A sewer pipe detection positioning device, detection system and method

Abstract

The application discloses a kind of sewer detection positioning device, detection system and method, including inspection well, the bottom of the inner wall of inspection well is installed with sewer, the bottom of the inner wall of inspection well is placed with telescopic rod, the side of telescopic rod is connected with clamping strip, and total reflection prism is installed on clamping strip.The robot of the present application inserts the bottom of telescopic rod into the bottom of inspection well after going into well, and controls its walking inside sewer by remote control display, laser range finder emits laser, after reflection by total reflection prism, laser range finder receives reflected light signal, measures two distances, and then real-time feedback robot distance pipe opening position and fixed-point pipe slope.Can significantly improve the positioning accuracy of underground sewer defect of pipeline detection robot under the condition of controllable cost, realize the real-time detection of pipeline slope, and dynamically feedback the undulating state of pipeline.

Description

Technical Field

[0001] This invention relates to the field of municipal and environmental engineering technology, specifically to a drainage pipeline detection and positioning device, detection system, and method. Background Technology

[0002] Most drainage pipelines are underground projects, making their location and quality difficult to detect. After construction, uneven external forces can cause structural defects such as collapse, settlement, disconnection, and undulation. Internal water quality can also lead to functional defects like sedimentation and corrosion. Failure to detect and rectify these defects promptly will result in reduced sewage collection rates, lower treated concentrations at sewage treatment plants, and substandard water quality. Currently, the primary method for detecting internal pipeline defects is television inspection (CCTV pipeline inspection robots). This method faces two main challenges: first, accurately locating defects is difficult due to the underground nature of the pipelines and the resulting signal transmission obstruction, making it difficult for the robot to accurately pinpoint the defect location; second, after construction, external forces cause undulations within the pipeline, significantly altering the internal slope compared to the initial construction phase, making it difficult for the robot to accurately report these slope changes during inspection. Currently, the main methods for precise positioning include inertial navigation, electric reel meter counters, and robot mileage measurement. Inertial navigation accumulates positioning errors over time, electric reel meter counters are susceptible to human error, and robot tire slippage affects mileage. Regarding pipeline slope measurement, the overall slope is measured using the elevation of the inner bottom of the upstream and downstream pipes, while internal undulations are observed visually, providing insufficient accuracy. Therefore, to address these issues, we propose a drainage pipeline detection and positioning device and a slope detection system. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by proposing a drainage pipeline detection and positioning device, detection system, and method. This addresses the problems that existing technologies, while cost-controlling, cannot significantly improve the positioning accuracy of pipeline inspection robots for underground drainage pipeline defects, cannot achieve real-time detection of pipeline slope, and cannot dynamically provide feedback on pipeline undulation status.

[0004] In a first aspect, the present invention provides a drainage pipe detection and positioning device, comprising a manhole, a drainage pipe installed on one side of the bottom of the manhole inner wall, a telescopic rod placed inside the manhole by a support member, a locking strip connected to one side of the telescopic rod, a total reflection prism installed on the locking strip, a support member threadedly fitted on the bottom of the telescopic rod, a robot placed inside the drainage pipe, a telescopic frame installed on the top of the robot, a gimbal connected to the top of the telescopic frame, a gravimeter connected to one side of the bottom of the gimbal, and a laser rangefinder connected to the bottom of the gravimeter and one side of the gimbal.

[0005] Preferably, the telescopic rod is detachably connected to the support member.

[0006] Preferably, the support component includes a support plate, with a mounting screw hole extending through the center of the top of the support plate, and the inner wall of the mounting screw hole is threadedly connected to the bottom of the telescopic rod.

[0007] Preferably, support rods are connected to the four corners of the bottom of the support plate, and positioning suction cups are connected to the bottom of the support rods.

[0008] Preferably, the top of the telescopic rod penetrates the inspection well, and a level is installed on the top of the telescopic rod.

[0009] Preferably, a level is installed at the top of the telescopic rod.

[0010] Preferably, the support rod and support plate are made of stainless steel.

[0011] In a second aspect, the present invention provides a slope detection system for a drainage pipe detection and positioning device. The slope detection system includes a remote control display, which is connected to a pan-tilt unit via a wireless signal. The output end of the pan-tilt unit is bidirectionally electrically connected to a laser rangefinder and a robot, respectively.

