Amphibious drainage pipe in-water detection robot and control method thereof

Abstract

The present invention proposes an amphibious drainage pipeline in-water detection robot and a control method thereof. The robot structure includes a robot body, a detection module, a propulsion module, a structure conversion module, a ground-end controller, a mobile-end controller and a power module; the detection module is used to detect the surrounding environment state and posture information; the propulsion module is used to control the movement of the robot, and the propulsion module includes a vehicle-type propulsion module and a ship-type propulsion module; the structure conversion module is used to realize the conversion between the two modes; the ground-end controller is used for remote information monitoring and command issuance; the mobile-end controller is used to receive commands and control the movement and structure transformation of the robot. The control method displays data through the ground-end controller, judges the environmental information collected by the detection module, and switches the working mode of the robot through the structure conversion module according to the environmental information. The ship-type working mode is adopted in the deep water environment, and the vehicle-type working mode is adopted in the waterless or shallow water environment to realize the in-water detection in the pipeline.

Description

Technical Field

[0001] The invention relates to the field of urban underground drainage pipe network detection and robot technology, and in particular to an amphibious drainage pipe in-water detection robot and a control method thereof. Background Art

[0002] As cities continue to grow, the aging of urban underground drainage pipes has become increasingly prominent. Cracks and damage in pipes can affect their function. If they are not promptly inspected, they can easily create safety hazards in cities. Therefore, pipeline inspection is particularly important. The following deficiencies exist in the current inspection process:

[0003] (1) The environment in the pipeline is complex and the water level is uncertain. Currently, pipeline inspection using vehicle-type inspection equipment usually requires stopping the water supply and draining the water in the pipeline, while ship-type inspection equipment is prone to run aground when encountering low water levels;

[0004] (2) The existing technology uses towline communication and measures the length of the towline for positioning. However, the towline is easily entangled, causing resistance to the equipment and affecting the operation of the detection equipment. During operation, the loosening and bending of the towline will affect the positioning accuracy of the detection equipment.

[0005] (3) The existing technology generally uses only one CCTV camera, and the collected images are single and not comprehensive. In view of the above problems, the field expects to have an amphibious drainage pipe water detection robot and control method with a higher degree of automation and wireless communication. Summary of the invention

[0006] The purpose of the present invention is to provide an amphibious drainage pipe in-water detection robot and a control method thereof, so as to complete the detection inside the pipe under different environments. The flexible structural switching mode makes the robot more practical and suitable for working in environments such as culverts and pipes where the water depth changes frequently. Therefore, there is no need to stop the water supply during monitoring, and in-water detection can be carried out.

[0007] In order to achieve the above-mentioned object, the present invention provides an amphibious drainage pipe in-water detection robot, comprising a robot body, a detection module (300), a propulsion module, a structure conversion module (500), a ground end controller (100), a mobile end controller (200) and a power supply module (700), wherein:

[0008] The robot body serves as a carrier of each module and includes a control box (4) and a floating body (3);

[0009] The detection module (300) is used to collect environmental information and position information of the robot to determine the position, posture and environmental state of the robot in the pipeline;

[0010] The propulsion module is used to control the movement of the robot, and the propulsion module includes a vehicle-type propulsion module (400) and a ship-type propulsion module (600);

[0011] The structure conversion module (500) is used to control the robot to switch between the structures of the vehicle-type and ship-type working modes;

[0012] The ground-end controller (100) is used for information integration and command issuance, that is, the ground-end controller (100) receives information collected by the detection module (300) through the mobile-end controller (200), and the ground-end controller (100) sends a structure conversion instruction to the structure conversion module (500) and sends a propulsion instruction to the propulsion module through the mobile-end controller (200);

[0013] The mobile terminal controller (200) is used to receive and transmit information collected by the detection module (300), process the information, and make autonomous control decisions. The mobile terminal controller (200) is also used to receive instructions issued by the ground terminal controller (100), and control the movement and structural switching of the robot through the propulsion module and the structural conversion module (500);

[0014] The power supply module (700) is used to supply power to the detection module (300), the propulsion module, the structure conversion module (500), the ground end controller (100) and the mobile end controller (200).

[0015] Furthermore, in the amphibious drainage pipe water detection robot, the ground end controller (100) comprises a display screen (110), an operating handle (120), a remote controller (130) and a first wireless communication module (140), wherein:

[0016] The display screen (110) is used to visualize information detected by the detection module (300) during the working process;

[0017] The operating handle (120) is used to send structural conversion instructions and propulsion instructions for controlling the robot;

[0018] The remote controller (130) is used to remotely monitor the robot's environmental information and position information at the ground end, and make robot action decisions;

[0019] The first wireless communication module (140) is used for sending and receiving remote data of the ground controller (100);

[0020] The mobile terminal controller (200) comprises a data interface (210), a main controller (220) and a second wireless communication module (230), wherein:

[0021] The data interface (210) is used for communication between the mobile terminal controller (200) and the detection module (300) and between the structure conversion module (500) and the propulsion module;

[0022] The main controller (220) controls the structure conversion module (500), the vehicle-type propulsion module (400) and the ship-type propulsion module (600) to perform corresponding operations according to the instructions sent by the remote controller (130);

[0023] The second wireless communication module (230) is used for remote data transmission and reception of the mobile terminal controller (200);

[0024] The first wireless communication module (140) is signal-connected to the second wireless communication module (230).

[0025] Furthermore, in the amphibious drainage pipe in-water detection robot, the detection module (300) comprises a camera module (310), a sonar (320), a laser radar (330) and an inertial measurement unit (340) installed on the control box (4), wherein:

[0026] The camera module (310) comprises a camera (311), an illumination light source (312) and a pan-tilt platform (313), wherein the camera (311) and the illumination light source (312) are both mounted on the pan-tilt platform (313);

[0027] The sonar (320) is used to detect the water depth and underwater environment in the pipeline;

[0028] The laser radar (330) is used to sense the environment above the water surface in the pipeline;

[0029] The inertial measurement unit (340) is used to sense the position and posture information of the robot.

