An intelligent inspection robot

Abstract

The application relates to the technical field of robot devices, in particular to an intelligent inspection robot; a mechanical arm is further installed on the top of the vehicle frame and is used for controlling a polishing cutter head to polish a pipeline crack; a steering rod is rotationally connected to the front end of the vehicle frame through a rotating motor; a camera and a crack filling assembly are vertically arranged on the steering rod along the axial direction of the steering rod; the camera is used for capturing pipeline crack image information, and the crack filling assembly is used for spraying a repairing liquid into the pipeline crack; vertically arranged waterproof plates are symmetrically arranged on the front end and the rear end of the vehicle frame through supporting rods; a drainage assembly is arranged on the waterproof plate close to the vehicle frame and is used for cleaning pipeline accumulated water at the pipeline crack. After water is sealed and isolated by the waterproof plate, the drainage assembly is used for draining water at the crack, and then the crack filling assembly is used for repairing the crack, so that the three components are combined to repair the crack in the pipeline.

Description

Technical Field

[0001] This invention relates to the field of robotic equipment technology, specifically to an intelligent inspection robot. Background Technology

[0002] Since the 20th century, more and more high-performance synthetic materials have been created, effectively solving the needs of pipeline laying. Among them, fiberglass is the most commonly used material, which has the characteristics of high hardness, corrosion resistance and low cost, and can well solve the characteristics of corrosion resistance, pressure resistance and large demand in pipeline laying. Although fiberglass pipes have these characteristics, they can still crack due to vibration and be corroded by sewage. Since the pipes are mostly buried below the soil layer, it is difficult for people to find the location of small cracks and corrosion.

[0003] Therefore, existing technologies have proposed how to solve the problem of detecting cracks inside pipelines; Application No.: CN202011063400.9 discloses a pipeline robot and pipeline inspection equipment, which uses a vision module installed on the main body to acquire real-time image data inside the ditch pipeline and transmits it back to external equipment through a drag cable plugged into an electrical connector. The drive motor of the drive module can transmit power to the drive wheel set under the control of the control module, so that the pipeline robot can move inside the ditch pipeline.

[0004] Although existing technologies can effectively detect and locate cracks and corrosion in pipelines, the resistance of sewage inside the pipeline makes it difficult for ordinary robots to move around. Furthermore, sometimes the cracks contain some adhesives and sewage, which can lead to poor repair results when filling the cracks with repair fluid, as the adhesives can prevent the filler fluid from adhering to the cracks.

[0005] In view of this, and to address the aforementioned shortcomings, this invention develops an intelligent inspection robot. Summary of the Invention

[0006] The purpose of this invention is to provide an intelligent inspection robot that ensures the robot can find and repair pipe cracks, avoids obstructing its movement speed by water flow in the pipe, and can repair pipe cracks more effectively.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] Includes a chassis for driving the inspection robot to move inside the pipeline; the chassis is equipped with a control board for information processing and motion control and an ultrasonic detector for detecting cracks in the pipeline.

[0009] A support assembly is provided on the top of the vehicle frame; the support assembly cooperates with the vehicle frame to ensure the stable movement of the inspection robot inside the pipeline; the support assembly is also used to expand the monitoring range of the ultrasonic detector.

[0010] A robotic arm is also mounted on the top of the frame; the moving end of the robotic arm is rotatably connected to the grinding head via a rotating motor; the robotic arm is used to control the grinding head to grind the cracks in the pipe.

[0011] The front end of the frame is rotatably connected to a steering rod via a rotating motor; the steering rod is vertically mounted with a camera and a crack filling component along its own axis; while the camera captures image information of the pipe crack, the crack filling component is used to spray repair fluid into the pipe crack.

[0012] The front and rear ends of the vehicle frame are symmetrically equipped with vertically placed water-proof plates via support rods; the water-proof plates are equipped with water-proof switching components, which are used to reduce water flow resistance when the inspection robot is moving and to seal the water-proof plates when the inspection robot is stationary; the water-proof plates are also equipped with drainage components near the vehicle frame, which are used to clean water accumulated in pipe cracks.

