Urban underground pipe network inspection device

Abstract

The present invention discloses an urban underground pipe network inspection device, comprising: an integrated warehouse, which integrates a control module, a wireless communication module, a power supply module and a shooting module; two symmetrically arranged first power slots, which are fixed on the integrated warehouse and have a driving motor fixed therein; two symmetrically arranged second power slots, which are fixed on the integrated warehouse and have a stepping motor fixed therein; a spiral drum, which is rotatably arranged in the first power slot and the second power slot on the same side of the integrated warehouse, and one end of the spiral drum is connected to the output end of the driving motor, and the other end is provided with a through hole; and a lead screw, one end of which passes through the through hole and enters into the spiral drum, and the other end is connected to the output end of the stepping motor, a push plate is connected to the lead screw for transmission, and the push plate is slidingly limited in the spiral drum; the spiral drum also has a water inlet and outlet hole, and the push plate cooperates with the water inlet and outlet hole to adjust the sinking and floating of the spiral drum.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection, in particular to an urban underground pipeline network inspection device. Background Art

[0002] With the continuous development and expansion of cities, underground pipe networks have become a vital component of modern urban infrastructure. These networks, including pipelines for water supply, drainage, and other services, provide essential infrastructure for residents' lives. However, because these pipe networks are often located underground, it is difficult to directly observe and inspect their operating conditions.

[0003] Traditional pipeline network inspection methods rely primarily on manual labor, requiring personnel to conduct underground inspections and maintenance. This is not only time-consuming and labor-intensive, but also poses safety risks. Furthermore, due to the vastness and complexity of the pipeline network, manual inspections often only cover a limited area, failing to fully understand the overall operational status of the pipelines. Therefore, the development of an efficient, accurate, and comprehensive underground pipeline network inspection device is imperative.

[0004] In recent years, with the development of information technology and the widespread use of intelligent devices, an underground pipeline inspection device based on an intelligent robot has gradually attracted attention. This device can achieve real-time monitoring and assessment of the operating status of underground pipelines by leveraging advanced sensor technology, image processing techniques, and machine learning algorithms.

[0005] This type of underground pipeline inspection device typically consists of multiple modules, including a robot body, sensor modules, image transmission modules, and data processing modules. The robot body navigates the underground environment and uses the sensor modules to acquire relevant data, such as temperature, humidity, pressure, and flow rate. The image transmission module transmits the captured images in real time to a terminal device for remote monitoring and analysis. The data processing module uses machine learning algorithms to analyze and process the sensor data to determine whether there are any anomalies in the pipeline, such as leaks or blockages.

[0006] However, it is often connected to cables and the cables provide power and signal transmission. Although this transmission form is relatively stable, it also limits the travel distance of the equipment, and has many restrictions on the moving range, moving mode, monitoring method, etc., which is not flexible enough.

[0007] Therefore, it is necessary to provide a city underground pipe network inspection device to solve the problems raised in the above background technology. Summary of the Invention

[0008] To achieve the above-mentioned purpose, the present invention provides the following technical solution: an urban underground pipe network inspection device, which can be placed in an underground pipe and inspect the underground pipe, comprising:

[0009] An integrated compartment, which integrates a control module, a wireless communication module, a power supply module, and a shooting module;

[0010] Two symmetrically arranged first power tanks are fixed on the integrated bin and have drive motors fixed inside;

[0011] Two symmetrically arranged second power slots are fixed on the integrated bin and have stepper motors fixed inside;

[0012] A spiral drum is rotatably disposed in the first power tank and the second power tank on the same side of the integrated bin, one end of the spiral drum is connected to the output end of the drive motor, and the other end of the spiral drum is provided with a through hole; and

[0013] A lead screw, one end of which passes through the through hole and enters the spiral drum, and the other end is connected to the output end of the stepping motor. A push plate is connected to the lead screw, and the push plate is limitedly slidably arranged in the spiral drum;

[0014] The spiral drum also has a water inlet and outlet hole, and the push plate cooperates with the water inlet and outlet hole to adjust the sinking and floating of the spiral drum.

[0015] Further, preferably, the control module includes a controller, which controls the drive motor and the stepper motor. The controller is configured such that: before the integrated chamber moves forward, the controller controls the stepper motor to rotate the lead screw and drive the push plate to slide along the axial direction of the spiral drum, and the push plate cooperates with the water inlet and outlet holes to realize water inflow and sedimentation of the spiral drum. Thereafter, the controller controls the drive motor to rotate the two spiral drums inward and move the integrated chamber forward, and at the same time controls the stepper motor to rotate the lead screw and the spiral drum synchronously.