[0030] Furthermore, in the amphibious drainage pipeline in-water detection robot, the detection module (300) further comprises a GPS positioning module (350), the GPS positioning module (350) being installed on the control box (4), the GPS positioning module (350) being used to obtain the geographical coordinates of the robot at the wellhead position, and cooperating with the inertial measurement unit (340) to obtain the geographical coordinates of the robot in the pipeline, thereby completing the precise positioning of the robot;

[0031] The camera modules (310) are arranged circumferentially around the top of the control box (4), the cameras (311) and the illumination light sources (312) are arranged side by side, and the ground end controller (100) adjusts the camera modules (310) through the mobile end controller (200), that is, the cameras (311) and the illumination light sources (312) are synchronously rotated in the horizontal and vertical directions on the pan / tilt platform (313) through the fine adjustment rod (314);

[0032] The sonar (320) is arranged below the control box (4) via a lifting mechanism (321), and the ground-end controller (100) adjusts the position of the sonar (320) via the mobile-end controller (200), that is, the sonar (320) is folded up or lowered via the lifting mechanism (321).

[0033] Furthermore, in the amphibious drainage pipeline in-water detection robot, a main body support (1) and a hull frame (2) are provided below the control box (4); the floating body (3) is connected to the structure conversion module (500) via the main body support (1); the structure conversion module (500) comprises a stepping motor (510), a telescopic frame (520) and a telescopic cross bar (530); the telescopic frame (520) is arranged on the main body support (1); the stepping motor (510) controls the telescopic frame (520) to fold or extend via the telescopic cross bar (530); when the telescopic frame (520) is in a folded state, the structure conversion module (500) drives the robot body to be converted into a boat-type working mode; when the telescopic frame (520) is in an extended state, the structure conversion module (500) drives the robot body to be converted into a vehicle-type working mode.

[0034] Furthermore, in the amphibious drainage pipe in-water detection robot, the control box (4) is placed on the top side of the main frame (1) through the hull frame (2), the telescopic frame (520) is placed on the bottom side of the main frame (1), and the floating body (3) is placed on both ends of the main frame (1) through the telescopic cross bar (530);

[0035] The main support (1) is provided with horizontal telescopic grooves at both ends, one end of the telescopic cross bar (530) is placed in the telescopic groove, and the other end is connected to the floating body (3), the telescopic groove is provided with a guide groove (542) arranged along the length direction, the end of the telescopic frame (520) is connected to the telescopic cross bar (530) through the guide groove (542), and the stepping motor (510) controls the telescopic cross bar (530) to perform horizontal telescopic movement in the telescopic groove, that is, the top end of the telescopic frame (520) moves horizontally along the guide groove (542) along with the telescopic movement of the telescopic cross bar (530);

[0036] The telescopic frame (520) is a cross-hinged scissor-type telescopic mechanism. When the top end of the telescopic frame (520) moves relatively outward under the drive of the telescopic cross bar (530), the telescopic frame (520) cross-folds, so that the control box (4) moves horizontally downward and is converted into a boat-type working mode; when the top end of the telescopic frame (520) moves relatively inward under the drive of the telescopic cross bar (530), the telescopic frame (520) cross-extends, so that the control box (4) moves horizontally upward and is converted into a car-type working mode.

[0037] Furthermore, in the amphibious drainage pipe in-water detection robot, the vehicle-type propulsion module (400) includes an underwater electric wheel (410) and an electric wheel controller (420), and the robot realizes a steering function through a rotation speed difference between the underwater electric wheels (410) on the left and right sides; the electric wheel controller (420) is control-connected to the underwater electric wheel (410), and the mobile end controller (200) is control-connected to the electric wheel controller (420); and the underwater electric wheel (410) is arranged at the bottom end of the telescopic frame (520).

[0038] Furthermore, in the amphibious drainage pipe in-water detection robot, the ship-type propulsion module (600) includes an underwater propeller (610) and a propeller controller (620), and the robot realizes a steering function through the rotation speed difference between the underwater propellers (610) on the left and right sides; the underwater propeller (610) is control-connected to the propeller controller (620), and the mobile end controller (200) is control-connected to the propeller controller (620); and the underwater propeller (610) is fixed on the floating body (3).

[0039] The present invention also provides a control method for an amphibious drainage pipe in-water detection robot, which uses the above-mentioned amphibious drainage pipe in-water detection robot and comprises the following steps:

[0040] S1: Place the robot from the wellhead into the pipeline, start it and complete the initialization of the corresponding modules, and then proceed to step S2;

[0041] S2: the ground-end controller (100) is connected and communicated with the robot, and the mobile-end controller (200) collects environmental information in the pipeline through the detection module (300). When the ground-end controller (100) receives the image information transmitted by the mobile-end controller (200), step S3 is entered;

[0042] S3: Checking the environmental status in the pipeline through the display screen (110) of the ground-end controller (100) to determine the working mode to be adopted by the robot;

[0043] If there is no water or the water level is shallow, switch to step S4;

[0044] If the water level is moderate or high, switch to step S5;

[0045] S4: If the robot is originally in the vehicle-type working mode, it remains unchanged;

[0046] If the robot is originally in a boat-type working mode, it is converted into a vehicle-type working mode through the structure conversion module (500);

[0047] At the same time, the sonar (320) of the detection module (300) is retracted, and the process proceeds to step S6;

[0048] S5: If the robot is originally in the boat-type working mode, then the working mode remains unchanged;

[0049] If the robot is originally in a vehicle-type working mode, it is converted into a boat-type working mode through the structure conversion module (500);

[0050] At the same time, the sonar (320) of the detection module (300) is lowered, and the process proceeds to step S6;

[0051] S6: Entering a working state, the propulsion module controls the robot to move, and the mobile end controller (200) collects and stores high-definition images of the above-water environment in the pipeline through the camera module (310), and the mobile end controller (200) collects and stores sonar images of the underwater environment in the pipeline through the sonar (320), and transmits both the high-definition images and the sonar images to the ground end controller (100);

[0052] If the work continues, go to step S3;

[0053] If the work is finished, go to step S7;

[0054] S7: Sending instructions to the mobile controller (200) through the ground controller (100) to control the robot to move to the wellhead position, bringing the robot back to the ground, disconnecting the communication between the ground controller (100) and the robot, and manually turning off the power module (700) to complete the entire detection work.

