Urban underground pipe network detection device and detection method

Abstract

The application provides a kind of urban underground pipe network detection device and detection method, including vehicle body, swing arm and drive assembly, the side of vehicle body is rotatably connected with walking wheel, and the top of vehicle body is provided with camera;Swing arm is rotatably connected to the top of vehicle body by swing shaft, and the main shaft of swing shaft extends perpendicular to the trend of vehicle body, and swing arm can be vertically oscillated to the front side of vehicle body;Drive assembly is connected to the top of vehicle body, for driving swing shaft to rotate;Wherein, swing arm can be vertically oscillated to the top of obstacle under the rotation of swing shaft to support vehicle body, and make vehicle body cross over obstacle.The urban underground pipe network detection device provided by the application can drive swing shaft to rotate by drive assembly to make swing arm vertically oscillate to the top of obstacle, lift a group of walking wheels adjacent to swing arm of vehicle body, and the other group of walking wheels rotates to make vehicle body cross over obstacle, realize the easy obstacle crossing of detection device, so that it can continue to advance to the deep of pipe to detect, improve detection efficiency.

Description

Technical Field

[0001] This invention belongs to the field of underground pipeline detection technology, and more specifically, relates to an urban underground pipeline detection device and detection method. Background Technology

[0002] Underground pipe networks are an important part of urban infrastructure construction and a crucial guarantee for the normal functioning of other urban functions. Pipeline detection refers to the detection of the direction and depth of underground pipelines without excavation, generally using pipeline detection devices that travel inside the pipelines.

[0003] Currently, during pipeline detection, due to debris or obstacles inside the pipeline, the pipeline detection device can easily pass over small obstacles, but large obstacles will hinder the movement of the pipeline detection device and prevent it from continuing to detect at a deeper level, thus affecting the detection efficiency. Summary of the Invention

[0004] This invention provides an urban underground pipeline network detection device and method. The device can drive the swing shaft to rotate through the drive component, so that the swing arm swings vertically to the top of the obstacle, raises a set of wheels adjacent to the swing arm, and rotates another set of wheels to make the vehicle body pass over the obstacle. This enables the detection device to easily overcome obstacles and continue to travel deeper into the pipeline for detection, thus improving detection efficiency.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: An urban underground pipeline network detection device and detection method are provided, comprising a vehicle body, a swing arm, and a drive assembly. A driving wheel is rotatably connected to the side of the vehicle body, and a camera is mounted on the top of the vehicle body. The swing arm is rotatably connected to the top of the vehicle body via a swing shaft, the main axis of which extends perpendicular to the direction of the vehicle body, and the swing arm can swing vertically to the front of the vehicle body. The drive assembly is connected to the top of the vehicle body and is used to drive the swing shaft to rotate. The swing arm can swing vertically onto an obstacle under the rotation of the swing shaft to support the vehicle body and allow the vehicle body to pass over the obstacle.

[0006] In one possible implementation, a driven gear is fixedly sleeved on the outer periphery of the swing shaft, and the drive assembly includes a rotating shaft and a driving gear. The rotating shaft is rotatably connected to the top of the vehicle body and extends perpendicular to the direction of the vehicle body. One end of the rotating shaft is connected to a motor. The driving gear is sleeved on the rotating shaft and is used to mesh with the driven gear to drive the driven gear to rotate.

[0007] In some embodiments, two swing arms are symmetrically arranged on both sides of the rotating shaft. A driven gear is fixedly sleeved on the outer periphery of each swing arm. The two driven gears are staggered in the axial direction of the rotating shaft. The driving gear is slidably sleeved on the rotating shaft. The driving gear can move along the axial direction of the rotating shaft to mesh with one of the driven gears. The vehicle body is provided with a push-pull member for driving the driving gear to move along the rotating shaft.

[0008] In some embodiments, the push-pull member extends axially along the shaft and the extended end is slidably connected to the drive gear along the circumference of the drive gear, and the push-pull member can drive the drive gear to move axially along the shaft.