[0013] The support assembly includes a wheel frame and a first electric pole;

[0014] The wheel frame has a U-shaped structure, with its top hinged to the roller; the top of the first electric rod is rotatably connected to the bottom of the wheel frame; the first electric rod is electrically connected to the control main board; a vibration sensor is installed on the top of the first electric rod, and the signal received by the vibration sensor is input to the control main board to amplify the ultrasonic detection sensitivity; the first electric rod cooperates with the vehicle frame to fix the inspection robot inside the pipeline.

[0015] The crack filling assembly includes a second electric rod, a storage tank, a delivery pipeline, a pressure pump, and a nozzle;

[0016] One end of the second electric rod is fixedly installed to the bottom of the steering rod; the other end of the second electric rod is fixedly connected to the nozzle; the second electric rod is electrically connected to the control main board.

[0017] The storage tank is used to store the repair fluid; the storage tank is connected to the nozzle through the delivery pipe;

[0018] The pressure pump is used to deliver the repair fluid into the nozzle; the pressure pump is fixedly installed on the delivery pipeline; the pressure pump is electrically connected to the control board.

[0019] The drainage assembly includes a water pump, a first suction pipe, a second suction pipe, a reversing valve, and a drainage pipe.

[0020] The water pump is fixedly installed on the side of the water-blocking plate facing the vehicle frame; the water pump is electrically connected to the control main board; the first water suction pipe is installed on the inner bottom of the water-blocking plate; the first water suction pipe is used to discharge water between the two water-blocking plates; the first water suction pipe is connected to the inlet of the reversing valve; the second water suction pipe is installed on the outer bottom of the water-blocking plate; the second water suction pipe is used to pump water from the rear of the water-blocking plate into the water pump; the second water suction pipe is connected to the inlet of the reversing valve; the outlet of the reversing valve is connected to the water pump; the reversing valve is electrically connected to the control main board; the drainage pipe is installed on the front wall of the water-blocking plate at the front of the robot; the outlet of the water pump is connected to the drainage pipe;

[0021] The drainage pipe is placed horizontally; the sidewall of the drainage pipe has multiple water outlet holes arranged in a horizontal array; the drainage pipe is used to flush the water-blocking plate installed at the front of the robot.

[0022] The baffle plate is a plate-shaped structure, and its cross-section matches the cross-section of the pipe; the baffle plate consists of a cover, a sliding plate, a front plate, and a rear plate.

[0023] The cover has a U-shaped structure; the sliding plate is slidably connected inside the cover; one side of the sliding plate is slidably connected inside the cover by a linear drive; the tops of the front plate and the rear plate are slidably connected inside the cover; the front plate and the rear plate are in contact; the top of the front plate is fixedly connected to the sliding plate by a first elastic element; the top of the rear plate is fixedly connected to the sliding plate by a second elastic element; the deformation of the first elastic element is greater than that of the second elastic element, thereby increasing the displacement of the front plate;

[0024] The front plate and the rear plate are respectively provided with a horizontal through hole No. 1 and a through hole No. 2; the central axes of the through hole No. 1 and the through hole No. 2 coincide when the sliding plate is in its initial position; a circular filter screen is provided inside the through hole No. 1 and the through hole No. 2, and the filter screen plays the role of filtering impurities.

[0025] The bottom of the front plate is provided with a deformable part; a wedge-shaped sealing part is fitted to the bottom end of the deformable part, which is used to seal the contact edge between the front plate and the pipe during the downward pressing of the front plate; a rectangular sealing ring is provided at the bottom of the rear plate.

[0026] The cross-section of the deformable component is plow-shaped, which serves to remove deposits from the inner wall of the pipe; the plow-shaped deformable component can also cooperate with the first elastic component to increase the displacement of the front plate.

[0027] The beneficial effects of this invention are as follows:

[0028] This application enables the drainage assembly to control the first suction pipe in the drainage assembly to clean out the sewage between the two baffles; then, the grinding head in the grinding assembly is used to clean and grind the cracks in the drained pipe and remove the sludge; finally, the nozzle in the filling assembly is controlled to spray repair adhesive onto the crack surface for repair; thereby reducing the cost and efficiency of manual repair and preventing the expansion of cracks and corrosion.

