A water pipeline inner wall inspection device and detection method

Abstract

The present invention provides a water pipeline inner wall inspection device and detection method, which relate to the field of pipeline inner wall inspection. The water pipeline inner wall inspection device includes a frame unit, the frame unit includes a rear shell and a rotating horizontal plate, a travel motor is installed in the rear shell, a connecting horizontal plate is fixedly connected to the middle of the rear shell, a support pipe seat and a lower support are fixedly connected to the front of the connecting horizontal plate, the end of the connecting horizontal plate is rotatably connected to the rotating horizontal plate, a driving electric push rod for driving the rotating horizontal plate to rotate horizontally is provided on the connecting horizontal plate, and a support seat buckle and a mounting swivel are fixedly connected to the rear of the connecting horizontal plate. The present invention can change the direction of the front travel wheel by setting the frame unit and the travel unit, thereby realizing the steering function, so that it can meet the inner wall inspection needs of straight pipes and curved pipes, and has a wide range of applications.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline inner wall inspection, and in particular to a water pipeline inner wall inspection device and a detection method. Background Art

[0002] A water pipeline is a pipe system used to transport water resources. It covers the entire transmission process from a distant water source to the water use location. A water pipeline can be laid on the ground, underground or half buried in the soil. The materials are varied, including concrete, steel, cast iron or asbestos cement.

[0003] After a water pipeline has been in use for a long time, it may fail due to external interference, corrosion caused by the surrounding environment such as soil, and defects such as cracks caused by pipe fatigue. Therefore, it is necessary to regularly inspect and maintain the inside of the pipeline to extend the service life of the pipeline.

[0004] In the related technology, such as a pipeline inner wall inspection robot with announcement number: CN116379256B, includes a shell hinged with a walking arm with a walking wheel, the walking arm cooperates with the adjustment shaft in the arm adjustment seat to limit the position through the arm strip hole; the bottom end of the walking arm is hinged to the arm base located on the base driving block; the base driving block is connected to the block driving rod, and the block driving rod is connected to the linear driving mechanism inside the shell; a spring bottom plate is fixedly connected to the outer wall of the shell corresponding to the arm adjustment seat, and the spring bottom plate is connected to the wheel body hanging shaft through the bottom plate spring hole through the arm spring.

[0005] This patent uses a linear drive mechanism to achieve the internal inspection function of variable or non-variable diameter pipes. However, when encountering water pipe joints and bends, the inspection robot will get stuck and cannot adapt to the complex water pipe environment.

[0006] Another example is a pipeline inspection robot with the announcement number: CN113915451B, which specifically includes a first cylindrical body, on which a first driving mechanism is installed, the first driving mechanism includes a mounting frame and an adjusting motor, the adjusting motor is installed on the outer wall of the first cylindrical body through a connecting rod, the mounting frame is fixed on the circumferential outer wall of the first cylindrical body, the output end of the adjusting motor is rotatably connected to a driving gear, the outer wall of the first cylindrical body is rotatably connected to a rotating seat, and the circumferential outer wall of the rotating seat is provided with driven teeth.

[0007] This patent can utilize the adjustment motor to make the roller contact the inner wall of the pipe reliably to achieve the purpose of driving. However, it is still not applicable to the inspection of curved water pipelines.

[0008] In summary, there is a need for an inspection device that is applicable to straight water pipelines and curved water pipelines to solve the problems of small application range and low inspection efficiency of existing inspection equipment. Summary of the invention

[0009] To achieve the above objectives, the present invention is implemented through the following technical solutions: a water pipeline inner wall inspection device, comprising:

[0010] A frame unit, the frame unit comprises a rear housing and a rotating transverse plate, a travel motor is installed in the rear housing, a connecting transverse plate is fixedly connected to the middle of the rear housing, a supporting pipe seat and a lower support are fixedly connected to the front of the connecting transverse plate, an end of the connecting transverse plate is rotatably connected to the rotating transverse plate, a driving electric push rod for driving the rotating transverse plate to rotate horizontally is provided on the connecting transverse plate, and a supporting seat buckle and a mounting swivel are fixedly connected to the rear of the connecting transverse plate;

[0011] A walking unit, the walking unit comprising conical walking wheels installed at both ends of the rear housing and the rotating cross plate, the walking motor having two output ends, the two output ends of the walking motor being fixedly connected to two walking wheels corresponding to the two ends of the rear housing respectively, the end with a smaller diameter of the walking wheel being fixedly connected to a mounting cone shell, the mounting cone shell being provided with a sliding component capable of reciprocating sliding and knocking the inner wall of the tube;