[0009] In some embodiments, the driving gear is a sector gear.

[0010] In some embodiments, a torsion spring is fitted on the swing shaft, with one end of the torsion spring connected to the swing shaft and the other end connected to the vehicle body. The torsion spring can elastically pull the swing arm back and swing it vertically above the vehicle body.

[0011] In some embodiments, the outer peripheral wall of the shaft is provided with an axially extending positioning groove, and the inner peripheral wall of the drive gear is provided with a protruding positioning block that slides with the positioning groove.

[0012] In some embodiments, a scraper is rotatably connected to the vehicle body above the camera. The scraper is coaxially arranged with the camera and can rotate around the axis to scrape the peripheral wall of the camera. The scraper is connected to the swing shaft through a bevel gear transmission assembly and is used to rotate circumferentially under the drive of the swing shaft.

[0013] In one possible implementation, the two ends of the swing shaft extend to both sides of the vehicle body, and the swing arm includes two swing rods, a connecting rod, and a guide wheel. The two swing rods are connected to the two ends of the swing shaft in a one-to-one correspondence and extend radially along the swing shaft. The connecting rod connects the extended ends of the two swing rods. The guide wheel is rotatably connected to the connecting rod.

[0014] This invention also provides a detection method for urban underground pipe network detection using an urban underground pipe network detection device, comprising the following steps:

[0015] The vehicle is placed inside the pipe, driven to move forward, and the internal conditions of the pipe are detected by a camera;

[0016] When encountering an obstacle, the drive assembly drives the swing shaft to rotate so that the swing arm swings vertically to the top of the obstacle, raising a set of wheels adjacent to the swing arm and the other set of wheels to rotate so that the vehicle body can pass over the obstacle.

[0017] After passing the obstacle, the drive assembly drives the swing shaft to rotate, causing the swing arm to swing vertically above the vehicle body.

[0018] Compared with the prior art, the urban underground pipeline network detection device provided in this embodiment, when encountering an obstacle, drives the swing shaft to rotate so that the swing arm swings vertically to the top of the obstacle, lifts a set of walking wheels adjacent to the swing arm, and rotates another set of walking wheels to make the vehicle body pass over the obstacle, realizing easy obstacle crossing of the detection device, so that it can continue to travel to the depth of the pipeline for detection, thus improving the detection efficiency. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of the urban underground pipeline network detection device provided in an embodiment of the present invention;

[0021] Figure 2 This is an embodiment of the present invention. Figure 1 A magnified schematic diagram of the local structure at point I;

[0022] Figure 3 A schematic diagram of the urban underground pipeline network detection device provided in an embodiment of the present invention from another perspective;

[0023] Figure 4 This is an embodiment of the present invention. Figure 3 A magnified schematic diagram of the structure at point II.

[0024] The following are the labeling elements in the figure:

[0025] 10. Vehicle body; 11. Wheels; 12. Camera; 20. Swing arm; 21. Swing shaft; 22. Swing rod; 23. Connecting rod; 24. Guide wheel; 30. Drive assembly; 31. Drive gear; 311. Positioning block; 32. Rotating shaft; 321. Positioning groove; 322. Motor; 40. Push-pull component; 50. Torsion spring; 60. Scraper component; 70. Bevel gear transmission assembly; 80. Driven gear. Detailed Implementation

[0026] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0027] It should be noted that when an element is referred to as being "set on" another element, it can be directly on or indirectly on the other element. It should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the invention, "a number" means two or more, unless otherwise explicitly specified.

[0028] The direction of travel of vehicle body 10 is defined as the forward and backward direction.

[0029] Please see Figures 1 to 4 The following describes the urban underground pipeline network detection device and method provided by the present invention. The urban underground pipeline network detection device includes a vehicle body 10, a swing arm 20, and a drive assembly 30. The vehicle body 10 is rotatably connected to a walking wheel 11 on its side, and a camera 12 is provided on the top of the vehicle body 10. The swing arm 20 is rotatably connected to the top of the vehicle body 10 via a swing shaft 21. The main axis of the swing shaft 21 extends perpendicular to the direction of the vehicle body 10, and the swing arm 20 can swing vertically to the front of the vehicle body 10. The drive assembly 30 is connected to the top of the vehicle body 10 and is used to drive the swing shaft 21 to rotate. The swing arm 20 can swing vertically to an obstacle under the rotation of the swing shaft 21 to support the vehicle body 10 and allow the vehicle body 10 to pass over the obstacle.