[0029] 1. In normal use, the water-blocking plate of this application uses the through holes on its surface to prevent water flow from hindering the robot's movement. When the robot begins to repair cracks, the internal sliding plate drives the front plate and the rear plate to press downwards. With the cooperation of the deformable part at the bottom of the front plate and the first elastic part at the top, the displacement of the front plate is greater than that of the rear plate. As a result, the through holes on the surfaces of the two plates are misaligned. Together with the sealing parts and sealing rings at the bottom of the front plate and the rear plate, they work together to seal the front and rear sides of the water-blocking plate.

[0030] 2. This application controls the No. 1 suction pipe in the drainage assembly to clean out the sewage between the two baffles; then, it uses the grinding head in the grinding assembly to clean and grind the cracks in the drained pipe and remove the sludge; finally, it controls the nozzle in the filling assembly to spray the repair adhesive onto the crack surface for repair; thereby reducing the cost and efficiency of manual repair and preventing the expansion of cracks and corrosion.

[0031] 3. In this application, both the camera and the nozzle are connected to the steering shaft, so that when the steering shaft rotates, the two face the same direction; thereby, when the nozzle sprays repair fluid into the crack, the robot can use the camera to operate precisely on the crack to prevent the nozzle from being unable to be accurately positioned. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the structure of the present invention;

[0033] Figure 2 This is a schematic diagram of the structure of the present invention after the drainage component has been removed;

[0034] Figure 3 This is a side view of the present invention;

[0035] Figure 4 for Figure 3 A schematic diagram of the structure at point a;

[0036] Figure 5 This is a front view of the present invention;

[0037] Figure 6 This is a front view of the present invention after the drainage components have been removed;

[0038] Figure 7 This is a top view of the present invention;

[0039] Figure 8 for Figure 7 A schematic diagram of the structure at point b;

[0040] Figure 9 This is a schematic diagram of the robotic arm.

[0041] Figure 10 for Figure 9 A magnified view of a portion at point c;

[0042] Figure 11 This is a side cross-sectional view of the water-blocking plate of the present invention.

[0043] In the diagram: 1. Frame; 2. Support assembly; 21. Wheel frame; 22. Electric pole No. 1; 3. Robotic arm; 31. Grinding head; 4. Steering rod; 5. Camera; 6. Crack filling assembly; 61. Electric pole No. 2; 62. Liquid storage tank; 63. Delivery pipe; 64. Pressure pump; 65. Nozzle; 7. Waterproof plate; 71. Cover; 72. Sliding plate; 73. Front plate; 731. Elastic component No. 1; 732. Through hole No. 1; 733. Deformable component; 734. Seal; 74. Rear plate; 741. Elastic component No. 2; 742. Through hole No. 2; 743. Sealing ring; 75. Filter screen; 8. Waterproof switching assembly; 9. Drainage assembly; 91. Water pump; 92. Suction pipe No. 1; 93. Suction pipe No. 2; 94. Reversing pump; 95. Drainage pipe. Detailed Implementation

[0044] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0045] Specific Implementation Example 1: This example is applicable to pipe diameters of 200-400mm;

[0046] Includes a frame 1 for driving the inspection robot to move inside the pipeline; the frame 1 is equipped with a control board for information processing and motion control and an ultrasonic detector for detecting pipeline cracks; the frame 1 has dimensions of 100x400x80mm; it can use, for example, an ultrasonic sensor of model US-015 or an ultrasonic probe of model TCT40-16T.

[0047] A support assembly 2 is provided on the top of the frame 1; the support assembly 2 cooperates with the frame 1 to ensure the stable movement of the inspection robot in the pipeline; the support assembly 2 is also used to expand the monitoring range of the ultrasonic detector.

[0048] A robotic arm 3 is also installed on the top of the frame 1; the moving end of the robotic arm 3 is rotatably connected to the grinding head 31 via a rotating motor; the robotic arm 3 is used to control the grinding head 31 to grind the cracks in the pipe.

[0049] The front end of the frame 1 is rotatably connected to the steering rod 4 via a rotating motor; the steering rod 4 is vertically mounted with a camera and a crack filling component 6 along its own axis; while the camera captures the image information of the pipe crack, the crack filling component 6 is used to spray repair fluid into the pipe crack.

[0050] The front and rear ends of the frame 1 are symmetrically equipped with vertically placed water baffles 7 via support rods; the water baffles 7 are equipped with water baffle switching components 8, which are used to reduce water flow resistance when the inspection robot moves and to seal the water baffles 7 when the inspection robot is stationary; the water baffles 7 are also equipped with drainage components 9 near the frame 1, which are used to clean water accumulated in pipe cracks.