[0055] Furthermore, in the control method of the amphibious drainage pipe water detection robot, in step S3, the three operation modes used when determining the working mode to be adopted by the robot are as follows:

[0056] (1) Manual remote control: The operator manually makes a judgment and issues a command through the operating handle (120) based on the environmental information and robot status information transmitted by the mobile terminal controller (200) received by the ground terminal controller (100);

[0057] (2) The system is completely autonomously controlled: the mobile terminal controller (200) makes autonomous judgments and issues instructions through the data interface (210) based on the environmental information and robot status information collected by the detection module (300);

[0058] (3) Semi-autonomous control of the system under manual supervision: the monitoring personnel monitor the entire process through the ground-end controller (100), and the system autonomously makes judgments and issues instructions through the data interface (210) mainly based on the environmental information and robot status information collected by the detection module (300) by the mobile-end controller (200); however, manual intervention is performed when necessary, and instructions are issued directly through the operating handle (120), and the instructions issued by the operating handle (120) have a higher priority than the instructions issued autonomously by the system;

[0059] In step S4: when the robot is converted from the boat-type working mode to the vehicle-type working mode, the telescopic crossbar (530) is controlled by the stepping motor (510) to perform a contraction action, thereby driving the floating body (3) to be retracted inwards, and at the same time driving the telescopic frame (520) to be lowered to an extended state;

[0060] In step S5: when the robot is converted from the vehicle-type working mode to the boat-type working mode, the telescopic crossbar (530) is controlled by the stepping motor (510) to extend, thereby driving the floating body (3) to extend outward, so that the telescopic frame (520) is retracted into a folded state.

[0061] Compared with the prior art, the beneficial effects of the present invention are mainly reflected in:

[0062] 1) The amphibious drainage pipe in-water inspection robot and control method of the present invention solves the problem that water supply must be stopped for pipeline inspection in the past, which brings inconvenience to production and life. It can realize the robot's in-water inspection. In shallow water or waterless areas, it uses a car-type structure to work, and in deep water areas, it uses a boat-type structure to work. The amphibious pipeline robot of the present invention can meet the requirements of different complex pipeline environments. Unlike a single car-type or boat robot, it needs to be deployed according to different waters, which significantly improves work efficiency; it can adapt to the drainage pipeline environment and complete the inspection of the inside of the pipeline under different environments. The flexible structure switching method makes the robot highly practical and suitable for working in environments such as culverts and pipelines where the water depth often changes;

[0063] 2) The present invention is based on the detection module carried by the robot, which can obtain environmental information and location information in real time, making it convenient for workers to mark the location of pipeline defects. The existing technology uses towline communication and measures the length of the towline for positioning, but this will restrict the work of the robot. The looseness and bending of the towline will affect the positioning accuracy of the detection equipment. The present invention adopts wireless communication and inertial measurement unit positioning, which avoids the entanglement of the towline, reduces the driving resistance, and improves the positioning accuracy;

[0064] 3) The amphibious drainage pipe water detection robot and control method of the present invention can perform structural transformation in a timely manner, and the sonar can also flexibly extend and retract during the structural transformation process. The four front, back, left and right cameras equipped with zoom cameras can all rotate in the horizontal and vertical directions. Through multi-camera image stitching and fusion, an ultra-high-definition panoramic image inside the pipeline can be obtained; at the same time, more comprehensive and clearer pipeline status information can be obtained, which is convenient for detecting and identifying pipeline defects. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 This is a schematic diagram of the connection between the amphibious drainage pipes of the present invention and the modules of the water detection robot;

[0066] Figure 2 It is a schematic diagram of the three-dimensional structure of the amphibious drainage pipe in-water detection robot of the present invention;

[0067] Figure 3 for Figure 2 A schematic diagram of the front view structure of

[0068] Figure 4 for Figure 2 A side view structural schematic diagram of;

[0069] Figure 5 It is a schematic diagram of the three-dimensional structure of the amphibious drainage pipeline in the present invention when the water detection robot is in the vehicle-type working mode;

[0070] Figure 6 for Figure 5A schematic diagram of the front view structure of

[0071] Figure 7 It is a schematic diagram of the three-dimensional structure of the amphibious drainage pipeline in the present invention when the water detection robot is in the ship-like working mode;

[0072] Figure 8 for Figure 7 A schematic diagram of the front view structure of

[0073] Fig. 9 It is a three-dimensional structural schematic diagram of the structural conversion module in the present invention in the vehicle-type working mode;

[0074] Fig.10 for Fig. 9 A schematic diagram of the front view structure of

[0075] Fig.11 It is a three-dimensional structural schematic diagram of the structural conversion module in the present invention in the ship-type working mode;

[0076] Fig.12 for Fig.11 A schematic diagram of the front view structure of

[0077] Fig.13 It is a schematic diagram of the structure of the transmission mechanism of the structure conversion module in one embodiment of the present invention;

[0078] Fig.14 Schematic diagram of the three-dimensional structure of the detection module in the present invention;

[0079] Fig.15 for Fig.14 A side view structural schematic diagram of;

[0080] Fig.16 for Fig.14 The structural diagram of the camera module;

[0081] Fig.17 It is a schematic diagram of the working mode of the amphibious drainage pipe underwater detection robot in the present invention in a vehicle-like working mode in a shallow water environment;

[0082] Fig.18 It is a working schematic diagram of the amphibious drainage pipe underwater detection robot of the present invention in a boat-like working mode in a deep water environment;

[0083] Fig.19 The present invention is a flowchart of the control method of the amphibious drainage pipe in-water detection robot.

[0084] Among them: main frame 1, hull frame 2, floating body 3, control box 4;

[0085] A ground controller 100, a display screen 110, an operating handle 120, a remote controller 130, and a first wireless communication module 140;

[0086] Mobile terminal controller 200, data interface 210, main controller 220, second wireless communication module 230;

[0087] Detection module 300, camera module 310, camera 311, illumination light source 312, pan / tilt 313, fine-tuning rod 314, sonar 320, lifting mechanism 321, laser radar 330, inertial measurement unit 340, GPS positioning module 350;

[0088] Vehicle-type propulsion module 400, underwater electric wheel 410, electric wheel controller 420;

[0089] Structure conversion module 500, stepper motor 510, stepper motor output shaft 511, gear set 512, threaded screw 513, telescopic frame 520, telescopic cross bar 530, telescopic channel 541, guide groove 542;

[0090] Ship-type propulsion module 600, underwater propeller 610, propeller controller 620;

[0091] Power module 700. DETAILED DESCRIPTION

[0092] The following will be described in more detail with reference to the schematic diagram of the amphibious drainage pipe in-water detection robot and the control method thereof of the present invention, wherein the preferred embodiment of the present invention is shown, and it should be understood that those skilled in the art can modify the present invention described herein and still achieve the advantageous effects of the present invention. Therefore, the following description should be understood as being widely known to those skilled in the art and not as a limitation of the present invention.

