An electric-driven robot for geological survey and mapping

Abstract

The present invention discloses an electric-driven robot for geological survey and mapping, and relates to the technical field of geological survey and mapping equipment. The key points of the technical solution are as follows: the pressure measuring mechanism comprises a second shell body which is hollow inside and has a first opening at one end, a second pressure sensor is installed inside the second shell body, the first opening of the second shell body is slidably connected to a vertical rod, one end of the vertical rod is connected to a moving part, and the pressure measuring mechanism can be set so that the robot can drive the pulley to slide close to the inner wall. When the pulley presses over an object adhered in a pipeline, the vertical rod drives the moving part to slide inside the second shell body to compress a spring, and the second sensor measures the pressure on the spring. According to the pressure change provided by the second pressure sensor and the shape and material of the object captured by a camera, the hardness and softness of the object can be analyzed, thereby solving the problem that the existing survey and mapping robots cannot measure the hardness and softness of objects adhered to the inner wall of the pipeline.

Description

Technical Field

[0001] The present invention relates to the technical field of geological surveying and mapping equipment, and more specifically, to an electric-driven robot for geological surveying and mapping. Background Art

[0002] Geological survey and mapping refers to the work of obtaining geological information through the study and analysis of geological phenomena to provide a scientific basis for geological engineering design, construction and management. In pipeline engineering, geological survey and mapping is particularly important because it can help engineers understand the geological conditions of the pipeline location, predict possible geological problems, and provide necessary data support for pipeline design and construction.

[0003] During the geological survey and mapping process, the use of robots can quickly complete a large amount of geological survey and mapping work. Compared with manual operation, they can collect and process data faster, thereby improving work efficiency. In some dangerous environments, such as high temperature and toxic gas areas, robots can replace humans to enter these dangerous areas for surveys, transmit data back in a timely manner, and ensure the safety of staff.

[0004] The existing electric-driven robots that can enter pipelines for survey and mapping use cameras to capture the inner wall of the pipeline, use laser scanning or other sensor technologies to measure the geometric parameters of the pipeline, and use chemical sensors to detect the gas composition in the pipeline. The collected data will be transmitted to the ground station for analysis and interpretation. However, although the existing survey and mapping robots are equipped with high-definition cameras that can be adjusted and rotated, the captured information is converted into images and transmitted to the display screen for analysis by the staff. They can analyze the size, shape and material of objects attached to the inner wall of the pipeline. However, the existing survey and mapping machines People cannot measure the hardness of objects stuck to the inner wall of the pipe. The hardness of objects stuck to the inner wall of the pipe is different, and the subsequent cleaning methods may be different. For example, some pipes will have mud stuck to the inner wall during use. Although the existing surveying and mapping robots can detect mud stuck to the inner wall, they cannot know the hardness of the mud, which affects the subsequent cleaning of the mud. The cleaning methods for soft mud and hard mud are different. Hard mud can be directly removed mechanically, but soft mud cannot. It also requires the use of chemical methods to remove the water content in the mud and increase the hardness of the mud, making it easier to remove mechanically.

[0005] Therefore, in order to solve the above technical problems, the present invention proposes an electric-driven robot for geological survey and mapping. Summary of the invention

[0006] In view of the deficiencies in the prior art, the object of the present invention is to provide an electric-driven robot for geological survey and mapping.

[0007] To achieve the above object, the present invention provides the following technical solution: an electric-driven robot for geological survey and mapping comprises a first shell with a hollow interior, a pressure measuring mechanism is arranged above the first shell, and an anti-rollover mechanism is arranged inside the first shell;

[0008] The pressure measuring mechanism includes a second shell that is hollow inside and has a first opening at one end, a second pressure sensor is installed inside the second shell, the first opening of the second shell is slidably connected to a vertical rod, one end of the vertical rod is connected to a moving part, a spring is arranged inside the second shell and between the moving part and the second pressure sensor, the other end of the vertical rod is connected to a mounting part, a pulley is rotatably connected inside the mounting part, the pulley is set to press over an object to compress the spring, and the second pressure sensor transmits the pressure value to the control screen, and the hardness of the object is determined based on the analysis of the shape of the object and the pressure change captured by the camera.

[0009] In this solution, the top of the first shell is connected to the first electric telescopic rod, and two groups of fixing parts are symmetrically connected to the top of the first shell, one end of each of the two groups of fixing parts is connected to the second electric telescopic rod, through holes are provided on both sides of the first shell, and the third electric telescopic rod is connected in the through holes, and one end of the first electric telescopic rod, the second electric telescopic rod and the third electric telescopic rod are all connected to the second shell, and the position of the pressure measuring mechanism is controlled by controlling the length of the electric telescopic rod, so that the pressure measuring mechanism can measure pipes of different diameters.