[0051] Since smaller cracks and rust have not yet leaked or penetrated, manual repair is costly; however, if left untreated, they can easily expand and cause greater damage. When the image acquisition component detects a small crack (0.1-3mm deep and 1-20mm long), the control board activates the grinding component to grind the damaged area. Then, the drainage component 9 is operated to clean the water and debris around the crack. Finally, the filling component is controlled to spray repair adhesive onto the crack surface for repair, and the location of the repair is recorded. In the next inspection cycle, the information after repair is observed first. If the crack expands further, its relevant information is uploaded to the cloud server and manual repair is requested.

[0052] Since both the camera 5 and the crack filling component 6 are connected to the steering shaft, they face the same direction when the steering shaft rotates. This allows the robot to precisely operate the crack with the help of the camera 5 when the nozzle 65 sprays the repair fluid into the crack, preventing the nozzle 65 from failing to be accurately positioned.

[0053] Meanwhile, since cracks in pipes can appear in any direction, when a crack appears on top of the robot, the conventional camera 5 cannot observe the relevant information about the crack in time. When the robot reaches the crack, the control board controls the steering rod 4 to rotate so that the camera 5 can shoot the crack from the front. This can better collect information on the size and depth of the crack, shorten the preparation time for subsequent repair work, and also avoid the waste of preliminary preparation work due to incorrect estimation of the size of the crack.

[0054] Furthermore, since the cracks and rust must be ground and cleaned before the repair work is carried out, if they are not treated, the repair adhesive will not be able to form a tight bond with the cracks, and the repair work will be ineffective. When a crack is found, the control board controls the movement of the robotic arm 3 to control the grinding position of the grinding head 31, and then controls the main board to start the rotating motor to control the grinding head 31 to rotate to grind the area around the crack.

[0055] During operation, camera 5 rotates in circles to inspect the pipes; the inspection robot can also determine the location of cracks by analyzing the feedback ultrasonic information; therefore, using ultrasonic waves to locate cracks shortens the time for the robot to detect cracks and improves its work efficiency; the ultrasonic sensor transmits ultrasonic waves into the pipe, and after the ultrasonic waves touch an object, they are reflected and begin to move in the opposite direction; the ultrasonic sensor receives the returned ultrasonic waves and transmits them to the control motherboard to analyze the approximate range of the crack.

[0056] When camera 5 captures a crack with a depth of 5-10mm and a length of 21-60mm, the control unit manipulates the positioning system to send the location to the service cloud; at the same time, relevant image information is also sent, and subsequent maintenance work can be carried out only based on the location and image information; this can shorten the initial maintenance preparation time and also reduce the scale of pipeline accidents.

[0057] The ultrasonic detector and camera 5 respectively transmit the acquired sound wave and image information to the control motherboard for processing. Based on the received information, the control motherboard moves the inspection robot to the crack and rust location by manipulating the chassis 1. Then, the control motherboard controls the crack repair unit to repair the crack and rust.

[0058] Support assembly 2 includes wheel frame 21 and electric pole 22;

[0059] The wheel frame 21 has a U-shaped structure, and its top is hinged to the roller; the top of the first electric rod 22 is rotatably connected to the bottom of the wheel frame 21; the first electric rod 22 is electrically connected to the control main board; a vibration sensor is installed on the top of the first electric rod 22, and the signal received by the vibration sensor is input to the control main board to amplify the ultrasonic detection sensitivity; the first electric rod 22 cooperates with the frame 1 to fix the inspection robot inside the pipe.

[0060] Due to the complex internal conditions of the pipeline, the inspection robot sometimes needs to wade through water. Because water has buoyancy, and the chassis 1 is a four-wheel drive vehicle, the inspection robot often floats on the surface of the water and cannot move after wading through it. The rollers can be used for pipes of various diameters by extending the first electric rod 22. The rollers are wrapped with rubber material, and the first electric rod 22 supports the rollers on the top of the inner wall. Through contact, the robot can better receive ultrasonic waves fed back from inside the pipe, thereby improving the efficiency of the inspection robot. The first electric rod 22 is extended upward so that the rollers touch the top of the inner wall of the pipe, thereby supporting the chassis 1 on the bottom of the inner wall of the pipe.