[0093] In the description of the present invention, it should be noted that directional words, such as the terms "center", "lateral", "longitudinal", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating directions and positional relationships are based on the directions or positional relationships shown in the accompanying drawings, which are only for the convenience of narrating the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and cannot be understood as limiting the specific scope of protection of the present invention.

[0094] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. Therefore, the definition of "first" and "second" features can explicitly or implicitly include one or more of the features. In the description of the present invention, "at least" means one or more, unless otherwise clearly and specifically defined.

[0095] In the present invention, unless otherwise specified and limited, the terms "assemble", "connect", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can also be a mechanical connection; it can be directly connected, or it can be connected through an intermediate medium, or the two elements can be internally connected. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0096] The present invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the accompanying drawings are in very simplified form and are not in exact proportions, and are only used to facilitate and clearly assist in illustrating the purpose of the embodiments of the present invention.

[0097] like Figure 1 As shown, the present invention proposes an amphibious drainage pipe in-water detection robot, including a robot body, a detection module 300, a propulsion module, a structure conversion module 500, a ground end controller 100, a mobile end controller 200 and a power module 700, wherein:

[0098] like Figures 2 to 4 As shown, the robot body serves as a carrier of each module, including a control box 4 and a floating body 3. The sealed control box 4 is loaded with a mobile end controller 200 and a power module 700. The bottom side of the control box 4 is provided with a main body bracket 1 and a hull frame 2. The main body bracket 1 is a core bracket for fixing the control box 4 to connect with other modules. The control box 4 is placed on the top side of the main body bracket 1 through the hull frame 2. The floating body 3 is connected to the structure conversion module 500 through the main body bracket 1, and the floating body 3 provides buoyancy for the robot.

[0099] The detection module 300 is used to collect environmental information and navigation information of the robot during the pipeline working process, including pipeline environment, pipe wall image, water level depth, current position, current posture, etc., to determine the position information and environmental status of the robot in the pipeline, so as to accurately locate it;

[0100] The propulsion module is used to control the movement of the robot, drive the robot forward and turn, and the propulsion module includes a vehicle-type propulsion module 400 and a ship-type propulsion module 600;

[0101] The structure conversion module 500 is used to control the robot to switch between the vehicle-type and ship-type structures, that is, the structure conversion module 500 is connected to the vehicle-type propulsion module 400 and the ship-type propulsion module 600;

[0102] The ground controller 100 is used for information integration and command transmission, and the ground controller 100 is connected to the mobile controller 200 by signal, that is, the ground controller 100 receives the environmental information and robot posture information collected by the detection module 300 through the mobile controller 200, and the operator monitors the robot and sends corresponding control instructions to the robot according to the information, that is, the ground controller 100 sends the structure conversion instruction to the structure conversion module 500 and / or sends the propulsion instruction to the propulsion module through the mobile controller 200, so as to indirectly remotely control the working state of the robot;

[0103] The mobile terminal controller 200 is used to receive and transmit information collected by the detection module 300. The mobile terminal controller 200 is also used to receive instructions transmitted by the ground terminal controller 100, and control the action and structural switching of the robot through the propulsion module and the structure conversion module 500, that is, the mobile terminal controller 200 is connected to the detection module 300 and the ground terminal controller 100 by signal, and the mobile terminal controller 200 is respectively connected to the structure conversion module 500, the vehicle-type propulsion module 400 and the ship-type propulsion module 600 for control, so as to realize direct control of the robot's work; at the same time, the environmental information and robot posture information collected by the detection module 300 are also used as input information for the robot's autonomous control. The mobile terminal controller 200 makes decisions autonomously and issues instructions through the data interface 210 to directly control the robot's working state;

[0104] The power module 700 is used to supply power to the entire robot and various components.

[0105] Furthermore, if Figure 1 As shown, the ground controller 100 includes a display screen 110, an operating handle 120, a remote controller 130 and a first wireless communication module 140, wherein:

[0106] The display screen 110 is used to visualize the position information and environmental status detected by the detection module 300 during the working process;

[0107] The operating handle 120 is used to send structural conversion instructions and propulsion instructions to control the robot, so as to control the conversion structure, movement direction and movement speed of the robot;

[0108] The remote controller 130 is used to remotely monitor the robot's environmental information and posture information on the ground side and make robot action decisions;

[0109] The first wireless communication module 140 is used for remote data transmission and reception of the ground controller 100. The operator sends the structural conversion instructions and propulsion instructions transmitted by the ground controller 100 to the mobile controller 200 of the robot. The operator can also receive environmental information converted and transmitted by the mobile controller 200, that is, the first wireless communication module 140 is connected to the mobile controller 200 by signal.

[0110] Furthermore, if Figure 1 As shown, the mobile terminal controller 200 includes a data interface 210, a main controller 220 and a second wireless communication module 230, wherein:

[0111] The data interface 210 includes an AD interface, a serial communication interface, a USB interface and a network interface. The data interface 210 is connected to the detection module 300 by signal, and is used for communication between the mobile terminal controller 200 and the detection module 300 and between the structure conversion module 500 and the propulsion module;

[0112] The main controller 220 controls the structure conversion module 500, the vehicle-type propulsion module 400 and the ship-type propulsion module 600 to perform corresponding operations according to the structure conversion command and propulsion command sent by the ground-end controller 100;

[0113] The second wireless communication module 230 is used for remote data transmission and reception of the mobile terminal controller 200, receives the structural conversion instructions and propulsion instructions transmitted by the ground terminal controller 100, and transmits the environmental information and position information collected by the detection module 300 to the ground terminal controller 100 through the data interface 210, that is, the second wireless communication module 230 is connected with the remote controller 130 of the ground terminal controller 100 by signal.

[0114] Specifically, the first wireless communication module 140 is signal-connected with the second wireless communication module 230 , and bidirectional data transmission and command transmission and reception are performed between the first wireless communication module 140 and the second wireless communication module 230 .