[0012] A stabilizing unit, the stabilizing unit comprising a vertical electric push rod mounted on a mounting swivel, the output end of the vertical electric push rod being symmetrically mounted with a conical stabilizing wheel;

[0013] A camera unit, the camera unit comprising a mounting frame fixedly mounted on the output end of the vertical electric push rod, a micro camera mounted in a herringbone shape on the mounting frame, and a small spotlight integrated on the micro camera;

[0014] A cleaning unit, the cleaning unit includes a micro water pump fixedly installed on the bottom of the connecting horizontal plate, the water pumping end of the micro water pump is connected to a filter, the water outlet end of the micro water pump is fixedly connected to a connecting water pipe, the end of the connecting water pipe is fixedly connected to a booster shell, a backward-bent nozzle is evenly fixedly connected to the circumferential surface of the booster shell, the front part of the booster shell is fixedly connected to a front shield, and a front camera is installed in the front shield.

[0015] Preferably, it also includes a knocking unit, which includes an outer tube and an inner tube fixedly mounted on the end surface of the stabilizing wheel, the outer tube is slidably connected to an internal rod, the outer end of the internal rod is fixedly connected to an external head, a protrusion is provided on the internal rod, and an internal spring is provided on the internal rod and located on the inner side of the protrusion, the internal spring is located between the outer tube and the inner tube, the internal rod passes through the inner tube, and the inner end is fixedly connected to an inner end block, an air-blowing airbag is provided in the inner tube and located on the inner side of the inner end block, a whistle is provided in the inner tube, and the air-blowing airbag is communicated with the whistle.

[0016] Preferably, the camera unit also includes a rotating motor fixedly installed in the mounting frame, the output end of the rotating motor is fixedly connected to a connecting rod, the outer end of the connecting rod is detachably connected to a cleaning piece, the cleaning piece is provided with a mounting cavity, an illumination light bar is fixedly installed in the mounting cavity, a U-shaped cleaning strip is fixedly connected to the inner side of the cleaning piece, the end of the mounting frame is fixedly connected to a transparent cover, the output end of the rotating motor passes through the transparent cover, the cleaning strip is in contact with the inner and outer walls of the transparent cover, and a protective baffle is fixedly connected to the mounting frame.

[0017] Preferably, the filter element comprises a filter shell, the outer wall of the filter shell is evenly provided with water inlets, the edge of the water inlet is provided with a cutting edge, the upper part of the filter shell is provided with an intercepting slope, and the interior of the filter shell is fixedly connected with a built-in water pipe.

[0018] Preferably, the angle between the intercepting slope and the vertical plane is 30 degrees, the height of the intercepting slope is 1 / 3 of the overall height of the filter housing, and a weight ball is fixedly connected to the bottom of the filter housing, and the weight ball is made of elastic material.

[0019] Preferably, the sliding assembly includes a sliding rod slidably installed in an installation cone shell, the angle between the sliding rod and the vertical plane is 45°, the inner end of the sliding rod is fixedly connected to a contact head, the outer end of the sliding rod is fixedly connected to a knocking head, and a support spring is provided between the installation cone shell and the walking wheel.

[0020] Preferably, the connecting water pipe passes through the lower support and the support pipe seat, and the booster shell is located in front of the support pipe seat.

[0021] Preferably, a locking sleeve is rotatably connected to the support seat buckle, and the locking sleeve is buckled with the support seat buckle. A space for fixing the vertical electric push rod is formed between the support seat buckle and the locking sleeve, and a placement seat is fixedly connected to the upper surface of the connecting cross plate.

[0022] Preferably, a walking convex strip is provided on the circumference of the conical surface of the walking wheel, a stabilizing convex strip is provided on the circumference of the conical surface of the stabilizing wheel, the upper part of the rear shell is detachably connected to a rear cover, one end of the driving electric push rod is rotatably installed in the connecting cross plate, and the output end of the driving electric push rod is rotatably connected to the end of the rotating cross plate.

[0023] The present invention also discloses an inspection method using the above-mentioned water pipeline inner wall inspection device, comprising the following steps:

[0024] S1. Adjust the stabilizing unit to a vertical state, and use the traveling unit and the frame unit to provide power for stable walking;

[0025] S2. While walking, use the cleaning unit to extract water from the bottom of the water pipe and spray it out through the nozzle to clean the inner wall of the water pipe;

[0026] S3, inspect the inner wall of the pipe through the camera unit, and drive the illumination light bar and cleaning parts to move in a circle through the rotary motor to enhance the camera clarity and recognition;

[0027] S4. Use the sliding assembly and the knocking unit to knock on the inner wall of the pipe to produce a whistle sound to identify the location of the device in the pipe.