[0061] The crack filling assembly 6 includes a second electric rod 61, a storage tank 62, a delivery pipe 63, a pressure pump 64, and a nozzle 65. One end of the second electric rod 61 is fixedly installed to the bottom of the steering rod 4; the other end of the second electric rod 61 is fixedly connected to the nozzle 65; the second electric rod 61 is electrically connected to the control main board; the storage tank 62 is used to store the repair fluid; the storage tank 62 is connected to the nozzle 65 through the delivery pipe 63; the pressure pump 64 is used to deliver the repair fluid into the nozzle 65; the pressure pump 64 is fixedly installed on the delivery pipe 63; the pressure pump 64 is electrically connected to the control main board.

[0062] During operation, the second electric lever 61 extends to align the nozzle 65 with the crack; at this time, the repair slurry is drawn from the storage tank 62 by the pressure pump 64; then it is sent into the nozzle 65 through the delivery pipe 63; at this time, the control board starts the nozzle 65 to spray the repair slurry onto the crack.

[0063] The drainage assembly 9 includes a water pump 91, a first suction pipe 92, a second suction pipe 93, a reversing valve, and a drainage pipe 95;

[0064] A water pump 91 is fixedly installed on the side of the water partition 7 facing the frame 1; the water pump 91 is electrically connected to the control main board; a first suction pipe 92 is installed on the inner bottom of the water partition 7; the first suction pipe 92 is used to discharge water between the two water partitions 7; the first suction pipe 92 is connected to the inlet of the reversing valve; a second suction pipe 93 is installed on the outer bottom of the water partition 7; the second suction pipe 93 is used to pump water from the rear of the water partition 7 into the water pump 91; the second suction pipe 93 is connected to the inlet of the reversing valve; the outlet of the reversing valve is connected to the water pump 91; the reversing valve is electrically connected to the control main board; a drainage pipe 95 is installed on the front wall of the water partition 7 at the front of the robot; the outlet of the water pump 91 is connected to the drainage pipe 95.

[0065] The drainage pipe 95 is placed horizontally; the side wall of the drainage pipe 95 is provided with multiple water outlet holes arranged in a horizontal direction; the drainage pipe 95 is used to rinse the water baffle 7 installed at the front of the robot.

[0066] Because cracks sometimes appear in the water-bearing sections of pipes, due to the specific requirements of repair, it is necessary to clean the impurities and silt from the cracks. Keeping the cracks dry and clean can effectively improve the repair efficiency of the repair fluid. When the inspection robot is moving, the control board controls the water pump 91 to control the reversing valve to extract the water from the water baffle 7 at the rear of the robot. The water is discharged sequentially through the second suction pipe 93, the water pump 91, and the drainage pipe 95. When the inspection robot moves to the crack, the control board controls the water pump 91 to control the reversing valve to drain the water between the two water baffles 7. The water is discharged sequentially through the first suction pipe 92 located at the bottom of the water baffle 7, the water pump 91, and the drainage pipe 95.

[0067] Furthermore, the water baffle 7 located at the front of the robot often accumulates silt. If this silt is not treated, the robot's movement will consume more power and increase energy consumption. The water in the water pump 91 is pumped into the discharge pipe and drained from the water outlet. Since there are multiple water outlets arranged horizontally, the silt in every corner of the water baffle 7 can be washed clean.

[0068] The baffle plate 7 is a plate-shaped structure, and its cross-section matches the cross-section of the pipe. The baffle plate 7 is composed of a cover 71, a sliding plate 72, a front plate 73, and a rear plate 74.

[0069] The cover 71 has a U-shaped structure; the sliding plate 72 is slidably connected inside the cover 71; one side of the sliding plate 72 is slidably connected inside the cover 71 by means of a linear drive; the tops of the front plate 73 and the rear plate 74 are slidably connected inside the cover 71; the front plate 73 and the rear plate 74 are in contact; the top of the front plate 73 is fixedly connected to the sliding plate 72 by means of a first elastic element 731; the top of the rear plate 74 is fixedly connected to the sliding plate 72 by means of a second elastic element 741; the deformation of the first elastic element 731 is greater than the deformation of the second elastic element 741, thereby increasing the displacement of the front plate 73;

[0070] The front plate 73 and the rear plate 74 are respectively provided with a horizontal through hole 732 and a through hole 742; the central axes of the through hole 732 and the through hole 742 coincide when the sliding plate 72 is in its initial position; a circular filter screen 75 is provided inside the through hole 732 and the through hole 742, and the filter screen 75 plays the role of filtering impurities;

[0071] The bottom of the front plate 73 is provided with a deformable part 733; the bottom end of the deformable part 733 is fitted with a wedge-shaped sealing part 734, which is used to seal the contact edge between the front plate 73 and the pipe during the downward pressing of the front plate 73; the bottom of the rear plate 74 is provided with a rectangular sealing ring 743.