[0115] Furthermore, if Figures 1 to 4 As shown, the detection module 300 includes a camera module 310, a sonar 320, a laser radar 330, an inertial measurement unit 340 and a GPS positioning module 350 installed on the control box 4, wherein:

[0116] like Figures 14 to 16As shown, the camera module 310 includes a camera 311, an illumination light source 312 and a pan-tilt platform 313, and the camera 311 and the illumination light source 312 are both mounted on the pan-tilt platform 313; the camera modules 310 are arranged circumferentially around the top of the control box 4, and at least one camera module 310 is arranged in each of the four directions of the control box 4, and the camera 311 and the illumination light source 312 are arranged side by side, and the camera 311 and the illumination light source 312 are set on the pan-tilt platform 313 through a fine-tuning rod 314. At the same time, the ground end controller 100 can adjust the camera module 310 through the mobile end controller 200, and the camera 311 and the illumination light source 312 are synchronously rotated horizontally and vertically on the pan-tilt platform 313 through the fine-tuning rod 314. It can collect environmental information around the robot in all directions, and is convenient for adjusting different angles according to the water depth to collect panoramic high-resolution images, and the camera 311 can remotely zoom, and after discovering the defects of the pipeline, it can enlarge the details for observation.

[0117] like Figure 14 to Figure 15 As shown, the sonar 320 is used to detect the water depth and underwater environment in the pipeline. The sonar 320 is arranged below the control box 4 through the lifting mechanism 321. Since the distance between the robot in the pipeline and the bottom varies with the different mode structures adopted by the robot, it changes accordingly when the robot is converted through the structure conversion module 500. The ground-end controller 100 adjusts the position of the sonar 320 through the mobile-end controller 200, that is, the sonar 320 is retracted or lowered through the lifting mechanism 321.

[0118] The laser radar 330 is used to sense the environment above the water surface in the pipeline and cooperate to complete the detection and positioning of the pipe wall;

[0119] The inertial measurement unit IMU340 is used to sense the position and posture information of the robot;

[0120] The GPS positioning module 350 obtains the geographic coordinates of the robot at the wellhead, and cooperates with other sensors such as the inertial measurement unit 340 to obtain the geographic coordinates of the robot in the pipeline to complete the precise positioning of the robot.

[0121] Furthermore, if Figures 5 to 8 As shown, the structure conversion module 500 includes a stepper motor 510, a telescopic frame 520 and a telescopic cross bar 530. The telescopic frame 520 is placed on the bottom side of the main frame 1, and the floating body 3 is symmetrically placed at both ends of the main frame 1 through the telescopic cross bar 530. The stepper motor 510 controls the telescopic frame 520 to fold or extend through the telescopic cross bar 530.

[0122] like Figures 9 to 12As shown, both ends of the main support 1 are provided with horizontal telescopic grooves 541, one end of the telescopic cross bar 530 is placed in the telescopic groove 541, and the other end is connected to the floating body 3. In the process of structural conversion, the stability of the robot can be adjusted by controlling the position of the floating body 3, so that the center of gravity of the boat-like structure is more stable. The telescopic groove 541 is provided with a guide groove 542 arranged along the length direction, and the end of the telescopic frame 520 is connected to the telescopic cross bar 530 through the guide groove 542. The stepper motor 510 controls the telescopic cross bar 530 to perform horizontal telescopic movement in the telescopic groove, and the top of the telescopic frame 520 moves horizontally along the guide groove 542 with the telescopic movement of the telescopic cross bar 530. Since the telescopic frame 520 is a cross-hinged scissor-type telescopic mechanism, the telescopic process of the structure is stable and the mechanical structure is simple. Driven by the telescopic cross bar 530, the telescopic frame 520 performs folding or stretching actions accordingly with the change of the spacing between the telescopic cross bars 530.

[0123] Specifically, Fig.13 As shown, the mobile end controller 200 controls the operation of the stepper motor 510. The stepper motor 510 serves as a power unit to provide mechanical power for posture switching. The stepper motor 510 receives a control pulse to generate an angular displacement. The stepper motor 510 controls the horizontal telescopic movement of the telescopic cross bar 530 in the telescopic groove 541 through a transmission mechanism. The transmission mechanism includes a stepper motor output shaft 511, a gear set 512 and a threaded screw 513, that is, the stepper motor output shaft 511 of the stepper motor 510 drives the threaded screw 513 to rotate through the gear set 512, and the threaded screw 513 is threadedly connected to the telescopic cross bar 530. The thread inside the telescopic cross bar 530 cooperates with the thread outside the threaded screw 513, thereby driving the telescopic cross bar 530 to telescope, that is, the telescopic cross bar 530 is horizontally telescopically moved in the telescopic groove 541 with the advancement of the threaded screw 513, so as to cooperate with the telescopic frame 520 to achieve up and down telescoping, thereby completing the structural conversion. Since the stepper motor 510 generates angular displacement only when receiving pulses, it can well maintain the vehicle-like or boat-like posture when the posture conversion is completed, avoiding structural changes caused by vibrations during the working process.

[0124] The stepper motor 510 is partially placed inside the control box 4 and connected to the main controller 220 and the power module 700 .

[0125] In addition, a hydraulic cylinder, a gas cylinder or the like may be selected as a power unit to drive the telescopic cross bar 530 to extend and retract.

[0126] like Figures 9 to 12As shown, when the top end of the telescopic frame 520 moves relatively toward the outside under the drive of the telescopic cross bar 530, that is, the telescopic frame 520 is in a cross-folded state, the telescopic frame 520 is retracted and placed at the bottom of the hull frame 2, and the structure conversion module 500 causes the control box 4 to move horizontally downward and convert to a boat-type working mode; when the top end of the telescopic frame 520 moves relatively toward the inside under the drive of the telescopic cross bar 530, that is, the telescopic frame 520 is in a cross-extended state, it is convenient for the robot to enter a vehicle-type working state and work stably through the vehicle-type propulsion module 400, and the structure conversion module 500 causes the control box 4 to move horizontally upward and convert to a vehicle-type working mode.

[0127] The entire telescopic and folding structure of the structural conversion module 500 is simple and convenient to change, and the telescopic process is smooth. The stepper motor 510 of the power unit cooperates with the threads inside the telescopic cross bar 530 and the threads outside the threaded screw 513 to make the telescopic process steplessly adjustable, so that the telescopic frame 520 can have different unfolding angles to meet the needs of pipes of different diameters.