[0016] The moving direction of the integrated chamber is opposite to the water flow direction in the underground pipeline.

[0017] Furthermore, as a preference, the controller is also configured as follows: before the integrated bin retreats, the controller controls the stepper motor to rotate the lead screw, and drives the push plate to slide along the axial direction of the spiral drum, and the drainage and floating of the spiral drum are achieved by cooperating with the push plate and the water inlet and outlet holes. Afterwards, the controller selectively controls the drive motor to rotate the two spiral drums outward and retreat the integrated bin, and at the same time controls the stepper motor to rotate the lead screw and the spiral drum synchronously.

[0018] Furthermore, preferably, the shooting module includes:

[0019] The rod body is vertically fixed to the top of the integrated warehouse;

[0020] A buoy, the buoy being sealingly and slidingly sleeved on the outside of the rod body; and

[0021] a first inspection camera fixed on the buoy;

[0022] The buoy can float in the water and lift the first inspection camera.

[0023] Furthermore, preferably, there is sliding resistance between the float and the rod body.

[0024] Furthermore, preferably, the shooting module further includes:

[0025] A swing shaft, which is horizontally rotatable and provided in the integrated chamber and has power;

[0026] a pendulum rod fixed to the end of the pendulum shaft; and

[0027] A trough body is provided at the bottom of the swing rod, and a second inspection camera is embedded in the trough body.

[0028] Furthermore, preferably, one side of the tank body is connected to an air jet pipe, and the air jet pipe can perform high-pressure air jetting toward the tank body.

[0029] Furthermore, preferably, the rocker arm is divided into two parts, and the two parts are connected by an adaptive member.

[0030] Furthermore, as a preference, a mounting groove is provided at the bottom of the integrated bin for mounting a connecting column, and a spiral groove is provided on the surface of the connecting column;

[0031] A sleeve is further sleeved on the outside of the connecting column, a shift plate is fixed to the bottom of the sleeve, a sphere is embedded in the inside of the sleeve, and the sphere is clamped in the spiral groove.

[0032] Furthermore, as a preference, the paddle plate is divided into an upper plate body and a lower plate body, wherein the lower plate body is a weighted plate body and the upper plate body is a buoyancy plate body, and the buoyancy plate body and the weighted plate body are constructed as follows: when the integrated warehouse sinks into the water of the underground pipeline, the buoyancy provided by the buoyancy plate body is greater than the gravity provided by the weighted plate body, thereby causing the paddle plate to move toward the connecting column under the action of buoyancy; during the movement, the paddle plate deflects, and the direction of the paddle plate is aligned with the direction of the underground pipeline; when the integrated warehouse rises to the surface of the water in the underground pipeline, the buoyancy provided by the buoyancy plate body is less than the gravity provided by the weighted plate body, thereby causing the paddle plate to move away from the connecting column under the action of buoyancy; during the movement, the paddle plate deflects, and the direction of the paddle plate is perpendicular to the direction of the underground pipeline.

[0033] Compared with the prior art, the present invention provides an urban underground pipe network inspection device with the following beneficial effects:

[0034] In the embodiments of the present invention, the sinking and floating mechanism of the integrated pod and the auxiliary function of the paddle play an important role in the measurement task. They ensure the stability of the integrated pod's movement, improve the accuracy of the measurement, and further optimize the pod's endurance and adaptability by reducing power output and providing additional auxiliary functions.

[0035] During the measurement, the integrated chamber sinks, allowing it to remain underwater, thereby reducing interference with the measurement task and achieving higher measurement accuracy. In addition, the center of gravity of the integrated chamber is lower in the sunken state, which helps to reduce the lateral force and tilt angle of the integrated chamber, further improving the accuracy of the measurement.

[0036] During the recovery phase, the pod's buoyancy effectively reduces its power output, improving the economy and efficiency of its movement. Once on the surface, the pod can rely on water flow to move without consuming excessive energy. This natural propulsion not only reduces fuel consumption but also extends sailing time, allowing the pod to perform its missions on the surface for longer periods without the need for power cables.