[0030] The traveling wheels 11 are provided in two sets and are spaced apart along the front and rear direction of the vehicle body 10. Each set of traveling wheels 11 includes two traveling wheels 11 located on both sides of the vehicle body 10. Each set of traveling wheels 11 is driven by a driving component.

[0031] This application provides an urban underground pipeline detection device. In actual use, the detection device is placed inside the pipeline, and the driving component drives the walking wheels 11 to rotate, thereby driving the vehicle body 10 to move inside the pipeline. The camera 12 detects the internal condition of the pipeline. When an obstacle is encountered, the driving component 30 drives the swing shaft 21 to rotate, so that the swing arm 20 swings vertically to the top of the obstacle, raising one set of walking wheels 11 adjacent to the swing arm 20 of the vehicle body 10. The other set of walking wheels 11 rotates to allow the vehicle body 10 to pass over the obstacle. After passing over the obstacle, the driving component 30 drives the swing shaft 21 to rotate, so that the swing arm 20 swings vertically above the vehicle body 10, allowing the detection device to continue to travel deeper into the pipeline for detection, thus improving detection efficiency.

[0032] Compared with the prior art, the urban underground pipeline network detection device provided in this embodiment, when encountering an obstacle, drives the swing shaft 21 to rotate so that the swing arm 20 swings vertically to the top of the obstacle, lifts a set of walking wheels 11 adjacent to the swing arm 20, and rotates another set of walking wheels 11 so that the vehicle body 10 can pass over the obstacle, realizing easy obstacle crossing of the detection device, so that it can continue to travel to the depth of the pipeline for detection, thus improving the detection efficiency.

[0033] In one possible implementation, the aforementioned pendulum axis 21 adopts the following... Figures 1 to 3 The structure shown is described in the following document. Figures 1 to 3 The outer periphery of the swing shaft 21 is fixedly fitted with a driven gear 80. The drive assembly 30 includes a rotating shaft 32 and a driving gear 31. The rotating shaft 32 is rotatably connected to the top of the vehicle body 10 and extends perpendicular to the direction of the vehicle body 10. One end of the rotating shaft 32 is connected to a motor 322. The driving gear 31 is fitted on the rotating shaft 32 and is used to mesh with the driven gear 80 to drive the driven gear 80 to rotate.

[0034] Specifically, the detection device is placed inside the pipe, and the driving component drives the traveling wheels 11 to rotate, thereby driving the vehicle body 10 to move inside the pipe. The camera 12 detects the internal conditions of the pipe. When an obstacle is encountered, the motor 322 drives the rotating shaft 32 to rotate, which drives the drive gear 31 to rotate. The drive gear 31 drives the driven gear 80 to rotate, thereby causing the swing shaft 21 to drive the swing arm 20 to swing to the top of the obstacle. This lifts one set of traveling wheels 11 adjacent to the swing arm 20 of the vehicle body 10, and the other set of traveling wheels 11 rotates to allow the vehicle body 10 to pass over the obstacle, so that the detection device can continue to travel deeper into the pipe for detection, thus improving detection efficiency.

[0035] In some embodiments, see Figures 1 to 3Two swing arms 20 are symmetrically arranged on both sides of the rotating shaft 32. Each swing arm 21 has a driven gear 80 fixedly sleeved on its outer circumference. The two driven gears 80 are staggered in the axial direction of the rotating shaft 32. The driving gear 31 is slidably sleeved on the rotating shaft 32. The driving gear 31 can move along the axial direction of the rotating shaft 32 to mesh with one of the driven gears 80. The vehicle body 10 is provided with a push-pull member 40 for driving the driving gear 31 to move along the rotating shaft 32.