[0128] Furthermore, if Figures 9 and 10 As shown, the vehicle-type propulsion module 400 includes an underwater electric wheel 410 and an electric wheel controller 420. The vehicle-type propulsion module 400 realizes the propulsion of the robot in the vehicle-type working mode through the underwater electric wheel 410 containing the wheel hub motor. The four end feet at the bottom of the telescopic frame 520 are provided with underwater electric wheels 410, and the robot realizes the steering function through the speed difference between the underwater electric wheels 410 on the left and right sides; the electric wheel controller 420 controls the wheel hub motor to drive the underwater electric wheel 410, and the mobile end controller 200 is controlled and connected with the electric wheel controller 420, that is, the mobile end controller 200 controls it through the data interface 210; because the underwater electric wheel 410 is arranged at the bottom of the telescopic frame 520, the cable of the underwater electric wheel 410 is connected to the control box 4 through the waterproof thin tube fixed on the telescopic frame 520, and the mobile end controller 200 controls the vehicle-type propulsion module 400 to realize the robot's forward, backward, acceleration, deceleration and steering in the vehicle-type working mode.

[0129] Furthermore, if Figure 11 to Figure 12As shown, the ship-type propulsion module 600 includes an underwater propeller 610 and a propeller controller 620. The underwater propeller 610 is fixed on the bottom side of the floating body 3 to provide forward power for the movement of the robot in the ship-type working mode. The robot realizes the steering function through the speed difference between the underwater propellers 610 on the left and right sides; the propeller controller 620 is controlled and connected to the underwater propeller 610, and the mobile terminal controller 200 is controlled and connected to the propeller controller 620, that is, it is controlled by the mobile terminal controller 200 through the data interface 210; because the underwater propeller 610 is fixed on the floating body 3, the cable of the underwater propeller 610 is connected to the control box 4 through the waterproof capillary fixed on the floating body 3 and the telescopic cross bar 530, and the mobile terminal controller 200 therein controls the ship-type propulsion module 600 to realize the robot's forward, backward, acceleration, deceleration and steering in the ship-type working mode.

[0130] like Fig.19 As shown, the present invention proposes a control method for an amphibious drainage pipe in-water detection robot, using the above-mentioned amphibious drainage pipe in-water detection robot, comprising the following steps:

[0131] S1: Place the robot from the wellhead into the pipeline, start it and complete the initialization of the corresponding modules, and then proceed to step S2;

[0132] S2: The ground controller 100 is connected to the robot for communication, and the first wireless communication module 140 of the ground controller 100 is connected to the second wireless communication module 230 of the mobile controller 200 for communication, and remote communication and control are performed through the 4G network. The mobile controller 200 collects environmental information in the pipeline through the detection module 300; when the remote controller 130 of the ground controller 100 receives the screen information from the mobile controller 200 and the delay is low, enter step S3;

[0133] S3: Checking the environmental status in the screen information through the display screen 110 of the ground controller 100 to determine the working mode that the robot needs to adopt;

[0134] If there is no water or the water level is shallow, switch to step S4;

[0135] If the water level is moderate or high and can satisfy the robot's floating, switch to step S5;

[0136] The three operating methods used to determine the working mode that the robot needs to adopt are as follows:

[0137] 1. Manual remote control: The operator makes a manual judgment and issues a command through the operating handle 120 based on the environmental information and robot status information received by the ground controller 100 from the mobile controller 200;

[0138] 2. The system is fully autonomously controlled: The mobile terminal controller 200 makes autonomous judgments and issues instructions through the data interface 210 based on the environmental information and robot status information collected by the detection module 300;

[0139] 3. Semi-autonomous control of the system under manual supervision: The monitoring personnel monitor the whole process through the ground controller 100. The mobile controller 200 makes autonomous judgments and issues commands through the data interface 210 based on the environmental information and robot status information collected by the detection module 300. However, manual intervention is performed when necessary, and commands are issued directly through the operating handle 120. The commands issued by the operating handle 120 have a higher priority than the commands issued autonomously by the system. S4: If the robot is originally in the car-type working mode, it remains unchanged.

[0140] If the robot is originally in the boat-type working mode, it is converted to the vehicle-type working mode through the structure conversion module 500, that is, after receiving the command from the ground controller 100 through the stepper motor 510, the telescopic crossbar 530 is controlled to retract, driving the floating body 3 to be retracted inwards, and at the same time driving the telescopic frame 520 to be lowered to be extended, that is, the telescopic frame 520 is rotated outwards by 35° from the original angle to form a vehicle-type structure, so as to support the movement in the pipeline;

[0141] At the same time, the lifting mechanism 321 rises, so that the sonar 320 of the detection module 300 is retracted to avoid obstacles in the working process of the vehicle-type structure affecting the working process, such as Fig.17 As shown, proceed to step S6;

[0142] S5: If the robot is originally in the boat-like working mode, it remains unchanged;

[0143] If the robot is originally in the vehicle-type working mode, it is converted to the boat-type working mode through the structure conversion module 500, that is, the stepping motor 510 controls the telescopic crossbar 530 to extend, driving the floating body 3 to move outward, so that the telescopic frame 520 is retracted to a folded shape, that is, the telescopic frame 520 is rotated inward and recovered to form a boat-type structure to avoid obstruction of navigation in the pipeline;

[0144] At the same time, the lifting mechanism 321 descends, so that the sonar 320 of the detection module 300 is lowered. Fig.18 As shown, proceed to step S6;

[0145] S6: Entering the working state, the propulsion module controls the robot to move, and the mobile terminal controller 200 collects and stores the high-definition image of the water environment in the pipeline through the camera module 310, and the mobile terminal controller 200 collects and stores the sonar image of the underwater environment in the pipeline through the sonar 320, and transmits both the high-definition image and the sonar image to the ground terminal controller 100;

[0146] If the work continues, go to step S3;

[0147] If the work is finished, go to step S7;

[0148] S7: Send instructions to the mobile controller 200 through the ground controller 100 to control the robot to move to the wellhead position, bring the robot back to the ground, disconnect the communication between the ground controller 100 and the robot, manually turn off the power module 700, and complete the entire detection work.