[0010] In this embodiment, a plurality of groups of support rods are connected to the top of the shell, and a protective plate is connected to the top of the support rods. The top surface of the protective plate has a certain curvature, and the length and width of the protective plate are greater than the first shell. A plurality of groups of second openings are penetrated through the top of the protective plate, and one end of the first electric telescopic rod, the second electric telescopic rod and the third electric telescopic rod penetrate the second openings. The protective plate is used to easily remove objects adhered to the inner wall of the pipe when the pulley passes through the object, and the protective plate prevents the object from touching the surveying and mapping equipment.

[0011] It should be noted that the anti-rollover mechanism includes a motor, the mounting end of the motor is installed on the inner wall of the first shell, the output shaft of the motor is connected to one end of the screw, the other end of the screw is installed in the first shell through a bearing, the outer surface of the screw is threadedly connected to a threaded seat, one side of the threaded seat is connected to a counterweight, and multiple groups of first pressure sensors are arranged on the top of the protective plate. Since the robot is relatively high, when an object hits one side of the protective plate, the impact of the object may cause the robot to roll over. Therefore, by setting a counterweight, when one side of the protective plate is impacted, the counterweight moves to the other side to prevent the robot from rolling over.

[0012] Furthermore, a partition is connected to the interior of the first shell, a battery is arranged above the partition, a counterweight is arranged below the partition, an electric drive component is arranged below the partition, and multiple sets of wheels are arranged on both sides of the shell. The wheels are wheels that can travel in the pipeline. The output end of the electric drive component is connected to the wheel, and the robot is driven to move on the inner wall of the pipeline by electric drive, thereby improving the movement efficiency of the robot.

[0013] Among them, a camera is arranged above the shell, and the camera is connected to the top of the first shell through an adjustment component. The camera captures the picture in the pipeline and transmits it to the control screen. The adjustment component can drive the camera to move and rotate.

[0014] Preferably, the top of the shell is connected to a mounting seat, and other equipment used for surveying and mapping is mounted on the surface of the mounting seat.

[0015] Preferably, all devices requiring electricity, such as the regulating component, electric drive component and motor, are electrically connected to the battery, and the battery provides stable power supply for all devices requiring electricity.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. In the present invention, by setting a pressure measuring mechanism, the robot can drive the pulley to slide close to the inner wall. When the pulley presses over the object adhered in the pipeline, the vertical rod drives the moving part to slide inside the second shell to compress the spring. The second sensor measures the pressure on the spring. According to the pressure change provided by the second pressure sensor and the shape and material of the object captured by the camera, the hardness and softness of the object can be analyzed, which is convenient for subsequent processing, thereby solving the problem that the existing survey and mapping robot cannot measure the hardness and softness of the object adhered to the inner wall of the pipeline;

[0018] 2. In the present invention, by providing the first electric telescopic rod, the second electric telescopic rod and the third electric telescopic rod, the pressure measuring mechanism can be adjusted according to the different diameters of the inner wall of the pipeline so that the pulley can contact the inner wall of the pipeline, and when the robot is not in use, the electric telescopic rod can be retracted to reduce the size of the robot and make it easier to store.

[0019] 3. In the present invention, by setting a protective plate, objects adhering to the inner wall of the pipe can be easily removed when the pulley passes over the object. The protective plate prevents the object from touching the surveying and mapping equipment, and the top surface has a certain curvature to prevent the object from staying above the protective plate, thereby increasing the gravity exerted on the robot.

[0020] 4. In the present invention, an anti-rollover mechanism is set up, and the motor is controlled to drive the screw to rotate, drive the threaded seat to move, and drive the counterweight to move left and right. When one side of the protective plate is impacted, the counterweight moves to the other side. When one side of the protective plate is impacted, the first pressure sensor detects that the pressure is too large, and the motor is controlled to move the counterweight to the other side to prevent the robot from rolling over, thereby solving the problem that the robot may roll over due to the impact of an object hitting one side of the protective plate due to the high height of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0022] Figure 1 It is a structural schematic diagram of the present invention;

[0023] Figure 2 It is a schematic structural diagram of the first electric telescopic rod in the present invention;

[0024] Figure 3 It is a structural schematic diagram of the spring in the present invention;

[0025] Figure 4 It is a schematic diagram of the structure of the battery in the present invention;

[0026] Figure 5 It is a structural schematic diagram of the screw in the present invention;