[0037] It is worth mentioning that there are dials under the integrated silo, which can play a certain auxiliary role. The dials can be adjusted as needed to help the integrated silo move better with the help of water flow. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a schematic diagram of the planar structure of an urban underground pipe network inspection device;

[0039] Figure 2 This is a schematic diagram of the three-dimensional structure of a city underground pipe network inspection device;

[0040] Figure 3 This is a schematic diagram of the overhead structure of an urban underground pipe network inspection device;

[0041] Figure 4 This is a schematic diagram of the upward-looking three-dimensional structure of an integrated warehouse in an urban underground pipe network inspection device;

[0042] Figure 5 This is a structural diagram of a dial plate in an urban underground pipe network inspection device;

[0043] In the figure: 1. Integrated warehouse; 2. First power trough; 3. Second power trough; 4. Spiral drum; 5. Stepper motor; 6. Lead screw; 7. Push plate; 8. Rod body; 9. Float; 10. First inspection camera; 11. Swing shaft; 12. Swing arm; 13. Adaptive part; 14. Trough body; 15. Second inspection camera; 16. Jet pipe; 17. Mounting slot; 18. Connecting column; 19. Spiral groove; 20. Sleeve; 21. Dial plate. DETAILED DESCRIPTION

[0044] Please refer to Figure 1-5 In an embodiment of the present invention, a city underground pipe network inspection device is provided, which can be placed in an underground pipe and inspect the underground pipe, and can be used specifically in a drainage pipe, and includes:

[0045] The integrated warehouse 1 integrates a control module, a wireless communication module, a power supply module and a shooting module. The wireless communication module is used to communicate with the mobile terminal, so that the mobile terminal issues relevant instructions. Preferably, the integrated warehouse 1 also integrates a GPS positioning module;

[0046] Two symmetrically arranged first power tanks 2 are fixed on the integrated bin 1 and have drive motors fixed inside;

[0047] Two symmetrically arranged second power slots 3 are fixed on the integrated bin 1 and have stepper motors 5 fixed inside;

[0048] A spiral drum 4 is rotatably disposed in the first power tank 2 and the second power tank 3 on the same side of the integrated bin 1, and one end of the spiral drum 4 is connected to the output end of the drive motor, and the other end of the spiral drum 4 is provided with a through hole; and

[0049] A lead screw 6, one end of which passes through a through hole into the spiral drum 4, and the other end is connected to the output end of the stepping motor 5. A push plate 7 is connected to the lead screw 6, and the push plate 7 is limitedly slidably arranged in the spiral drum 4;

[0050] The spiral drum 4 also has a water inlet and outlet hole, and the push plate 7 cooperates with the water inlet and outlet hole to adjust the sinking and floating of the spiral drum 4.

[0051] The working principle of the spiral drum 4 is similar to that of a propeller. As the spiral drum 4 rotates, due to its spiral shape, it pushes the surrounding medium (such as air, water, or ground), generating a reaction force, thereby pushing the integrated chamber 1 forward or backward. This propulsion method has certain advantages, as spiral propulsion can generate greater thrust and is more advantageous than traditional wheeled or tracked vehicles in some special environments, such as rugged terrain or muddy ground.

[0052] It should be understood that since the urban underground pipe network inspection device can be used in drainage pipes, there may be some sludge in the drainage pipes. Therefore, the spiral drum 4 constructed in this embodiment can well cope with this situation.

[0053] During measurement missions, the integrated chamber sinks underwater to ensure stability during travel, facilitating smooth measurement. During recovery, the integrated chamber can surface and follow the flow of the water, reducing power output, extending navigation time, and improving mission endurance. Furthermore, a paddle is located within the integrated chamber, providing additional assistance during missions.

[0054] Specifically, the control module includes a controller, which controls the drive motor and the stepper motor 5. The controller is configured as follows: before the integrated chamber 1 moves forward, the controller controls the stepper motor 5 to rotate the lead screw 6 and drive the push plate 7 to slide along the axial direction of the spiral drum 4. The push plate cooperates with the water inlet and outlet holes to realize the water inflow and sedimentation of the spiral drum 4. Then, the controller controls the drive motor to rotate the two spiral drums 4 inward and move the integrated chamber 1 forward, and at the same time controls the stepper motor 5 to rotate the lead screw 6 and the spiral drum 4 synchronously.

[0055] The moving direction of the integrated warehouse 1 is opposite to the direction of water flow in the underground pipeline. The moving direction refers to the direction from the starting point to the destination of the integrated warehouse 1. The integrated warehouse completes the inspection of the underground pipeline in this direction, and the backward direction of the integrated warehouse 1 is opposite to the moving direction.

[0056] The controller is also configured as follows: before the integrated bin 1 retreats, the controller controls the stepper motor 5 to rotate the lead screw 6, and drives the push plate to slide along the axial direction of the spiral drum 4, and the drainage and floating of the spiral drum 4 are achieved by cooperating with the push plate and the water inlet and outlet holes. After that, the controller selectively controls the drive motor to rotate the two spiral drums 4 outward and retreat the integrated bin 1, and at the same time controls the stepper motor 5 to rotate the lead screw 6 and the spiral drum 4 synchronously.