[0149] In summary, in this embodiment, an amphibious drainage pipe in-water detection robot and a control method thereof are proposed, which have the following advantages:

[0150] 1) The amphibious drainage pipe in-water inspection robot and control method of the present invention solves the problem that water supply must be stopped for pipeline inspection in the past, which brings inconvenience to production and life. The robot can detect in the presence of water, use a vehicle-type structure to work in shallow water or waterless areas, and use a ship-type structure to work in deep water areas. The amphibious pipeline robot of the present invention can meet the requirements of complex environments of different pipelines. Unlike a single vehicle-type or ship-type robot that needs to be deployed according to different waters, it significantly improves work efficiency; it can adapt to a variety of environments of drainage pipes and complete inspections inside pipes in different environments. The flexible structural switching method makes the robot highly practical and suitable for working in environments such as culverts and pipelines where the water depth frequently changes;

[0151] 2) The present invention is based on the detection module carried by the robot, which can obtain environmental information and location information in real time, making it convenient for workers to mark the location of pipeline defects. The existing technology uses towline communication and measures the length of the towline for positioning, but this will restrict the work of the robot. The looseness and bending of the towline will affect the positioning accuracy of the detection equipment. The present invention adopts wireless communication and inertial measurement unit positioning, which avoids the entanglement of the towline, reduces the driving resistance, and improves the positioning accuracy;

[0152] 3) The amphibious drainage pipe in-water detection robot and control method of the present invention can perform structural transformation in a timely manner, and the sonar can also flexibly extend and retract during the structural transformation process. The four zoom cameras in the front, back, left and right can all rotate in the horizontal and vertical directions. Through multi-camera image stitching and fusion, an ultra-high-definition panoramic image inside the pipeline can be obtained, which is convenient for detecting and identifying pipeline defects and obtaining more comprehensive and clearer pipeline status information.

[0153] The above is only a preferred embodiment of the present invention and does not limit the present invention in any way. Any technician in the relevant technical field, without departing from the scope of the technical solution of the present invention, makes any form of equivalent replacement or modification to the technical solution and technical content disclosed in the present invention, which does not depart from the content of the technical solution of the present invention and still falls within the protection scope of the present invention.

Claims

1. An amphibious drainage pipe in-water detection robot, characterized in that: The robot comprises a robot body, a detection module (300), a propulsion module, a structure conversion module (500), a ground end controller (100), a mobile end controller (200) and a power supply module (700), wherein: The robot body serves as a carrier for each module and includes a control box (4) and a floating body (3); The detection module (300) is used to collect environmental information and position information of the robot to determine the position, posture and environmental state of the robot in the pipeline; The propulsion module is used to control the movement of the robot, and the propulsion module comprises a vehicle-type propulsion module (400) and a ship-type propulsion module (600); The structure conversion module (500) is used to control the robot to switch between the structures of the vehicle-type and ship-type working modes; The ground-end controller (100) is used for information integration and command issuance, that is, the ground-end controller (100) receives information collected by the detection module (300) through the mobile-end controller (200), and the ground-end controller (100) sends a structure conversion command to the structure conversion module (500) and sends a propulsion command to the propulsion module through the mobile-end controller (200); The mobile end controller (200) is used to receive and transmit information collected by the detection module (300), process the information, and make autonomous control decisions. The mobile end controller (200) is also used to receive instructions issued by the ground end controller (100), and control the movement and structural switching of the robot through the propulsion module and the structural conversion module (500); The power module (700) is used to supply power to the detection module (300), the propulsion module, the structure conversion module (500), the ground end controller (100) and the mobile end controller (200); A main body support (1) and a hull frame (2) are provided below the control box (4); the floating body (3) and the structure conversion module (500) are connected via the main body support (1); the structure conversion module (500) comprises a stepping motor (510), a telescopic frame (520) and a telescopic cross bar (530); the telescopic frame (520) is arranged on the main body support (1); the stepping motor (510) controls the telescopic frame (520) to perform a folding or extending action via the telescopic cross bar (530); when the telescopic frame (520) is in a folded state, the structure conversion module (500) drives the robot main body to be converted into a boat-type working mode; when the telescopic frame (520) is in an extended state, the structure conversion module (500) drives the robot main body to be converted into a vehicle-type working mode; The control box (4) is placed on the top side of the main frame (1) via the hull frame (2), the telescopic frame (520) is placed on the bottom side of the main frame (1), and the floating body (3) is placed on both ends of the main frame (1) via the telescopic cross bar (530); Both ends of the main frame (1) are provided with horizontal telescopic grooves, one end of the telescopic cross bar (530) is placed in the telescopic groove, and the other end is connected to the floating body (3), the telescopic groove is provided with a guide groove (542) arranged along the length direction, the end of the telescopic frame (520) is connected to the telescopic cross bar (530) through the guide groove (542), and the stepping motor (510) controls the telescopic cross bar (530) to perform horizontal telescopic movement in the telescopic groove, that is, the top end of the telescopic frame (520) moves horizontally along the guide groove (542) as the telescopic cross bar (530) moves in telescopic movement. The telescopic frame (520) is a cross-hinged scissor-type telescopic mechanism. When the top end of the telescopic frame (520) moves relatively outward under the drive of the telescopic cross bar (530), the telescopic frame (520) cross-folds, causing the control box (4) to move horizontally downward and switch to a boat-type working mode; when the top end of the telescopic frame (520) moves relatively inward under the drive of the telescopic cross bar (530), the telescopic frame (520) cross-extends, causing the control box (4) to move horizontally upward and switch to a car-type working mode. The detection module (300) comprises a camera module (310), a sonar (320), a laser radar (330) and an inertial measurement unit (340) installed on the control box (4), wherein: The camera module (310) comprises a camera (311), an illumination light source (312) and a pan-tilt platform (313); the camera (311) and the illumination light source (312) are both mounted on the pan-tilt platform (313); The sonar (320) is used to detect the water depth and underwater environment in the pipeline; The laser radar (330) is used to sense the environment above the water surface in the pipeline; The inertial measurement unit (340) is used to sense the position and posture information of the robot; The detection module (300) further comprises a GPS positioning module (350), wherein the GPS positioning module (350) is installed on the control box (4), and the GPS positioning module (350) is used to obtain the geographical coordinates of the robot at the wellhead position, and cooperate with the inertial measurement unit (340) to obtain the geographical coordinates of the robot in the pipeline, thereby completing the precise positioning of the robot; The camera modules (310) are arranged circumferentially around the top of the control box (4); the cameras (311) and the illumination light sources (312) are arranged side by side; the ground-end controller (100) adjusts the camera modules (310) via the mobile-end controller (200), that is, the cameras (311) and the illumination light sources (312) are synchronously rotated in the horizontal and vertical directions on the pan-tilt head (313) via the fine-tuning rods (314); The sonar (320) is arranged below the control box (4) via a lifting mechanism (321), and the ground-end controller (100) adjusts the position of the sonar (320) via the mobile-end controller (200), that is, the sonar (320) is retracted or lowered via the lifting mechanism (321); The vehicle-type propulsion module (400) comprises an underwater electric wheel (410) and an electric wheel controller (420); the robot realizes a steering function through a rotation speed difference between the underwater electric wheels (410) on the left and right sides; the electric wheel controller (420) is control-connected to the underwater electric wheel (410); the mobile end controller (200) is control-connected to the electric wheel controller (420); and the underwater electric wheel (410) is arranged at the bottom end of the telescopic frame (520).