[0036] Specifically, the two swing arms 20 can swing to the front and rear of the vehicle body 10 respectively. When the vehicle body 10 moves forward, the swing arm 20 that can swing to the front of the vehicle body 10 can be used to overcome obstacles. When the vehicle body 10 moves backward, the swing arm 20 that can swing to the rear of the vehicle body 10 can be used to overcome obstacles.

[0037] When the vehicle body 10 encounters an obstacle while moving forward, the push-pull component 40 drives the drive gear 31 to move along the axis of the rotating shaft 32 to mesh with the driven gear 80 on the swing arm 20 that can swing to the front of the vehicle body 10, thereby driving the swing arm 20 to overcome the obstacle.

[0038] When the vehicle body 10 encounters an obstacle while moving backward, the push-pull component 40 drives the drive gear 31 to move axially along the shaft 32 until it meshes with the driven gear 80 on the swing arm 20, which can swing to the rear of the vehicle body 10, thereby driving the swing arm 20 to overcome the obstacle, thus improving the overall practicality.

[0039] Optionally, the push-pull component 40 includes two cylinders spaced apart along the axial direction of the rotating shaft 32. The telescopic ends of the two cylinders are arranged opposite each other and are located on both sides of the drive gear 31. The telescopic ends of the cylinders are rotatably connected to rollers that roll into contact with the end face of the drive gear 31. By extending and retracting the two cylinders, the drive gear 31 is driven to mesh with one of the driven gears 31. The slight clamping of the drive gear 31 by the rollers of the two cylinders restricts the position of the drive gear 31 along the axial direction of the rotating shaft 32 and ensures that the drive gear 31 can rotate normally.

[0040] Optionally, the push-pull member 40 extends axially along the rotating shaft 32, and the extended end is slidably connected to the driving gear 31 around the circumference of the driving gear 31. The push-pull member 40 can drive the driving gear 31 to move axially along the rotating shaft 32. The push-pull member 40 is a cylinder, and the telescopic end of the cylinder is slidably connected to the driving gear 31. This achieves an indirect connection between the push-pull member 40 and the driving gear 31, and drives the driving gear 31 to move axially. It also achieves the effect that the rotation of the driving gear 31 and the push-pull member 40 do not interfere with each other.

[0041] In some embodiments, see Figures 1 to 3The push-pull member 40 extends axially along the rotating shaft 32, and the extended end is slidably connected to the driving gear 31 along the circumference of the driving gear 31. The push-pull member 40 can drive the driving gear 31 to move axially along the rotating shaft 32.

[0042] Specifically, the push-pull component 40 is a cylinder, and the telescopic end of the cylinder is slidably connected to the drive gear 31. This achieves an indirect connection between the push-pull component 40 and the drive gear 31, and drives the drive gear 31 to move axially. It also achieves the effect that the rotation of the drive gear 31 and the push-pull component 40 do not interfere with each other.

[0043] Furthermore, the end face of the drive gear 31 near the push-pull member 40 is provided with an annular groove, and the telescopic end of the push-pull member 40 near the drive gear 31 is connected to a slider that slides in cooperation with the annular groove.

[0044] Furthermore, two push-pull components 40 are symmetrically provided on both sides of the rotating shaft 32, which improves the stability of the axial movement of the drive gear 31.

[0045] In some embodiments, see Figures 1 to 3 The driving gear 31 is a sector gear.

[0046] Specifically, the sector-shaped drive gear 31 facilitates the adjustment of its position. When the drive gear 31 rotates to a position where the shaft 32 is away from one of the driven gears 80 or the other second driven gear 80, the position of the drive gear 31 can be adjusted at will, avoiding interference with the driven gears 80 when adjusting the position of the drive gear 31, thus improving practicality.