[0012] A third aspect of the present invention provides a drainage pipe detection and positioning method, applied to the slope detection system of the drainage pipe detection and positioning device described above, specifically including: First, the distance between the two laser rangefinders on the robot is measured. Then, the robot is sent into the drainage pipe through the inspection well, and the telescopic rod is inserted into the inspection well. Observe the level and adjust it to keep the telescopic pole vertical; Measure the horizontal distance L0 between the telescopic rod and the robot entering the pipe opening; The robot is operated by a remote control display to move inside the drainage pipe. The laser rangefinder emits a laser and feeds the distance signal back to the gimbal, providing real-time feedback on the robot's travel distance and the slope or undulation of the pipe.

[0013] Preferably, the pipe slope i is calculated according to the following formula: i= ; In the formula, L1 is the distance fed back by the laser rangefinder on the robot's gimbal, L2 is the distance fed back by the laser rangefinder on the gravimeter under the robot's gimbal, and L3 is the interval between the two laser rangefinders.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention utilizes a laser rangefinder, gravimeter, gimbal, telescopic frame, robot, clamping strip, total internal reflection prism, telescopic rod, and remote control display. After the robot is lowered into the manhole, the bottom of the telescopic rod is inserted into the bottom of the manhole. The remote control display controls its movement inside the drainage pipe. The laser rangefinder emits a laser beam, which is reflected by the total internal reflection prism. The laser rangefinder then receives the reflected light signal, measuring and feeding back two distances, thus providing real-time feedback on the robot's distance from the pipe opening and the slope of the pipe at a fixed point. This significantly improves the positioning accuracy of the pipeline inspection robot for defects in underground drainage pipes while maintaining controllable costs, achieving real-time detection of pipe slope and dynamic feedback on the undulation status of the pipe. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the present invention.

[0016] Figure 2 This is a schematic diagram of the telescopic rod structure of the present invention.

[0017] Figure 3 This is a schematic diagram of the robot structure of the present invention.

[0018] Figure 4 This is a schematic diagram of the support component structure of the present invention.

[0019] Figure 5 This is a schematic diagram of the system of the present invention.

[0020] In the diagram: 1. Laser rangefinder; 2. Gravity meter; 3. Gimbal; 4. Telescopic frame; 5. Robot; 6. Level; 7. Clamping strip; 8. Total internal reflection prism; 9. Telescopic rod; 10. Ground; 11. Inspection well; 12. Drainage pipe; 13. Support component; 131. Support plate; 132. Mounting screw hole; 133. Support rod; 134. Positioning suction cup; 14. Remote control display. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] like Figures 1-5 A drainage pipe detection and positioning device is provided, wherein an inspection well 11 is installed below ground level 10, a drainage pipe 12 is installed on one side of the bottom of the inner wall of the inspection well 11, a telescopic rod 9 is placed inside the inspection well 11 through a support component 13, a clamping strip 7 is connected to one side of the telescopic rod 9, a total reflection prism 8 is installed on the clamping strip 7, the support component 13 is threaded on the bottom of the telescopic rod 9, a robot 5 is placed inside the drainage pipe 12, a telescopic frame 4 is installed on the top of the robot 5, a gimbal 3 is connected to the top of the telescopic frame 4, a gravimeter 2 is connected to one side of the bottom of the gimbal 3, and a laser rangefinder 1 is connected to the bottom of the gravimeter 2 and one side of the gimbal 3.

[0023] Specifically, in the above embodiment, the support component 13 includes a support plate 131, and a mounting screw hole 132 is provided through the center of the top of the support plate 131. The inner wall of the mounting screw hole 132 is connected to the bottom of the telescopic rod 9 by a thread. The mounting screw hole 132 facilitates the installation of the support plate 131 on the telescopic rod 9.

[0024] In some embodiments, for ease of disassembly and assembly, the telescopic rod 9 is detachably connected to the support member 13.

[0025] In a preferred embodiment of the present invention, support rods 133 are connected to the four corners of the bottom of the support plate 131, and positioning suction cups 134 are connected to the bottom of the support rods 133. By using the positioning suction cups 134, when they are placed at the bottom of the inner wall of the inspection well 11, the telescopic rod 9 can be positioned, thus improving stability.

[0026] In a preferred embodiment of the present invention, the top of the telescopic rod 9 passes through the inspection well 11 and extends to the top of the ground 10, and a level 6 is installed on the top of the telescopic rod 9.

[0027] In other embodiments, in order to obtain a longer service life and corrosion resistance, the support rod 133 and support plate 131 described in this embodiment are made of stainless steel.

[0028] As another preferred embodiment of the present invention, this embodiment provides a slope detection system for a drainage pipe detection and positioning device. The slope detection system includes a remote control display 14, which is connected to a gimbal 3 via a wireless signal. The output end of the gimbal 3 is bidirectionally electrically connected to a laser rangefinder 1 and a robot 5.