[0027] 1. First shell; 2. Support rod; 3. Adjustment assembly; 4. Protective plate; 5. Camera; 6. First pressure sensor; 7. Wheel; 8. Mounting seat; 9. First electric telescopic rod; 10. Second shell; 11. Second electric telescopic rod; 12. Third electric telescopic rod; 13. Second pressure sensor; 14. Spring; 15. Moving part; 16. Vertical rod; 17. Mounting part; 18. Pulley; 19. Partition; 20. Battery; 21. Motor; 22. Threaded seat; 23. Screw; 24. Bearing; 25. Counterweight; 26. Fixing part; 27. Through hole. DETAILED DESCRIPTION

[0028] like Figure 1-5 As shown, the present invention provides an electric-driven robot for geological survey and mapping, comprising a first shell 1 with a hollow interior, a pressure measuring mechanism is arranged above the first shell 1, and an anti-rollover mechanism is arranged inside the first shell 1;

[0029] The pressure measuring mechanism includes a second shell 10 which is hollow inside and has a first opening at one end. A second pressure sensor 13 is installed inside the second shell 10. A vertical rod 16 is slidably connected to the first opening of the second shell 10. One end of the vertical rod 16 is connected to a moving member 15. A spring 14 is arranged inside the second shell 10 and between the moving member 15 and the second pressure sensor 13. The other end of the vertical rod 16 is connected to a mounting member 17. A pulley 18 is rotatably connected inside the mounting member 17. The pulley 18 is arranged to press over an object to compress the spring 14. The second pressure sensor 13 transmits the measured pressure value to the control screen. The hardness of the object is determined based on the analysis of the shape of the object and the pressure change captured by the camera 5.

[0030] A partition 19 is connected to the interior of the first shell 1, a battery 20 is arranged above the partition 19, a counterweight 25 is arranged below the partition 19, and an electric drive assembly is arranged below the partition 19. Multiple sets of wheels 7 are arranged on both sides of the shell, and the wheels 7 are wheels 7 that can travel in the pipeline. The output end of the electric drive assembly is connected to the wheel 7, and the robot is driven to move on the inner wall of the pipeline through electric drive, thereby improving the movement efficiency of the robot;

[0031] All devices that require electricity, such as the regulating component 3, the electric drive component and the motor 21, are electrically connected to the battery 20, and the battery 20 provides stable power supply for all devices that require electricity;

[0032] A camera 5 is arranged above the housing, and the camera 5 is connected to the top of the first housing 1 through the adjustment component 3. The camera 5 captures the image in the pipeline and transmits it to the control screen. The adjustment component 3 can drive the camera 5 to move and rotate;

[0033] The top of the first housing 1 is connected to the first electric telescopic rod 9, and two sets of fixing members 26 are symmetrically connected to the top of the first housing 1. One end of each of the two sets of fixing members 26 is connected to the second electric telescopic rod 11. Through holes 27 are provided on both sides of the first housing 1. The third electric telescopic rod 12 is connected in the through holes 27. One end of each of the first electric telescopic rod 9, the second electric telescopic rod 11 and the third electric telescopic rod 12 is connected to the second housing 10. By controlling the length of the electric telescopic rod, the position of the pressure measuring mechanism is controlled, so that the pressure measuring mechanism can measure pipes of different diameters.

[0034] The top of the shell is connected with multiple groups of support rods 2, and the top of the support rods 2 is connected with a protective plate 4. The top surface of the protective plate 4 has a certain curvature. The length and width of the protective plate 4 are greater than the first shell 1. The top of the protective plate 4 is penetrated by multiple groups of second openings. One end of the first electric telescopic rod 9, the second electric telescopic rod 11 and the third electric telescopic rod 12 penetrate the second opening. By setting the protective plate 4, when the pulley 18 passes the object, the object adhering to the inner wall of the pipeline can be easily removed. The protective plate 4 prevents the object from touching the surveying and mapping equipment. The top surface has a certain curvature to prevent the object from staying above the protective plate 4, thereby increasing the gravity exerted on the robot;

[0035] The anti-rollover mechanism includes a motor 21, the mounting end of the motor 21 is mounted on the inner wall of the first housing 1, the output shaft of the motor 21 is connected to one end of a screw 23, the other end of the screw 23 is mounted in the first housing 1 through a bearing 24, the outer surface of the screw 23 is threadedly connected to a threaded seat 22, one side of the threaded seat 22 is connected to a counterweight 25, and multiple groups of first pressure sensors 6 are arranged on the top of the protective plate 4. By setting the anti-rollover mechanism, the motor 21 is controlled to drive the screw 23 to rotate, drive the threaded seat 22 to move, and drive the counterweight 25 to move left and right. When one side of the protective plate 4 is impacted, the counterweight 25 moves to the other side. When one side of the protective plate 4 is impacted, the first pressure sensor 6 detects that the pressure is too large, and controls the motor 21 to move the counterweight 25 to the other side to prevent the robot from rolling over;