[0047] In its natural state, the two swing arms 20 are positioned at the front and rear of the vehicle body 10, respectively. After the drive gear 31 is adjusted, it rotates and meshes with one of the driven gears 80, thereby driving the driven gear 80 to rotate. This causes the corresponding swing arm 20 to swing upward to a suitable position, controlling the vehicle body 10 to approach the obstacle. The drive gear 31 is then rotated in the opposite direction, controlling the swing arm 20 to swing downward and rest on top of the obstacle, supporting the part of the vehicle body 10 near the obstacle. This part of the vehicle body 10 rests on top of the obstacle, meaning that a set of wheels 11 near the obstacle rests on top of the obstacle. Driven by the drive unit, the two sets of wheels 11 drive the vehicle body 10 to move and cross the obstacle, allowing the detection device to continue to probe deeper into the pipe, improving detection efficiency. After the drive swing arm 20 swings to its natural position, the drive gear 31 disengages from the driven gear 80, facilitating axial adjustment of the drive gear 31 and improving practicality.

[0048] In some embodiments, see Figure 1 and Figure 3A torsion spring 50 is fitted on the swing shaft 21. One end of the torsion spring 50 is connected to the swing shaft 21 and the other end is connected to the vehicle body 10. The torsion spring 50 can elastically pull back the swing arm 20 to swing vertically above the vehicle body 10.

[0049] Specifically, the central angle of the drive gear 31 is between 60 and 70 degrees. In its natural state, the acute angle between the swing arm 20 and the horizontal plane is between 30 and 35 degrees and it is located above the vehicle body 10, so as to avoid interference with other obstacles during the movement of the vehicle body 10 and affect the movement of the vehicle.

[0050] The horizontal plane extending radially along the pendulum axis 21 is defined as the plane of symmetry. In its natural state, the two swing arms 20 are positioned above the vehicle body 10, controlling the vehicle body 10 to approach the obstacle. After the drive gear 31 is adjusted, it rotates and meshes with one of the driven gears 80, thereby driving the driven gear 80 to rotate. This causes the corresponding swing arm 20 to swing downwards and rest on the top of the obstacle (during which the torsion spring 50 generates torque), supporting the part of the vehicle body 10 near the obstacle. This part of the vehicle body 10 rests on the top of the obstacle, meaning that a set of wheels 11 near the obstacle rests on the top of the obstacle. Driven by the drive unit, the two sets of wheels 11 drive the vehicle body 10 to move and cross the obstacle, allowing the detection device to continue to probe deeper into the pipe, improving detection efficiency. After the drive swing arm 20 swings to a position symmetrical about the plane in its natural state, the drive gear 31 disengages from the driven gear 80, and the swing arm 20 returns to its initial position under the torque of the torsion spring 50. This not only facilitates the axial adjustment of the drive gear 31 but also allows the swing arm 20 to automatically swing back above the vehicle body 10, improving practicality.

[0051] In some embodiments, see Figures 1 to 3 The outer peripheral wall of the rotating shaft 32 is provided with an axially extending positioning groove 321, and the inner peripheral wall of the drive gear 31 is provided with a protruding positioning block 311 that slides with the positioning groove 321.

[0052] Specifically, the positioning block 311 and the positioning groove 321 allow the drive gear 31 to move axially along the rotating shaft 32 and restrict the relative rotation between the drive gear 31 and the rotating shaft 32. This facilitates the adjustment of the position of the drive gear 31 in the axial direction of the rotating shaft 32 and enables the rotating shaft 32 to drive the drive gear 31 to rotate, thus improving practicality.

[0053] In some embodiments, see Figure 1 , Figure 3 and Figure 4A scraper 60 is rotatably connected to the vehicle body 10 above the camera 12. The scraper 60 is coaxially arranged with the camera 12 and can rotate around the axis to scrape the peripheral wall of the camera 12. The scraper 60 is connected to the swing shaft 21 through the bevel gear transmission assembly 70 and is used to rotate circumferentially under the drive of the swing shaft 21.