[0072] During operation, since the water baffle 7 will obstruct the robot's movement, a through hole is provided on the surface of the water baffle 7 so that water can flow through the through hole and reduce water resistance. When the robot moves to the crack repair area, the linear drive inside the cover 71 pushes the sliding plate 72 to slide. The sliding plate 72 then squeezes the first elastic element 731 and the second elastic element 741, causing the front plate 73 and the rear plate 74 connected by the first elastic element 731 and the second elastic element 741 to move downward. At this time, the deformable part 733 at the bottom of the front plate 73 is deformed by pressure, so that the wedge-shaped sealing part 734 fits into the pipe. At the same time, the sealing ring 743 at the bottom of the rear plate 74 fits into the pipe and cooperates with the sealing part 734 to seal the pipe and the water baffle 7.

[0073] Furthermore, due to the large amount of expansion and contraction of the deformable part 733, the originally overlapping No. 1 through hole 732 and No. 2 through hole 742 will be misaligned, thereby sealing the through hole; at the same time, since the deformable part 733 has a plow-like structure, it can also remove the sludge at the bottom of the pipe, preventing it from hindering the robot's movement and the pipe repair work.

[0074] Meanwhile, since the sewage in the pipe flows in the through hole, it is necessary to install a circular filter screen 75 inside the first through hole 732 and the second through hole 742 to prevent impurities from clogging the through hole; and in conjunction with the drainage pipe 95 on the surface of the baffle plate 7, to clean the impurities on the surface of the filter screen 75.

[0075] Furthermore, to ensure that the first through hole can remain stable and that the second through hole can maintain a misalignment under the drive of the moving plate, the deformation of the first elastic element 731 is greater than that of the second elastic element 741; by utilizing the difference in deformation between the two, the probability of misalignment between the first through hole and the second through hole is increased.

[0076] The cross-section of the deformable part 733 is plow-shaped, which serves to remove the deposits attached to the inner wall of the pipe; the plow-shaped deformable part 733 can also cooperate with the first elastic part 731 to increase the displacement of the front plate 73.