[0036] The top of the housing is connected to a mounting seat 8, and other equipment used for surveying and mapping is mounted on the surface of the mounting seat 8;

[0037] In pipeline engineering, it is not convenient for humans to enter the interior of the pipeline, so it is necessary to use a geological survey and mapping robot to map the pipeline. First, the robot is placed at the entrance of the pipeline, and the robot is driven to move on the inner wall of the pipeline by controlling the electric drive component. The electric drive component is a prior art and will not be introduced in detail here. According to the distance between the pulley 18 and the inner wall of the pipeline, the length of the first electric telescopic rod 9, the second electric telescopic rod 11 and the third electric telescopic rod 12 are controlled to make the pulley 18 move close to the inner wall of the pipeline. A camera 5 and other equipment used for mapping are provided inside the robot to map the inside of the pipeline. By setting the adjustment component 3, the camera is driven The head 5 moves and rotates, the camera 5 captures the image in the pipeline and transmits it to the control screen. The adjustment component 3 is the prior art and will not be introduced in detail. When the pulley 18 presses over the object stuck in the pipeline, the pulley 18 moves, drives the vertical rod 16 to move, drives the moving part 15 to compress the spring 14, and the first pressure sensor 6 measures the pressure on the spring 14 and transmits it to the control screen. At the same time, according to the shape of the object photographed by the camera 5, the pressure change on the object is analyzed. For example, if the shape of the object is in a flat state and the pulley 18 presses over it, the value measured by the second pressure sensor 13 changes greatly, which means that the object If the object is relatively soft and the value measured by the second pressure sensor 13 has a smaller change amplitude, it means that the object is relatively hard. A comprehensive analysis is performed based on the change amplitude of the pressure value and the shape of the object to obtain the softness and hardness of the object, and the object is marked on the survey map for later processing. During the movement of the pulley 18, the object may have a low degree of adhesion to the inner wall of the pipe. As soon as the pulley 18 contacts the object, the object is separated from the inner wall of the pipe and may hit the top of the protective plate 4. Since the height of the robot is relatively high, when the object hits one side of the protective plate 4, the impact of the object may cause the robot to roll over. By setting multiple groups of first Pressure sensor 6. When the first pressure sensor 6 detects that the pressure on the protective plate 4 is greater than the set pressure value, which will cause the robot to roll over, the first pressure sensor can send a signal to the controller, which controls the motor 21 to rotate, drives the screw 23 to rotate, drives the threaded seat 22 to move, and drives the counterweight block 25 to move, so that the counterweight block 25 moves to the other side impacted by the pressure. The gravity of the counterweight block offsets the pressure of the object on the robot, thereby preventing the robot from rolling over. The top surface of the protective plate 4 has a certain curvature, so that the objects slide down from the top of the protective plate 4, preventing the objects from staying above the protective plate 4, and increasing the gravity on the robot.