[0029] In the implementation of the above embodiment, which is a drainage pipe detection and positioning method, the distance between the two laser rangefinders 1 on the robot 5 is first measured. Then, the robot 5 is sent into the drainage pipe 12 through the inspection well 11, and the telescopic rod 9 is inserted into the inspection well 11. The level 6 is observed to ensure that the telescopic rod 9 remains vertical. The horizontal distance L0 between the telescopic rod 9 and the robot 5 entering the pipe is measured. The robot 5 is operated to travel inside the drainage pipe 12 using the remote control display 14. The laser rangefinders 1 emit lasers and feed back the distance signal to the gimbal 3, providing real-time feedback on the robot 5's travel distance and the slope or undulation of the pipe.

[0030] When calculating the pipe slope, L1 is defined as the distance fed back by the laser rangefinder 1 on the gimbal 3 of robot 5; L2 is the distance fed back by the laser rangefinder 1 on the gravity meter 2 under the gimbal 3 of robot 5; L3 is the distance between the two laser rangefinders 1; and i is the fixed-point pipe slope, which is equal to... .

[0031] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A drainage pipeline detection and positioning device, comprising an inspection well (11), characterized in that: A drainage pipe (12) is installed on one side of the bottom of the inner wall of the inspection well (11). A telescopic rod (9) is placed inside the inspection well (11) through a support component (13). A clamp (7) is connected to one side of the telescopic rod (9). A total reflection prism (8) is installed on the clamp (7). The support component (13) is threaded on the bottom of the telescopic rod (9). A robot (5) is placed inside the drainage pipe (12). A telescopic frame (4) is installed on the top of the robot (5). A gimbal (3) is connected to the top of the telescopic frame (4). A gravimeter (2) is connected to one side of the bottom of the gimbal (3). A laser rangefinder (1) is set on the bottom of the gravimeter (2) and the side of the gimbal (3) near the total reflection prism. The laser rangefinder (1) is used to emit laser light to the total reflection prism (8) and feed the distance signal back to the gimbal (3). It provides real-time feedback on the travel distance of the robot (5) and the slope or undulation of the pipe.

2. The drainage pipe detection and positioning device according to claim 1, characterized in that: The telescopic rod (9) is detachably connected to the support component (13).

3. The drainage pipe detection and positioning device according to claim 1, characterized in that: The support component (13) includes a support plate (131), and a mounting screw hole (132) is provided through the center of the top of the support plate (131). The inner wall of the mounting screw hole (132) is connected to the telescopic rod (9) by a thread.

4. The drainage pipe detection and positioning device according to claim 3, characterized in that: The support plate (131) has four support rods (133) connected to its bottom corners, and the bottom of the support rods (133) is connected to a positioning suction cup (134).

5. A drainage pipe detection and positioning device according to claim 1, characterized in that: The top of the telescopic rod (9) penetrates the inspection well (11).

6. The drainage pipe detection and positioning device according to claim 1, characterized in that: A level (6) is installed on the top of the telescopic rod (9).

7. A drainage pipe detection and positioning device according to claim 4, characterized in that: The support rod (133) and support plate (131) are made of stainless steel.

8. A slope detection system for a drainage pipe detection and positioning device, characterized in that, The slope detection system includes a drainage pipe detection and positioning device according to any one of claims 1-7, and the slope detection system also includes a remote control display (14), which is connected to the pan-tilt unit (3) via a wireless signal. The output end of the pan-tilt unit (3) is bidirectionally electrically connected to the laser rangefinder (1) and the robot (5).

9. A method for detecting and locating drainage pipes, characterized in that, The slope detection system applied to the drainage pipe detection and positioning device according to claim 8 specifically includes: First, measure the distance between the two laser rangefinders (1) on the robot. Then, the robot (5) is sent into the drainage pipe (12) through the inspection well (11) and the telescopic rod (9) is inserted into the inspection well (11). Observe the level (6) and adjust it so that the telescopic rod (9) remains vertical; Measure the horizontal distance L0 between the telescopic rod (9) and the robot (5) entering the pipe opening; The robot (5) is operated by the remote display (14) to travel inside the drainage pipe (12). The laser rangefinder (1) emits a laser and feeds back the distance signal to the gimbal (3) to provide real-time feedback on the travel distance of the robot (5) and the slope or undulation of the pipe.

10. A method for detecting and locating drainage pipes according to claim 9, characterized in that, Calculate the pipe slope i using the following formula: i= ； In the formula, L1 is the distance fed back by the laser rangefinder on the robot's gimbal, L2 is the distance fed back by the laser rangefinder on the gravimeter under the robot's gimbal, and L3 is the interval between the two laser rangefinders.

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