[0077] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent inspection robot, comprising a frame (1) for driving the inspection robot to move within a pipeline; the frame (1) is internally equipped with a control motherboard for information processing and motion control and an ultrasonic detector for detecting pipeline cracks; characterized in that: The top of the frame (1) is provided with a support component (2); the support component (2) cooperates with the frame (1) for the stable movement of the inspection robot in the pipeline; the support component (2) is also used to expand the monitoring range of the ultrasonic detector; The top of the frame (1) is also equipped with a robotic arm (3); the moving end of the robotic arm (3) is rotatably connected to the grinding head (31) via a rotating motor; the robotic arm (3) is used to control the grinding head (31) to grind the cracks in the pipe; The front end of the frame (1) is rotatably connected to a steering rod (4) via a rotating motor; the steering rod (4) is vertically equipped with a camera and a crack filling component (6) along its own axis; while the camera captures the image information of the pipe crack, the crack filling component (6) is used to spray repair adhesive into the pipe crack; The front and rear ends of the frame (1) are symmetrically provided with vertically placed water-proof plates (7) via support rods; the water-proof plate (7) is provided with a water-proof switching component (8) inside, which is used to reduce the water flow resistance when the inspection robot moves and to seal the water-proof plate (7) when the inspection robot is stationary; the water-proof plate (7) is also provided with a drainage component (9) on the side near the frame (1), which is used to clean the water accumulated in the pipe at the crack of the pipe; The baffle plate (7) is a plate-shaped structure, and its cross-section matches the cross-section of the pipe; the baffle plate (7) is composed of a cover (71), a sliding plate (72), a front plate (73) and a rear plate (74); The cover (71) has a U-shaped structure; the sliding plate (72) is slidably connected to the inside of the cover (71); one side of the sliding plate (72) is slidably connected to the inside of the cover (71) by means of a linear drive member; the tops of the front plate (73) and the rear plate (74) are slidably connected to the inside of the cover (71); the front plate (73) and the rear plate (74) are in contact; the top of the front plate (73) is fixedly connected to the sliding plate (72) by means of a first elastic element (731); the top of the rear plate (74) is fixedly connected to the sliding plate (72) by means of a second elastic element (741); the deformation of the first elastic element (731) is greater than the deformation of the second elastic element (741), thereby increasing the displacement of the front plate (73); The front plate (73) and the rear plate (74) are respectively provided with a horizontal through hole No. 1 (732) and a through hole No. 2 (742); the central axes of the through hole No. 1 (732) and the through hole No. 2 (742) coincide when the sliding plate (72) is in its initial position; a circular filter screen (75) is provided inside the through hole No. 1 (732) and the through hole No. 2 (742), and the filter screen (75) plays the role of filtering impurities; The bottom of the front plate (73) is provided with a deformable part (733); a wedge-shaped sealing part (734) is attached to the bottom end of the deformable part (733), which is used to seal the contact edge between the front plate (73) and the pipe during the downward pressing of the front plate (73); a rectangular sealing ring (743) is provided at the bottom of the rear plate (74). The cross-section of the deformable part (733) is plow-shaped, which serves to remove the deposits attached to the inner wall of the pipe; the plow-shaped deformable part (733) can also cooperate with the first elastic part (731) to increase the displacement of the front plate (73).

2. The intelligent inspection robot according to claim 1, characterized in that: The support assembly (2) includes a wheel frame (21) and a first electric pole (22); The wheel frame (21) has a U-shaped structure, and its top is hinged to the roller; the top of the first electric rod (22) is rotatably connected to the bottom of the wheel frame (21); the first electric rod (22) is electrically connected to the control main board; a vibration sensor is provided on the top of the first electric rod (22), and the signal received by the vibration sensor is input to the control main board to amplify the ultrasonic detection sensitivity; the first electric rod (22) cooperates with the frame (1) to fix the inspection robot in the pipeline.

3. The intelligent inspection robot according to claim 2, characterized in that: The crack filling assembly (6) includes a second electric rod (61), a liquid storage tank (62), a delivery pipe (63), a pressure pump (64), and a nozzle (65); One end of the second electric rod (61) is fixedly installed to the bottom of the steering rod (4); the other end of the second electric rod (61) is fixedly connected to the nozzle (65); the second electric rod (61) is electrically connected to the control main board; The storage tank (62) is used to store the repair fluid; the storage tank (62) is connected to the nozzle (65) through the delivery pipe (63); The pressure pump (64) is used to deliver the repair fluid into the nozzle (65); the pressure pump (64) is fixedly installed on the delivery pipe (63); the pressure pump (64) is electrically connected to the control board.

4. The intelligent inspection robot according to claim 3, characterized in that: The drainage assembly (9) includes a water pump (91), a first suction pipe (92), a second suction pipe (93), a reversing valve, and a drainage pipe (95); The water pump (91) is fixedly installed on the side of the baffle plate (7) facing the frame (1); the water pump (91) is electrically connected to the control main board; the first suction pipe (92) is installed on the inner bottom of the baffle plate (7); the first suction pipe (92) is used to discharge water between the two baffle plates (7); the first suction pipe (92) is connected to the inlet of the reversing valve; the second suction pipe (93) is installed on the baffle plate (7). The outer bottom; the second suction pipe (93) is used to pump water from the rear of the baffle plate (7) into the water pump (91); the second suction pipe (93) is connected to the inlet of the reversing valve; the outlet of the reversing valve is connected to the water pump (91); the reversing valve is electrically connected to the control main board; the drainage pipe (95) is installed on the front wall of the baffle plate (7) at the front of the robot; the outlet of the water pump (91) is connected to the drainage pipe (95); The drainage pipe (95) is placed horizontally; the side wall of the drainage pipe (95) is provided with multiple water outlet holes arranged in a horizontal direction; the drainage pipe (95) is used to flush the water baffle (7) installed at the front of the robot.

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