two slideways (unnumbered) and arranged in parallel. Each slideway (unnumbered) is slidably connected to the corresponding moving nut 200a-3a. The two driving wheels 200a-3c and the driving wheel 200a-3d are driven by belts. The two first lifting rods 200a-1a are respectively connected to their respective moving nuts 200a-3a. Optionally, the second driving member 200a-3e is a servo motor. The two second lifting rods 200a-1b are respectively hinged to the stoppers of their respective slideways.

[0062] According to the same mechanism, another first rack is provided on the other side of the carrying platform 300; the first rack is used to install the second lifting structure 200a-2. The connection between the second lifting structure 200a-2 and the other first rack refers to the connection between the first lifting structure 200a-1 and the first rack 300f. Generally, the driving structure 200a-3 drives the first lifting structure 200a-1, while the second lifting structure 200a-2 is not provided with a driving structure and passively moves following the first lifting structure 200a-1. The present invention adopts a positive and negative double trapezoidal screw double shear structure, which greatly solves the problem of the ordinary single shear structure lifting platform leaning to one side, and improves the stability of the radar antenna during the detection process; at the same time, it can adaptively approach the pipe wall according to the pipe diameter.

[0063] Optionally, refer to Figure 4 As shown, a reinforcing block 300f-1 is connected (welded) to one side of the first frame 300f away from the lifting mechanism 200a. The reinforcing block 300f-1 is connected to the first housing 300a to increase the stability of the lifting mechanism 200.

[0064] Optionally, refer to Figure 4 As shown, the geological radar installation assembly 200 also includes a first platform 200b, a geological radar 200c and a rotating mechanism 200e; the first platform 200b is connected to the geological radar 200c; the rotating mechanism 200e is used to drive the first platform 200b to rotate. In the specific implementation process, the geological radar 200c is commonly used. Figure 4As shown, the geological radar 200c is surrounded by damping springs 200c-1, and the extension direction of the damping springs 200c-1 is consistent with the lifting direction of the lifting mechanism 200a; one end of the damping spring 200c-1 is connected to the geological radar 200c, and the other end is connected to the first platform 200b; the rotating mechanism 200e has a rotating shaft (not numbered), and the rotating shaft is used to drive the first platform 200b to rotate; the end of the rotating shaft away from the worm gear 200e-3 is fixedly connected to the side of the first platform 200b away from the geological radar 200c. Figure 8 As shown in FIG. 9 , the rotating mechanism 200e includes a third driving member 200e-1, a worm 200e-2 and a worm wheel 200e-3; the third driving member 200e-1 is used to drive the worm 200e-2 to rotate, the worm 200e-2 and the worm wheel 200e-3 are meshed, and the worm wheel 200e-3 is connected to the rotating shaft through a key; the axial direction of the rotating shaft is parallel to the lifting direction of the lifting mechanism 200a. In this way, the radar assembly 200c can rotate to detect the stratum from different detection directions. Preferably, the third driving member 200e-1 is a servo motor or a stepping motor.

[0065] Optionally, refer to Figure 6 As shown, the geological radar installation assembly 200 also includes a second platform 200d; the second platform 200d is connected to the lifting mechanism 200a; the second platform 200d is connected to the rotating mechanism 200e. In the specific implementation process, each lifting rod of the lifting mechanism 200a is hinged to the second platform 200d, so as to drive the second platform 200d away from or close to the mounting platform 300 during the rotation of the lifting rod, so that the geological radar 200c can be adaptively extended and close to the pipe wall according to the pipe diameter. The rotating mechanism 200e is connected to the second platform 200d by means of studs, screws, etc.

[0066] Optionally, a second platform 200d-1 is fixedly provided on one side of the second platform 200d facing the loading platform; the second platform 200d-1 is provided with a slide groove (not numbered) whose direction is parallel to the axial direction of the loading platform. The first lifting rod 200a-1a is hinged to the second platform 200d-1; the second lifting rod 200a-1b is hinged to a slider (not shown) in the slide groove. The slider and the slide groove are slidably matched.