[0054] Specifically, during the vertical swing of the swing arm 20, the scraping component 60 can rotate around the outer periphery of the camera 12 through the transmission of the bevel gear transmission assembly 70, thereby scraping the camera 12 to ensure the clarity of the camera 12. At the same time, the swing of the swing arm 20 drives the scraping component 60 to clean the camera 12. That is, the swing arm 20 can also clean the camera 12 while swinging over obstacles. There is no need to install other drive components to drive the scraping component 60 separately, which achieves unexpected results and improves practicality.

[0055] Furthermore, the bevel gear transmission assembly 70 is further refined. The top of the scraper 60 is provided with a first bevel gear, the swing shaft 21 is provided with a second bevel gear, and a first transmission shaft parallel to the swing shaft 21 is rotatably connected to the vehicle body 10. The two ends of the first transmission shaft are respectively connected to third bevel gears, one of which meshes with the first bevel gear. A second transmission shaft parallel to and perpendicular to the swing shaft 21 is rotatably connected to the vehicle body 10. The two ends of the second transmission shaft are respectively connected to fourth bevel gears, one of which meshes with the second bevel gear, and the other fourth bevel gear meshes with the other third bevel gear.

[0056] In one possible implementation, the aforementioned pendulum axis 21 adopts the following... Figure 1 and Figure 3 The structure shown is described in the following document. Figure 1 and Figure 3 The two ends of the swing shaft 21 extend to both sides of the vehicle body 10. The swing arm 20 includes two swing rods 22, a connecting rod 23 and a guide wheel 24. The two swing rods 22 are connected to the two ends of the swing shaft 21 in a corresponding manner and extend radially along the swing shaft 21. The connecting rod 23 connects the extended ends of the two swing rods 22. The guide wheel 24 is rotatably connected to the connecting rod 23.

[0057] Specifically, the two ends of the swing shaft 21 extend to both sides of the vehicle body 10, that is, the ends of the swing shaft 21 are located on the outside of the corresponding driving wheel 11, which facilitates the installation of the swing rod 22 and avoids interference between the swing rod 22 and the vehicle body 10 during the swing process. At the same time, the length of the swing rod 22 can prevent the connecting rod 23 from interfering with the vehicle body 10 during the swing process, thus improving practicality.

[0058] The guide wheel 24 on the connecting rod 23 can roll in coordination with the obstacle when it is placed on the obstacle, making it easier for the vehicle body 10 to cross the obstacle and improving its practicality.

[0059] Furthermore, the running wheels 11 protrude from the outer side of the vehicle body 10.

[0060] The diameter of the running wheels 11 is greater than the thickness of the vehicle body 10. That is, the running wheels 11 protrude from the top and bottom of the vehicle body 10. The running wheels 11 near the front of the vehicle body 10 protrude from the front side of the vehicle body 10, and the running wheels 11 near the rear of the vehicle body 10 protrude from the rear side of the vehicle body 10. The large diameter running wheels 11 improve the obstacle-crossing ability of the detection device, increase the distance between the chassis of the vehicle body 10 and the bottom wall of the pipe, and can directly cross smaller obstacles, thereby improving the travel efficiency of the vehicle body 10.

[0061] This invention also provides a detection method for urban underground pipe network detection using an urban underground pipe network detection device, comprising the following steps:

[0062] The vehicle body 10 is placed inside the pipe, the vehicle body 10 is driven to move, and the internal condition of the pipe is detected by the camera 12;

[0063] When encountering an obstacle, the drive assembly 30 drives the swing shaft 21 to rotate so that the swing arm 20 swings vertically to the top of the obstacle, raising a set of wheels 11 of the vehicle body 10 adjacent to the swing arm 20, and another set of wheels 11 rotates so that the vehicle body 10 passes over the obstacle.

[0064] After passing the obstacle, the drive assembly 30 drives the swing shaft 21 to rotate so that the swing arm 20 swings vertically above the vehicle body 10.

