Pipe culvert detection robot

Abstract

The application provides a pipe culvert detection robot. The pipe culvert detection robot comprises a chassis, a scanner, a top light, a front light, a camera, an instrument bin and a flip cover; the middle part of the chassis has a cavity, the instrument bin is arranged on the chassis and is lifted relative to the cavity; the scanner is arranged in the instrument bin and is liftable, and the scanner is linked with the flip cover; the top light is arranged on the lower surface of the flip cover; the front light and the camera are arranged on the instrument bin in the direction of the advancement of the robot. The pipe culvert detection robot provided by the application not only can reduce the safety risk of personnel and the project management pressure, but also can smoothly pass through the conventional inspection well and protect the scanner by the novel design.

Description

TECHNICAL FIELD

[0001] The present application relates to the municipal water environment comprehensive treatment pipe culvert detection technical field, and particularly relates to a pipe culvert detection robot. BACKGROUND

[0002] In order to thoroughly find out the pollution of the rain and sewage drainage and the drainage system upstream of the intercepting box culvert outlet, establish the water pollution source information database and the drainage facility distribution data database, provide basic data for subsequent solutions of direct sewage discharge, overflow of combined sewage through intercepting well, and intercepting box culvert outlet, it is urgent to carry out the drainage outlet investigation of river culvert and municipal culvert.

[0003] At present, the investigation of the underground channel and its internal outlet mainly adopts the following four methods: 1, pipeline detection and collection of inspection well information; 2, QV, CCTV and other pipeline endoscopic detection; 4, limited space operation personnel implement total station measurement; 5, limited space operation personnel implement three-dimensional laser scanning measurement. The above four underground channel investigation technologies all have different degrees of defects: when method 1 is used, the internal part of the culvert cannot be entered, resulting in limited collection of underground channel information and low accuracy; when method 2 is used, QV, CCTV and other pipeline endoscopic detection collects the internal image of the underground channel, which cannot obtain high-precision underground channel space information, at the same time, affected by the mud, sand and other environment of the underground channel, the CTTV with wheel type walking structure has very limited travel distance, which is difficult to meet the requirements of underground channel investigation; when method 3 or 4 is used, the limited space operation personnel must work in the culvert, must meet the relevant national regulations such as "Occupational Hazards Protection Specification for Confined Space Operation" (GBZT205-2007), "Selection, Use and Maintenance of Respiratory Protection Products" (GB / T18664-2002), must handle the safety approval of limited space operation, must be equipped with related emergency supplies, must comply with the relevant safety operation procedures, has high requirements for the physical fitness and skills of the operation personnel, and has great personnel safety risk and operation management pressure.

[0004] In the existing detection, the three-dimensional laser scanning technology is used for underground channel investigation, which can obtain the full space elements inside the underground channel, and the collection points have high precision and high density, which are significantly better than other methods. The three-dimensional laser scanning technology is an important means to realize the informatization of urban water environment comprehensive treatment underground channel, and is the optimal technology to realize the three-dimensional model rendering of underground channel, but it is a precision instrument, which cannot be immersed in water, cannot be dropped, and cannot be directly exposed to the dark, damp and messy internal environment of the underground channel.

[0005] In general, the municipal pipe network inspection well is used as the access channel for carrying out the investigation of the underground channel. The diameter of the inspection well is generally φ700mm. The size may be further reduced due to non-standard construction, so that the conventional pipe detection robot (such as the water reservoir and pipe detection robot disclosed in Patent No. CN206592709U; the all-terrain detection robot disclosed in Patent No. CN214037361U, etc.) cannot be used for carrying the three-dimensional laser scanning. If the robot using this method can smoothly pass through the inspection well, it will lose most of the obstacle crossing ability due to the low chassis. SUMMARY

[0006] In the face of extremely poor and complex internal environment of the underground channel and the site test environment of many constraints, the technical problem to be solved by the present application is: for the internal environment of the underground channel with silt, garbage, branches, bricks and stones and other obstacles or deep water pits, for the municipal pipe network inspection well with a diameter of φ700mm, on the basis of ensuring the strongest power output and obstacle crossing ability, and on the premise of ensuring the safety of the three-dimensional laser scanner, a tracked pipe and culvert detection robot carrying a three-dimensional laser scanner is developed. The provision of such a pipe and culvert detection robot not only reduces the safety risk of personnel and the project management pressure, but also successfully passes through the conventional inspection well and protects the scanner with novel design.