[0067] In the specific implementation process, Figures 4 to 7As shown, the first lifting structure 200a-1 is equipped with a driving structure 200a-3 (screw pair) as an active double-guide push rod, and the second lifting structure 200a-1 is a driven double-guide push rod without a screw pair. The DC motor drives the first screw 200a-3b through a synchronous belt, one of which moves forward and the other moves reversely. The two sets of moving nuts 200a-3a move in the opposite direction, so that the sliding end of the first lifting rod 200a-1a slides in the slideway, increasing the angle of the double-forked push rod, and causing the second platform 200d to descend; under the pressure of the second platform 200d, the sliding end of the second lifting structure 200a-1 moves in the slideway and descends vertically synchronously. The motor rotates in the opposite direction, and the two sets of moving nuts 200a-3a force the sliding end of the first lifting structure 200a-1 to move in the opposite direction, reducing the angle of the double-forked push rod, and causing the second platform 200d to rise; under the lifting force of the second platform 200d, the sliding end of the second lifting structure 200a-1 moves in the slideway and rises vertically synchronously. The lifting stroke can be determined by the length of the slideway, the length of the lifting rod, and the range of the push rod angle. The lifting thrust can be determined by the thrust of the moving nut 200a-3a. These two parameters can be obtained through theoretical calculation or simulation, and can also be determined and tested through experiments. The stability of the lifting platform is determined by the stiffness of the lifting rod, the stiffness of the slideway, the gap between the lifting rod hinge, and the gap between the sliding end of the lifting rod and the slideway.

[0068] Optionally, refer to Figure 3 As shown, the mounting platform 300 further includes a flange 300g, and the flange 300g is fixedly connected to the fixed shaft 300d. The first driving mechanism 100a includes a frame 100a-1, and the frame 100a-1 is fixedly connected to the flange 300g. In the specific implementation process, the fixed shaft 300d extends out of the first housing 300a. Specifically, the outer peripheral surface of the gear end cover 300i and the inner peripheral surface of the first housing 300a are in contact with each other. The gear end cover 300g has a through hole, so that the fixed shaft 300d extends out of the first housing 300a. The outer end surface of the gear end cover 300i has a flange 300g, and the flange 300g is connected to the fixed shaft 300d (such as interference fit or connected by studs). In the specific implementation process, the frame 100a-1 has a stepped hole (not shown) adapted to the flange 300g, the hole wall of the stepped hole contacts the peripheral surface of the flange 300g, and the end surface of the stepped hole has a threaded hole; the flange 300g has a screw hole 300g-1 adapted to the threaded hole, so that the flange 300g and the frame 100a-1 can be fixedly connected, thereby connecting the first drive mechanism 100a to the mounting platform 300. With the same structure, the first drive mechanism 100a is connected to the other end of the mounting platform 300, so that the two ends of the mounting platform 300 have the first drive mechanism 100a and the second drive mechanism 100b.

[0069] Optionally, the first driving mechanism 100a includes a driving wheel set 100a-2 uniformly arranged along the circumference of the frame 100a-1. Figure 1 As shown in FIG. 10 , there are three drive wheel sets 100a - 2 , and the angle between two adjacent drive wheel sets 100a - 2 is 120°, supporting outward along the center of the pipeline to have three sets of contact points with the pipeline. Figure 1 or Fig.10 As shown, each driving wheel set 100a-2 includes two rollers 100a-2a, and the two rollers 100a-2a share the same roller shaft (not shown). Figures 14 to 16 As shown, the first driving structure 100a includes a fourth driving member 100a-2i; the fourth driving member 100a-2i is used to drive the roller (not shown) to rotate to drive the roller 100a-2a to roll. In the specific implementation process, the first driving structure 100a also includes a first bevel gear 100a-2g and a second bevel gear 100a-2h; the first bevel gear 100a-2g and the second bevel gear 100a-2h are meshed with each other, the first bevel gear 100a-2g is fixedly connected to the output shaft of the fourth driving member 100a-2i, and the second bevel gear 100a-2h is fixedly connected to the roller, so that the fourth driving member 100a-2i realizes the rotation of the roller 100a-2a through gear transmission to move on the pipe wall. The first driving mechanism 100a also includes a base 100a-2b, a second shell 100a-2j, and a third shell 100a-2f. A roller is installed in the second housing 100a-2j; a fourth driving member 100a-2i is installed in the third housing 100a-2f; the second housing 100a-2j and the third housing 100a-2f are perpendicular to each other and interpenetrate each other, so that the first bevel gear 100a-2g and the second bevel gear 100a-2h are meshed with each other. The base 100a-2b has a guide hole (unnumbered), and a buffer column 100a-2c and a spring 100a-2d are provided in the guide hole. The buffer column 100a-2c is placed in the spring 100a-2d to achieve buffering and shock absorption, so that the robot has the ability to overcome obstacles during walking. Fig.16 As shown, the base 100a-2b has two guide holes (not numbered), the first group of buffer columns 100a-2c and springs 100a-2d are connected to the second housing 100a-2j through a fork 100a-2e; the second group of buffer columns 100a-2c and springs 100a-2d are connected to the third housing 100a-2f through a fork 100a-2e; (the fork 100a-2e and another fork 100a-2e are the same part, so they are not distinguished by reference numerals). The base 100a-2b is fixedly connected to the telescopic member 100a-3. Preferably, the fourth driving member 100a-2i is a servo motor.