[0057] The purpose of controlling the stepper motor 5 to make the lead screw 6 and the spiral drum 4 rotate synchronously is to ensure the relative stillness of the push plate 7, that is, the push plate 7 will not slide axially, thereby ensuring the stability of the sinking and floating state of the integrated bin 1.

[0058] In this embodiment, the shooting module includes:

[0059] The rod body 8 is vertically fixed to the top of the integrated warehouse 1;

[0060] A buoy 9 is sealingly and slidingly sleeved on the outside of the rod 8; and

[0061] a first inspection camera 10 fixed on the buoy 9;

[0062] The buoy 9 can float in the water and lift the first inspection camera 10 .

[0063] When the integrated warehouse 1 sinks, the buoy 9 can float in the water and lift the first inspection camera 10, ensuring that the first inspection camera 10 can better perform shooting and detection.

[0064] As a preferred embodiment, there is sliding resistance between the float 9 and the rod body 8.

[0065] In order to realize underwater shooting detection, the shooting module also includes:

[0066] A swing shaft 11, which is horizontally rotatable and has power in the integrated bin 1;

[0067] a pendulum rod 12 fixed to the end of the pendulum shaft 11; and

[0068] A slot 14 is formed at the bottom of the swing rod 12 , and a second inspection camera 15 is embedded in the slot 14 .

[0069] As a preferred embodiment, one side of the tank body 14 is connected to an air jet pipe 16 , and the air jet pipe 16 can perform high-pressure air jetting toward the tank body 14 .

[0070] High-pressure jets can be injected into the tank body 14 through the jet pipe 16, so that the water in the tank body 14 can be discharged within a certain period of time, which is conducive to the shooting. It is also important to note that the opening of the tank body is facing the underground pipeline, so the high-pressure jet will also impact the underground pipeline corresponding to the tank body, so that the sludge at this position is blown away, which is more conducive to the shooting.

[0071] As a preferred embodiment, the rocker arm 12 is divided into two parts, and the two parts are connected by an adaptive member 13.

[0072] The adaptive member 13 is an elastic member, such as a spring, an elastic pad, etc.

[0073] In this embodiment, a mounting groove 17 is provided at the bottom of the integrated bin 1 for mounting a connecting column 18 , and a spiral groove 19 is provided on the surface of the connecting column 18 ;

[0074] A sleeve 20 is sleeved on the outside of the connecting column 18 , a shift plate 21 is fixed to the bottom of the sleeve 20 , a sphere is embedded in the inside of the sleeve 20 , and the sphere is locked in the spiral groove 19 .

[0075] In addition, the dial plate 21 is divided into an upper plate body and a lower plate body, wherein the lower plate body is a weighted plate body and the upper plate body is a buoyancy plate body, and the buoyancy plate body and the weighted plate body are constructed as follows: when the integrated warehouse 1 sinks into the water of the underground pipeline, the buoyancy provided by the buoyancy plate body is greater than the gravity provided by the weighted plate body, thereby causing the dial plate 21 to move toward the connecting column 18 under the action of buoyancy. During the movement, the dial plate 21 is deflected, and the direction of the dial plate 21 is flush with the direction of the underground pipeline. It should be understood that the moving direction of the integrated warehouse 1 is opposite to the direction of water flow in the underground pipeline. The moving direction refers to the direction from the starting point to the destination of the integrated warehouse 1. The integrated warehouse completes the inspection of the underground pipeline in this direction, and the backward direction of the integrated warehouse 1 is opposite to the moving direction. Then, when the integrated warehouse moves, the direction of the dial plate 21 is flush with the direction of the underground pipeline, and the water flow does not affect the dial plate.

[0076] When the integrated warehouse 1 rises to the surface of the water in the underground pipeline, the buoyancy provided by the buoyancy plate body is less than the gravity provided by the weight-increasing plate body, thereby causing the paddle plate 21 to move away from the connecting column 18 under the action of the buoyancy. During the movement, the paddle plate 21 is deflected and the direction of the paddle plate 21 is perpendicular to the direction of the underground pipeline. Then, when the integrated warehouse retreats, the water flow can increase the driving force on the integrated warehouse with the help of the paddle plate.