[0007] The technical solution of the present application is: a pipe and culvert detection robot comprises a chassis, a scanner, a top light, a front light, a camera, an instrument bin, and a flip cover which is hinged to the instrument bin; the middle part of the chassis has a cavity, the instrument bin is arranged in the chassis and can be lifted relative to the cavity; the scanner is arranged in the instrument bin and is connected to the flip cover in a linkage manner.

[0008] The top light is arranged on the lower surface of the flip cover; the front light and the camera are arranged in the direction of the robot advancing.

[0009] In the above-mentioned scheme, by using the instrument bin which can be lifted and the chassis which has a cavity, when designing the chassis, the size of the cavity needs to be considered to increase the height and width of the chassis, and it needs to be ensured that it can pass through the φ700mm municipal pipe network inspection well. The designed chassis has larger size and better stability; when the instrument bin is lifted, the robot has stronger obstacle crossing ability and greater water depth.

[0010] The scanner is installed in the instrument bin by using the lifting type connection structure. By lifting, the scanner is exposed outside the instrument bin to carry out scanning test, which meets the working requirements of the scanner. By lowering, the scanner is stored in the instrument bin to achieve overall protection.

[0011] Preferably, the instrument bin is a box structure, and the bottom is a plane. When the robot mistakenly enters a deep pit, the instrument bin bottom plane generates buoyancy, allowing the robot to float on the water surface, giving the robot amphibious capability.

[0012] Preferably, a base, a driving source and a threaded rod are arranged in the instrument bin, the threaded rod is arranged in the instrument bin, one end of the base is threadedly connected with the threaded rod, and the driving source is used to drive the threaded rod to rotate; and the scanner is arranged on the base.

[0013] The threaded connection of the threaded rod realizes lifting, can micro-adjust the lifting height of the scanner, and stably locks.

[0014] Preferably, linkage between the scanner and the flip cover is realized through a connecting rod assembly, the connecting rod assembly comprises a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are hingedly connected to form a hinge point A, and the first connecting rod is vertically arranged and is connected with the scanner to be synchronously lifted; and the second connecting rod is connected with the flip cover.

[0015] The connecting rod assembly with the hinge point A forms a simple connecting rod structure, realizes linkage between opening and closing of the flip cover and lifting of the scanner, and does not need secondary control.

[0016] In order to easily open the flip cover and facilitate force transmission, the second connecting rod is shorter than the first connecting rod.

[0017] Preferably, a vertical distance L1 is formed between the hinge point of the flip cover and the instrument bin and a connecting point of the second connecting rod on the flip cover, a vertical distance L2 is formed between the hinge point of the flip cover and the instrument bin and the hinge point A; L1 < L2. The lengths of the connecting rods and the installation positions of the connecting rods are related to the lifting stroke of the scanner, and need to be determined after simulation design.

[0018] Preferably, the pipe culvert detection robot further comprises a lifting frame and a push rod mechanism installed in the cavity of the chassis, one end of the lifting frame is fixed with the chassis, the other end is connected with the instrument bin, and the push rod mechanism drives the lifting frame to lift.

[0019] Preferably, the rear end of the chassis is connected with an optical-electricity composite cable, and the optical-electricity composite cable adopts a plug-in connection mode. The plug-in connection mode can realize quick installation and disassembly, and can be installed with components of different models and same plugs.

[0020] Preferably, the chassis is a tracked walking chassis.

[0021] Compared with the related art, the present application has the following beneficial effects:

[0022] 1. The unique cavity layout and the liftable instrument compartment, while meeting the requirements of passing through standard inspection wells, give the robot a size advantage and amphibious capability;

[0023] Second, the unique flip-top design of the instrument compartment and the height-adjustable worktable provide more comprehensive protection for the 3D laser scanner while meeting its operational requirements.

[0024] Third, the robot has a large chassis, high ground clearance, strong motor load capacity, strong obstacle crossing ability, and can drag longer cables.

[0025] Fourth, this invention effectively overcomes the limitations of manholes on robot size, provides comprehensive protection for 3D laser scanners, and is more capable of conducting high-precision culvert surveys in harsh and complex culvert environments, greatly reducing the safety risks and operational management pressure for culvert survey personnel. Attached Figure Description

[0026] Figure 1 This is a front view structural diagram of the culvert inspection robot provided by the present invention;

[0027] Figure 2 for Figure 1 The diagram on the left;

[0028] Figure 3 This is a schematic diagram showing the connection of the base, drive source, and threaded rod in the culvert inspection robot provided by the present invention.