[0070] Optionally, the first driving mechanism 100a further includes a telescopic member 100a-3, and the driving wheel set 100a-2 is connected to the frame 100a-1 via the telescopic member 100a-3; the telescopic direction of the telescopic member 100a-3 is parallel to the radial direction of the first housing 300a. Fig.10 , Fig.11 As shown, each driving wheel set 100a-2 is equipped with a corresponding telescopic member 100a-3. The driving wheel set 100a-2 extends radially along the pipeline. Figures 11 to 13As shown, the telescopic member 100a-3 includes a second lead screw 100a-3b, a fixed seat 100a-3d, and a lead screw nut 100a-3c; the second lead screw 100a-3b is connected between the fixed seat 100a-3d and the lead screw nut 100a-3c; the telescopic member 100a-3 also includes a base 100a-3j and a mounting seat 100a-3i. The base 100a-3j is fixedly connected to the frame 100a-1; preferably, the base 100a-3j is welded and threaded to the frame 100a-1. In the specific implementation process, the base 100a-3j is evenly distributed circumferentially on the frame 100a-1. The mounting seat 100a-3i is used to install the drive wheel group 100a-2. The telescopic member 100a-3 further includes a first connecting rod 100a-3f, a second connecting rod 100a-3e, a third connecting rod 100a-3h and a fourth connecting rod 100a-3g. The first connecting rod 100a-3f, the second connecting rod 100a-3e and the second lead screw 100a-3b form an isosceles triangle; the two ends of the first connecting rod 100a-3f are respectively hinged to the fixing seat 100a-3d and the mounting seat 100a-3i; the two ends of the second connecting rod 100a-3e are respectively hinged to the lead screw nut 100a-3c and the mounting seat 100a-3i. The third connecting rod 100a-3h, the fourth connecting rod 100a-3g and the second lead screw 100a-3b form an isosceles triangle; the two ends of the third connecting rod 100a-3h are respectively hinged to the fixing seat 100a-3d and the base 100a-3j; the two ends of the fourth connecting rod 100a-3g are respectively hinged to the lead screw nut 100a-3c and the base 100a-3j. Preferably, the first connecting rod 100a-3f, the second connecting rod 100a-3e, the third connecting rod 100a-3h and the fourth connecting rod 100a-3g can be jacks. Preferably, the line between the base 100a-3j and the mounting seat 100a-3i is perpendicular to the axis of the second lead screw 100a-3b. Thus, when the fifth driving member 100a-3a drives the second lead screw 100a-3b to rotate in the lead screw nut 100a-3c, the mounting seat 100a-3i can be away from the frame 100a-1 or close to the frame 100a-1, and the direction in which the mounting seat is away from the frame 100a-1 or close to the frame 100a-1 is the telescopic direction of the telescopic member 100a-3, which is perpendicular to the axial direction of the second lead screw 100a-3b. The mounting seat 100a-3i can be away from the frame 100a-1 or close to the frame 100a-1, drive the driving wheel group 100a-2 to contact the pipe wall, and apply some pressure to the pipe to ensure the stability of the robot walking in the pipe; when the driving wheel group 100a-2 moves forward or backward, the robot can realize adaptive walking in pipes of different diameters. Preferably, the fifth driving member 100a-3a is a servo motor. The fixing seat 100a-3d is fixedly connected to the fifth driving member 100a-3a.

[0071] Preferably, refer to Fig.12 As shown, the first link 100a-3f and the second link 100a-3e are both constructed with teeth at one end close to the mounting seat 100a-3i, and the teeth are meshed with each other to increase the stability of the robot in adaptive walking in pipes of different diameters.

[0072] Preferably, refer to Fig.13 As shown, the third link 100a-3h and the fourth link 100a-3g are both constructed with teeth at one end close to the base 100a-3j, and the teeth are meshed with each other to increase the stability of the robot in adaptive walking in pipes of different diameters.

[0073] According to the same embodiment, the second drive mechanism 100b has the same structure and arrangement as the first drive mechanism 100a, which will not be described in detail. Generally, the second drive mechanism 100b equipped with a visual sensor is used as a front drive, and the first drive mechanism 100a equipped with a control cable is used as a rear drive.

[0074] Optionally, the base 100a-2b and the mounting seat 100a-3i are threaded or welded.