[0077] The above is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A city underground pipe network inspection device, which can be placed in an underground pipe and inspect the underground pipe, characterized by: include: An integrated warehouse (1) is integrated with a control module, a wireless communication module, a power supply module and a shooting module; Two symmetrically arranged first power slots (2) are fixed on the integrated bin (1) and have drive motors fixed therein; Two symmetrically arranged second power slots (3) are fixed on the integrated bin (1) and have stepper motors (5) fixed therein; A spiral drum (4) is rotatably arranged in the first power tank (2) and the second power tank (3) on the same side of the integrated bin (1), and one end of the spiral drum (4) is connected to the output end of the drive motor, and the other end of the spiral drum (4) is provided with a through hole; and A lead screw (6) has one end passing through the through hole and entering the spiral drum (4), and the other end is connected to the output end of the stepping motor (5). A push plate (7) is connected to the lead screw (6) for transmission, and the push plate (7) is limitedly slidably arranged in the spiral drum (4); The spiral drum (4) also has a water inlet and outlet hole, and the push plate (7) cooperates with the water inlet and outlet hole to adjust the sinking and floating of the spiral drum (4); The control module includes a controller, and the controller controls the drive motor and the stepper motor (5). The controller is configured such that: before the integrated chamber (1) moves forward, the controller controls the stepper motor (5) to rotate the lead screw (6) and drives the push plate (7) to slide along the axial direction of the spiral drum (4), and the push plate cooperates with the water inlet and outlet holes to realize the water inflow and sedimentation of the spiral drum (4). Thereafter, the controller controls the drive motor to rotate the two spiral drums (4) inwardly and move the integrated chamber (1) forward, and at the same time controls the stepper motor (5) to rotate the lead screw (6) and the spiral drum (4) synchronously. The moving direction of the integrated chamber (1) is opposite to the direction of water flow in the underground pipeline; The controller is further configured such that: before the integrated bin (1) moves backward, the controller controls the stepper motor (5) to rotate the lead screw (6) and drives the push plate to slide along the axial direction of the spiral drum (4), and the spiral drum (4) is floated and drained by cooperating with the push plate and the water inlet and outlet holes. Afterwards, the controller selectively controls the drive motor to rotate the two spiral drums (4) outward and move the integrated bin (1) backward, and simultaneously controls the stepper motor (5) to rotate the lead screw (6) and the spiral drum (4) synchronously. The shooting module includes: A swing shaft (11) is horizontally rotatably disposed in the integrated bin (1) and has power; a pendulum rod (12) fixed to the end of the pendulum shaft (11); and A trough (14) is provided at the bottom of the swing rod (12), and a second inspection camera (15) is embedded in the trough (14); One side of the tank body (14) is connected to an air jet pipe (16), and the air jet pipe (16) can perform high-pressure jetting toward the tank body (14). The opening of the tank body (14) faces the direction of the underground pipeline, so that the sludge at the location can be blown away by the high-pressure jet, thereby facilitating filming. The rocker (12) is divided into two parts, and the two parts are connected by an adaptive member (13), and the adaptive member (13) is an elastic member.

2. The urban underground pipe network inspection device according to claim 1, characterized in that: The shooting module also includes: A rod body (8) is vertically fixed to the top of the integrated bin (1); A buoy (9) is sealingly and slidingly sleeved on the outside of the rod body (8); and a first inspection camera (10) fixed on the buoy (9); The buoy (9) is capable of floating in water and lifting the first inspection camera (10).

3. The urban underground pipe network inspection device according to claim 2, characterized in that: There is sliding resistance between the buoy (9) and the rod body (8).

4. The urban underground pipe network inspection device according to claim 1, characterized in that: The bottom of the integrated bin (1) is provided with a mounting groove (17) for mounting a connecting column (18), and the surface of the connecting column (18) is provided with a spiral groove (19); The outside of the connecting column (18) is further provided with a sleeve (20), the bottom of the sleeve (20) is fixed with a shift plate (21), the inside of the sleeve (20) is embedded with a sphere, and the sphere is clamped in the spiral groove (19); The dial plate (21) is divided into an upper plate body and a lower plate body, wherein the lower plate body is a weighted plate body, and the upper plate body is a buoyancy plate body. The buoyancy plate body and the weighted plate body are configured such that: when the integrated warehouse (1) sinks into the water of the underground pipeline, the buoyancy provided by the buoyancy plate body is greater than the gravity provided by the weighted plate body, thereby causing the dial plate (21) to move toward the connecting column (18) under the action of the buoyancy. During the movement, the dial plate (21) deflects, and the direction of the dial plate (21) is aligned with the direction of the underground pipeline. When the integrated warehouse (1) rises to the surface of the water of the underground pipeline, the buoyancy provided by the buoyancy plate body is less than the gravity provided by the weighted plate body, thereby causing the dial plate (21) to move away from the connecting column (18) under the action of the buoyancy. During the movement, the dial plate (21) deflects, and the direction of the dial plate (21) is perpendicular to the direction of the underground pipeline.

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