[0065] Specifically, the detection device is placed inside the pipe, and the driving component drives the traveling wheels 11 to rotate, thereby moving the vehicle body 10 inside the pipe. The camera 12 detects the internal conditions of the pipe. When an obstacle is encountered, the driving component 30 drives the swing shaft 21 to rotate, causing the swing arm 20 to swing vertically to the top of the obstacle. This raises one set of traveling wheels 11 adjacent to the swing arm 20, while the other set of traveling wheels 11 rotates to allow the vehicle body 10 to pass over the obstacle. After passing over the obstacle, the driving component 30 drives the swing shaft 21 to rotate, causing the swing arm 20 to swing vertically above the vehicle body 10, allowing the detection device to continue to travel deeper into the pipe for detection, thus improving detection efficiency.

[0066] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An urban underground pipeline detection device, characterized in that, include: The vehicle body has wheels that are rotatably connected to its side, and a camera is installed on the top of the vehicle body. A swing arm is rotatably connected to the top of the vehicle body via a swing shaft. The main axis of the swing shaft extends perpendicular to the direction of the vehicle body, and the swing arm can swing vertically to the front of the vehicle body. as well as A drive assembly, connected to the top of the vehicle body, is used to drive the swing shaft to rotate; The swing arm can swing vertically onto the obstacle under the rotation of the swing shaft to support the vehicle body and allow the vehicle body to pass over the obstacle; A driven gear is fixedly sleeved on the outer periphery of the swing shaft, and the drive assembly includes: A rotating shaft, rotatably connected to the top of the vehicle body and extending perpendicular to the direction of the vehicle body, with a motor connected to one end of the shaft; and A driving gear is sleeved on the rotating shaft and is used to mesh with the driven gear to drive the driven gear to rotate; Two swing arms are symmetrically arranged on both sides of the rotating shaft. Each swing arm is fixedly fitted with a driven gear on its outer periphery. The two driven gears are staggered in the axial direction of the rotating shaft. The driving gear is slidably fitted on the rotating shaft. The driving gear can move along the axial direction of the rotating shaft to mesh with one of the driven gears. The vehicle body is provided with a push-pull component for driving the driving gear to move along the rotating shaft. The driving gear is a sector gear; A torsion spring is fitted on the swing shaft. One end of the torsion spring is connected to the swing shaft and the other end is connected to the vehicle body. The torsion spring can elastically pull back the swing arm and swing it vertically to above the vehicle body. The outer peripheral wall of the rotating shaft is provided with an axially extending positioning groove, and the inner peripheral wall of the drive gear is provided with a protruding positioning block that slides in cooperation with the positioning groove.

2. The urban underground pipeline detection device as described in claim 1, characterized in that, The push-pull member extends axially along the rotating shaft, and the extended end is slidably connected to the driving gear along the circumference of the driving gear. The push-pull member can drive the driving gear to move axially along the rotating shaft.

3. The urban underground pipeline detection device as described in claim 1, characterized in that, A scraper is rotatably connected to the vehicle body above the camera. The scraper is coaxial with the camera and can rotate around the axis to scrape the peripheral wall of the camera. The scraper is connected to the swing shaft through a bevel gear transmission assembly and is used to rotate circumferentially under the drive of the swing shaft.

4. The urban underground pipeline detection device as described in claim 1, characterized in that, The two ends of the swing shaft extend to both sides of the vehicle body, and the swing arm includes: Two pendulum rods are connected to the two ends of the pendulum axis one by one and extend radially along the pendulum axis; The connecting rod has two ends that are connected one-to-one to the extension ends of the two swing arms; and The guide wheel is rotatably connected to the connecting rod.

5. A detection method for detecting urban underground pipe networks using the urban underground pipe network detection device according to any one of claims 1-4, characterized in that, Includes the following steps: The vehicle body is placed inside the pipe, the vehicle body is driven to move, and the internal condition of the pipe is detected by the camera; When encountering the obstacle, the drive assembly drives the swing shaft to rotate so that the swing arm swings vertically to the top of the obstacle, lifts the set of wheels adjacent to the swing arm, and rotates the other set of wheels to allow the vehicle to pass over the obstacle; After passing the obstacle, the drive assembly drives the swing shaft to rotate so that the swing arm swings vertically above the vehicle body.

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