[0029] In the attached diagram: 1. Chassis; 2. Instrument compartment; 3. Scanner; 4. Top light; 5. Flip cover; 6. Push rod mechanism; 7. Optoelectronic composite cable; 8. Lifting frame; 9. Track; 10. Forward light; 11. Camera; 12. Base; 13. Drive source; 14. Threaded rod; 15. Linkage assembly; 151. First link; 152. Second link. Detailed Implementation

[0030] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. For ease of description, the terms "upper," "lower," "left," and "right" used below only indicate that they correspond to the upper, lower, left, and right directions in the accompanying drawings and do not limit the structure.

[0031] like Figure 1 As shown, the culvert inspection robot provided in this embodiment includes a chassis 1, a scanner 3, a top light 4, a front light 10, a camera 11, an instrument compartment 2, a flip cover 5, a linkage assembly 15, a lifting frame 8, and a push rod mechanism 6.

[0032] The chassis 1 is a caterpillar chassis, which comprises caterpillar tracks 9 laid on the outer periphery of wheel bodies. The middle part of the chassis 1 is a hollow structure, which on one hand reduces the weight of the chassis 1, and on the other hand facilitates the accommodation of the instrument bin 2. The driving motor for driving the chassis 1 to move is located in the front and rear axle connecting cylinders, and the power module and the communication module are integrated in the rear end (the end far from the front moving direction) of the chassis 1. The rear end of the chassis 1 is connected with an optical-electricity composite cable 7 in a plug-in connection mode. The caterpillar moving structure can make the robot keep a large contact area with the ground in the environment of sludge and rubble, so as to obtain a stronger grip.

[0033] The instrument bin 2 is arranged in the chassis 1 and is lifted relative to the hollow structure by the lifting frame 8. One end of the lifting frame 8 is fixed to the chassis 1, and the other end is connected to the instrument bin 2. The push rod mechanism 6 drives the lifting frame 8 to lift.

[0034] The instrument bin 2 is a box-shaped structure, and the bottom thereof is a plane capable of generating buoyancy. As shown in Figure 1 Figure 3 A base 12, a driving source 13 (driving motor) and a threaded rod 14 are arranged in the instrument bin 2. The threaded rod 14 is fixed to the inner side wall of the instrument bin 2 by a support (not numbered), and can rotate relative to the support. One end of the base 12 is provided with a threaded hole (not shown) threadedly connected with the threaded rod 14. The driving source 13 is used to drive the threaded rod 14 to rotate. The scanner 3 is arranged on the base 12. The scanner 3 is a three-dimensional laser scanner. When the driving source 13 drives the threaded rod 14 to rotate, the base 12 threadedly connected with the threaded rod 14 can be displaced up and down along the threaded rod 14, so that the scanner 3 on the base 12 is lifted by the base 12.

[0035] The flip cover 5 is hinged to the instrument bin 2. The lifting and lowering of the scanner 3 can simultaneously drive the opening and closing of the flip cover 5. Specifically,

[0036] As shown in Figure 1 The lifting of the scanner 3 drives the opening and closing of the flip cover 5 through the hinge connection of the connecting rod assembly 15. The connecting rod assembly 15 comprises a first connecting rod 151 and a second connecting rod 152. The first connecting rod 151 and the second connecting rod 152 are hinge-connected with each other to form a hinge point A, and the first connecting rod 151 is vertically arranged and is synchronously connected with the lifting of the scanner 3. The second connecting rod 152 is connected with the flip cover 5. The second connecting rod 152 is shorter than the first connecting rod 151. The vertical distance L1 between the hinge point of the flip cover 5 and the connecting point of the second connecting rod 152 on the flip cover 5, and the vertical distance L2 between the hinge point of the flip cover 5 and the hinge point A are L1 < L2, so that the opening angle of the flip cover 5 is larger. In the specific structural design, the second connecting rod 152 can be​Figure 1 The downwardly concave arc-shaped rod is shown to better drive the flip cover opening and closing action by lifting.

[0037] As Figure 1 , Figure 2 The top light 4 is arranged on the lower surface of the flip cover 5. The front light 10 and the camera 11 are arranged on the side wall of the instrument bin 2 facing the advancing direction of the robot.