2. The amphibious drainage pipe in-water detection robot according to claim 1, characterized in that: The ground-end controller (100) comprises a display screen (110), an operating handle (120), a remote controller (130) and a first wireless communication module (140), wherein: The display screen (110) is used to visualize information detected by the detection module (300) during the working process; The operating handle (120) is used to send structural conversion instructions and propulsion instructions for controlling the robot; The remote controller (130) is used to remotely monitor the environment information and position information of the robot at the ground end, and make robot action decisions; The first wireless communication module (140) is used for sending and receiving remote data of the ground controller (100); The mobile terminal controller (200) comprises a data interface (210), a main controller (220) and a second wireless communication module (230), wherein: The data interface (210) is used for communication between the mobile terminal controller (200) and the detection module (300) and between the structure conversion module (500) and the propulsion module; The main controller (220) controls the structure conversion module (500), the vehicle-type propulsion module (400), and the ship-type propulsion module (600) to perform corresponding operations according to the instructions sent by the remote controller (130); The second wireless communication module (230) is used for remote data transmission and reception of the mobile terminal controller (200); The first wireless communication module (140) is signal-connected to the second wireless communication module (230).

3. The amphibious drainage pipe in-water detection robot according to claim 1, characterized in that: The ship-type propulsion module (600) comprises an underwater propeller (610) and a propeller controller (620); the robot realizes a steering function through a rotation speed difference between the underwater propellers (610) on the left and right sides; the underwater propeller (610) is control-connected to the propeller controller (620); the mobile terminal controller (200) is control-connected to the propeller controller (620); and the underwater propeller (610) is fixed on the floating body (3).

4. A control method for an amphibious drainage pipe in-water detection robot, using the amphibious drainage pipe in-water detection robot as claimed in any one of claims 1 to 3, characterized in that: The following steps are involved: S1: Place the robot from the wellhead into the pipeline, start it and complete the initialization of the corresponding modules, and then proceed to step S2; S2: connecting the ground-end controller (100) to communicate with the robot, and the mobile-end controller (200) collects environmental information in the pipeline through the detection module (300). When the ground-end controller (100) receives the image information transmitted by the mobile-end controller (200), step S3 is entered; S3: checking the environmental status in the pipeline through the display screen (110) of the ground-end controller (100) to determine the working mode to be adopted by the robot; If there is no water or the water level is shallow, switch to step S4; If the water level is moderate or high, switch to step S5; S4: If the robot is originally in the vehicle-type working mode, it remains unchanged; If the robot is originally in a boat-type working mode, converting it into a vehicle-type working mode through the structure conversion module (500); At the same time, the sonar (320) of the detection module (300) is retracted, and the process proceeds to step S6; S5: If the robot is originally in the boat-type working mode, then the working mode remains unchanged; If the robot is originally in a vehicle-type working mode, the robot is converted into a boat-type working mode through the structure conversion module (500); At the same time, the sonar (320) of the detection module (300) is lowered, and the process proceeds to step S6; S6: Entering a working state, the propulsion module controls the robot to move, and the mobile end controller (200) collects and stores high-definition images of the above-water environment in the pipeline through the camera module (310), and the mobile end controller (200) collects and stores sonar images of the underwater environment in the pipeline through the sonar (320), and transmits both the high-definition images and the sonar images to the ground end controller (100); If the work continues, go to step S3; If the work is finished, go to step S7; S7: Sending instructions to the mobile controller (200) via the ground controller (100) to control the robot to move to the wellhead position, bringing the robot back to the ground, disconnecting the communication between the ground controller (100) and the robot, and manually turning off the power module (700), thereby completing the entire detection work.

5. The control method of the amphibious drainage pipe in-water detection robot according to claim 4 is characterized in that: In step S3, the three operation modes used to determine the working mode to be adopted by the robot are as follows: (1) Manual remote control: The operator manually makes a judgment and issues a command through the operating handle (120) based on the environmental information and robot status information transmitted by the mobile controller (200) and received by the ground controller (100); (2) The system is completely autonomously controlled: the mobile terminal controller (200) makes autonomous judgments based on the environmental information and robot status information collected by the detection module (300) and issues instructions through the data interface (210); (3) Semi-autonomous control of the system under manual supervision: the monitoring personnel monitor the entire process through the ground-end controller (100), and the system autonomously makes judgments and issues instructions through the data interface (210) mainly based on the environmental information and robot status information collected by the detection module (300) by the mobile-end controller (200); however, manual intervention is performed when necessary, and instructions are issued directly through the operating handle (120), and the instructions issued by the operating handle (120) have a higher priority than the instructions issued autonomously by the system; In step S4, when the robot is converted from the boat-type working mode to the vehicle-type working mode, the telescopic crossbar (530) is controlled by the stepping motor (510) to perform a contraction action, thereby driving the floating body (3) to be retracted inwards, and at the same time driving the telescopic frame (520) to be lowered to an extended state; In step S5, when the robot is converted from the vehicle-type working mode to the boat-type working mode, the telescopic crossbar (530) is controlled by the stepping motor (510) to extend, thereby driving the floating body (3) to extend outward, and causing the telescopic frame (520) to be retracted into a folded state.

Images