[0075] Alternatively, if Figure 2 and 3 As shown, the first housing 100a is fixed with a lifting lug 300h for lifting the robot.

[0076] The present invention also proposes a geological detection system in a pipe, which includes a geological detection radar robot in a pipe. The specific structure of the geological detection radar robot in a pipe refers to the above-mentioned embodiment. Since the geological detection system in a pipe adopts all the technical solutions of all the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here one by one.

[0077] The in-pipe geological radar robot and / or in-pipe geological detection system proposed in the present invention moves the application scene of geological radar from the ground to the underground pipeline, aiming at detecting soil looseness / emptiness / cavities around the pipeline caused by pipeline damage. Based on the above embodiments, the present invention also has the following technical advantages:

[0078] Sixth: The driving components (first driving mechanism and second driving mechanism) of the in-pipe geological radar robot can be extended and retracted autonomously to adapt to pipe diameters of different sizes, and always keep the driving wheel set in close contact with the pipe wall to maintain the overall stability of the robot and ensure that the robot's main axis is coaxial with the pipe;

[0079] Seventh: The lifting mechanism in the radar assembly can adapt to the pipe diameter and always keep the radar antenna signal transmitting surface in contact or close to the inner wall of the pipe;

[0080] Eighth: The rotation and turnover of the radar antenna can meet the detection of 360° space around the pipeline;

[0081] Ninth: The CCTV equipped with the PTZ can perform visual inspection on the inside of the pipeline while the geological radar detects the invisible area around the pipeline.

[0082] The above descriptions are only optional embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A geological radar robot in a tube, characterized in that: The in-tube geological radar robot comprises: A driving assembly is used to drive the in-pipe geological radar robot to move along the axial direction of the pipeline; the driving assembly includes a first driving mechanism and a second driving mechanism, a loading platform connected between the first driving mechanism and the second driving mechanism; A geological radar installation component, used for installing the geological radar; the geological radar installation component is connected to the carrying platform; Wherein, the mounting platform includes a first shell, a driven gear and a driving gear; the first shell is connected to the geological radar mounting assembly; the driven gear is fixedly connected to the inner wall of the first shell, and the driven gear and the driving gear are meshed, so that the first shell can rotate; the mounting platform also includes a fixed shaft and a first driving member, the first driving member is connected to the fixed shaft, wherein the first driving member is used to drive the driven gear; the first shell is coaxial with the fixed shaft; the first shell has a sufficient hollow area for installing the first driving member and the fixed shaft; Among them, the first driving mechanism includes a frame and a driving wheel group evenly arranged along the circumference of the frame; the first driving mechanism also includes a telescopic member, and the driving wheel group is connected to the frame through the telescopic member; the telescopic direction of the telescopic member is parallel to the radial direction of the first shell; specifically, the telescopic member includes a second lead screw, a fixed seat and a lead screw nut; the second lead screw is connected between the fixed seat and the lead screw nut; the telescopic member also includes a base and a mounting seat; the telescopic member also includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod; the first connecting rod, the second connecting rod and the second lead screw form an isosceles triangle; the two ends of the first connecting rod are respectively hinged to the fixed seat and the mounting seat; the two ends of the second connecting rod are respectively hinged to the lead screw nut and the mounting seat; the third connecting rod, the fourth connecting rod and the second lead screw form an isosceles triangle; the two ends of the third connecting rod are respectively hinged to the fixed seat and the base; the two ends of the fourth connecting rod are respectively hinged to the lead screw nut and the base.

2. The in-tube geological radar robot according to claim 1, characterized in that: The geological radar installation assembly includes a lifting mechanism, Wherein, the lifting mechanism is connected to the first shell, so that the geological radar can approach the inner wall of the pipe based on the extension or shortening of the lifting mechanism.

3. The in-tube geological radar robot according to claim 2, characterized in that: The geological radar installation assembly also includes a first platform and a rotating mechanism; The first platform is connected to the geological radar; and the rotating mechanism is used to drive the first platform to rotate.

4. The in-tube geological radar robot according to claim 3, characterized in that: The geological radar installation assembly also includes a second platform; The second platform is connected to the lifting mechanism; the second platform is connected to the rotating mechanism.

5. The in-tube geological radar robot according to any one of claims 1 to 4, characterized in that: The mounting platform further comprises a flange, the flange is fixedly connected to the fixed shaft, and the frame is fixedly connected to the flange.

6. A geological detection system in a pipe, characterized in that: The detection system comprises the in-tube geological radar robot according to any one of claims 1 to 5.

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