[0038] Before carrying out the investigation of the underground channel, open the inspection well, remove the anti-falling net, clean the obstacles in the well chamber, lay the safety warning tape, and place the safety warning board. If the inspection well is located on the road, traffic diversion should be carried out.

[0039] When formally carrying out the investigation of the underground channel, connect the photoelectric composite cable to the robot of the present application, and install the three-dimensional laser scanner. Start the three-dimensional laser scanner and set the parameters. Start the robot of the present application, and test the state of the pipe culvert detection robot.

[0040] After the preparation work and the detection work are completed, turn on the front LED, start the camera, use the hook to hang the pipe culvert detection robot into the inspection well, and place it stably at the bottom of the inspection well. Observe the internal environment of the underground channel and make a preliminary judgment. If the environment of the underground channel meets the test conditions, carry out the investigation of the underground channel according to the three-dimensional laser scanning test standard work flow of the underground channel.

[0041] When advancing to a certain scanning test site, the robot of the present application should be parked at the middle part of the underground channel, the flip cover should be opened, the top LED light should be turned on, and the workbench should be lifted to the set position. After the three-dimensional laser scanning test at this site is completed, the workbench falls back to the initial position, the top LED light is turned off, and the flip cover is closed. Start the robot of the present application to the next scanning site.

[0042] After the investigation of the underground channel is completed or the length of the photoelectric composite cable has been exceeded, the pipe culvert detection robot should be opened back to below the inspection well. Use the hook to hook the pipe culvert detection robot and pull it up to the ground. Turn off the power of the pipe culvert detection robot and check the state.

[0043] After the investigation of the underground channel is completed, install the anti-falling net, close the inspection well, remove the warning tape and warning board, and restore the traffic.

[0044] The above-mentioned is only an embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent flow transformation using the content of the specification and drawings of the present application, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A culvert inspection robot, comprising a chassis (1), a scanner (3), a top light (4), a front light (10), and a camera (11), characterized in that, It also includes an instrument compartment (2) and a hinged cover (5) that can be fitted onto the instrument compartment (2); the chassis (1) has a cavity in the middle, the instrument compartment (2) is located on the chassis (1) and can be raised and lowered relative to the cavity; the scanner (3) can be raised and lowered inside the instrument compartment (2), and the scanner (3) is linked with the hinged cover (5); The top light (4) is located on the lower surface of the flip cover (5); the front light (10) and the camera (11) are arranged in the direction of the robot's movement. The linkage between the scanner (3) and the flip cover (5) is achieved through a linkage assembly (15), which includes a first linkage (151) and a second linkage (152). The first linkage (151) and the second linkage (152) are hinged to each other to form a hinge point A. The first linkage (151) is vertically arranged and is synchronously raised and lowered with the scanner (3). The second linkage (152) is connected to the flip cover (5). The hinge point between the flip cover (5) and the instrument compartment (2) forms a vertical distance L1 to the connection point of the second connecting rod (152) on the flip cover (5), and the hinge point between the flip cover (5) and the instrument compartment (2) forms a vertical distance L2 to the hinge point A; L1 < L2; The second link (152) is a downward-concave arc-shaped rod, which drives the flip cover (5) to open and close by raising and lowering the scanner (3).

2. The culvert inspection robot according to claim 1, characterized in that, The instrument compartment (2) has a box-shaped structure and a flat bottom.

3. The culvert inspection robot according to claim 1, characterized in that, The instrument compartment (2) is provided with a base (12), a drive source (13) and a threaded rod (14). The threaded rod (14) is located in the instrument compartment (2). One end of the base (12) is threadedly connected to the threaded rod (14). The drive source (13) is used to drive the threaded rod (14) to rotate. The scanner (3) is located on the base (12).

4. The culvert inspection robot according to claim 1, characterized in that, The second link (152) is shorter than the first link (151).

5. The culvert inspection robot according to claim 1, characterized in that, It also includes a lifting frame (8) and a push rod mechanism (6) installed in the cavity of the chassis (1). One end of the lifting frame (8) is fixed to the chassis (1), and the other end is connected to the instrument compartment (2). The push rod mechanism (6) drives the lifting frame (8) to lift.

6. The culvert inspection robot according to claim 1, characterized in that, The rear end of the chassis (1) is connected to a photoelectric composite cable (7), which is connected by a plug-in connection.

7. The culvert inspection robot according to claim 1, characterized in that, The chassis (1) is a tracked chassis.

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