[0038] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any ordinary technician in the industry can smoothly implement the present invention as shown in the drawings and described above. However, any equivalent changes, modifications and evolutions made by technicians familiar with the profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. An electric-driven robot for geological survey and mapping, characterized in that: It comprises a first shell (1) with a hollow interior, a pressure measuring mechanism is arranged above the first shell (1), and an anti-rollover mechanism is arranged inside the first shell (1); The pressure measuring mechanism comprises a second housing (10) which is hollow inside and has a first opening at one end, a second pressure sensor (13) is installed inside the second housing (10), a vertical rod (16) is slidably connected to the first opening of the second housing (10), one end of the vertical rod (16) is connected to a moving part (15), a spring (14) is arranged inside the second housing (10) and between the moving part (15) and the second pressure sensor (13), the other end of the vertical rod (16) is connected to a mounting part (17), and a pulley (18) is rotatably connected inside the mounting part (17); The top of the first shell (1) is connected to a first electric telescopic rod (9); two groups of fixing members (26) are symmetrically connected to the top of the first shell (1); one end of each of the two groups of fixing members (26) is connected to a second electric telescopic rod (11); through holes (27) are provided on both sides of the first shell (1); a third electric telescopic rod (12) is connected in each of the through holes (27); one end of each of the first electric telescopic rod (9), the second electric telescopic rod (11) and the third electric telescopic rod (12) is connected to the second shell (10); The top of the first shell (1) is connected to a plurality of support rods (2), the top of the support rods (2) is connected to a protective plate (4), the top surface of the protective plate (4) presents a certain curvature, the length and width of the protective plate (4) are greater than the first shell (1), the top of the protective plate (4) is penetrated by a plurality of second openings, and one end of the first electric telescopic rod (9), the second electric telescopic rod (11) and the third electric telescopic rod (12) penetrates the second openings; The anti-rollover mechanism comprises a motor (21), the mounting end of the motor (21) is mounted on the inner wall of the first housing (1), the output shaft of the motor (21) is connected to one end of a screw rod (23), the other end of the screw rod (23) is mounted in the first housing (1) via a bearing (24), the outer surface of the screw rod (23) is threadedly connected to a threaded seat (22), one side of the threaded seat (22) is connected to a counterweight (25), and a plurality of first pressure sensors (6) are arranged on the top of the protective plate (4); A partition (19) is connected to the interior of the first shell (1), a battery (20) is arranged above the partition (19), a counterweight (25) is arranged below the partition (19), an electric drive assembly is arranged below the partition (19), a plurality of sets of wheels (7) are arranged on both sides of the first shell (1), the wheels (7) are wheels (7) capable of traveling in a pipeline, and an output end of the electric drive assembly is connected to the wheels (7); When in use, the robot is first placed at the entrance of the pipeline, and the robot is driven to move on the inner wall of the pipeline by controlling the electric drive component. According to the distance between the pulley (18) and the inner wall of the pipeline, the length of the first electric telescopic rod (9), the second electric telescopic rod (11) and the third electric telescopic rod (12) are controlled so that the pulley (18) moves close to the inner wall of the pipeline. A camera (5) and other equipment used for surveying and mapping are arranged inside the robot to survey and map the inside of the pipeline. By setting the adjustment component (3), the camera (5) is driven to move and rotate, and the camera (5) captures the picture inside the pipeline and transmits it to the control screen. When the pulley (18) moves, the robot moves. When the pulley (18) passes over the object stuck in the pipe, the pulley (18) moves, driving the vertical rod (16) to move, driving the moving member (15) to compress the spring (14), and the second pressure sensor (13) measures the pressure on the spring (14) and transmits it to the control screen. At the same time, according to the shape of the object photographed by the camera (5), the pressure change on the object is analyzed. When the object is in a flat state and the pulley (18) passes over, the value measured by the second pressure sensor (13) changes greatly, which means that the object is softer. The value measured by the second pressure sensor (13) changes less, which means that the object is harder. , a comprehensive analysis is performed based on the change amplitude of the pressure value and the shape of the object, thereby obtaining the hardness of the object and marking it on the survey map for later processing. During the movement of the pulley (18), if the object is less adhered to the inner wall of the pipe, the object will break away from the inner wall of the pipe as soon as the pulley (18) contacts the object, and will hit the top of the protective plate (4). Since the height of the robot is relatively high, when the object hits one side of the protective plate (4), the impact of the object will cause the robot to roll over. By arranging multiple groups of first pressure sensors (6) on both sides of the top of the protective plate (4), when the first pressure sensors (6) detect that the protective plate (4) has been touched, the robot will roll over. When the pressure on the guard plate (4) is greater than the set pressure value, which will cause the robot to roll over, the first pressure sensor sends a signal to the controller, which controls the motor (21) to rotate, drives the screw (23) to rotate, drives the threaded seat (22) to move, drives the counterweight (25) to move, and moves the counterweight (25) to the other side of the pressure impact. The gravity of the counterweight offsets the pressure of the object on the robot, thereby preventing the robot from rolling over. The top surface of the guard plate (4) has a certain curvature, so that the objects slide down from the top of the guard plate (4), preventing the objects from staying above the guard plate (4), thereby increasing the gravity on the robot.

2. The electric-driven robot for geological survey and mapping according to claim 1, characterized in that: A camera (5) is arranged above the first shell (1), and the camera (5) is connected to the top of the first shell (1) via an adjustment component (3).

3. The electric-driven robot for geological survey and mapping according to claim 2, characterized in that: The top of the first shell (1) is connected to a mounting seat (8), and other equipment used for surveying and mapping is mounted on the surface of the mounting seat (8).

4. The electric-driven robot for geological survey and mapping according to claim 3, characterized in that: The regulating component (3), the electric drive component and the motor (21) are all electrically connected to the battery (20).

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