[0028] The present invention provides a water pipeline inner wall inspection device and detection method, which has the following beneficial effects:

[0029] 1. The present invention can change the direction of the front running wheels by setting the frame unit and the running unit, thereby realizing the steering function, so that it can meet the needs of inner wall inspection of straight pipes and curved pipes, with a wide range of applications and high inspection efficiency.

[0030] 2. The knocking unit and sliding assembly provided in the present invention can periodically knock the inner wall of the water pipe following the overall movement to produce a whistle sound, which can easily identify the position of the inspection equipment, facilitate subsequent maintenance, and ensure reliable positioning.

[0031] 3. The present invention can conduct all-round inspection of the inner wall of the pipeline through the camera unit, and the circular motion illumination light bar provides illumination light at different angles to fully reflect the dark side of the inner wall of the pipe, thereby improving the clarity and recognition of the camera image. The transparent cover can provide protection to prevent impurities from directly covering the lens of the micro camera, thereby ensuring good camera clarity.

[0032] 4. The cleaning component provided in the present invention can utilize the residual water at the bottom of the water pipeline to flush the water pipeline, thereby improving the cleanliness of the inner wall of the water pipeline and facilitating the use of video recording. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is an overall stereogram of the present invention;

[0034] Figure 2 A three-dimensional diagram of a frame unit and a travel unit of the present invention;

[0035] Figure 3 An exploded view of the walking unit of the present invention;

[0036] Figure 4 The figure is a disassembled diagram of the stabilization unit and the camera unit of the present invention;

[0037] Figure 5 is an enlarged view of the striking unit of the present invention;

[0038] Figure 6 A partial stereoscopic diagram of a camera unit of the present invention;

[0039] Figure 7 is a three-dimensional diagram of a cleaning unit of the present invention;

[0040] Figure 8 It is a three-dimensional view of the filter element of the cleaning unit of the present invention.

[0041] Among them, 1, frame unit; 2, walking unit; 3, stabilizing unit; 4, knocking unit; 5, camera unit; 6, cleaning unit; 101, rear shell; 102, rear cover; 103, installation swivel seat; 104, support seat buckle; 105, lock buckle sleeve; 106, placement seat; 107, driving electric push rod; 108, rotating horizontal plate; 109, lower support; 110, connecting horizontal plate; 111, supporting tube seat; 201, walking wheel; 202, walking convex strip; 203, supporting spring; 205, installation cone shell; 206, contact head; 207, sliding rod; 208, knocking head; 301, vertical electric push rod; 302, stabilizing convex strip; 303, stabilizing wheel; 401, outer tube; 402, inner tube; 403, Inner end block; 404, built-in spring; 405, built-in rod; 406, external head; 407, whistle; 408, blowing airbag; 501, mounting bracket; 502, protective baffle; 503, micro camera; 504, rotating motor; 505, connecting rod; 506, irradiation light strip; 507, cleaning piece; 5071, mounting cavity; 5072, cleaning strip; 508, transparent cover; 601, micro water pump; 602, filter element; 6021, filter housing; 6022, weighted ball; 6023, cutting edge; 6024, intercepting slope; 6025, built-in water pipe; 6026, water inlet; 603, connecting water pipe; 604, booster housing; 605, nozzle; 606, front camera; 607, front protective cover. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] like Figure 1-Figure 8 As shown, an embodiment of the present invention provides a water pipeline inner wall inspection device, comprising

[0044] The frame unit 1 includes a rear housing 101 and a rotating horizontal plate 108. The upper part of the rear housing 101 is detachably connected to a rear cover 102. A travel motor is installed in the rear housing 101. The middle part of the rear housing 101 is fixedly connected to a connecting horizontal plate 110. The front part of the connecting horizontal plate 110 is fixedly connected to a support pipe seat 111 and a lower support 109. The end of the connecting horizontal plate 110 is rotatably connected to the rotating horizontal plate 108. The connecting horizontal plate 110 is provided with a driving electric push rod 107 for driving the rotating horizontal plate 108 to rotate horizontally. One end of the electric push rod 107 is rotatably installed in the connecting horizontal plate 110, and the output end of the driving electric push rod 107 is rotatably connected to the end of the rotating horizontal plate 108. The rear part of the connecting horizontal plate 110 is fixedly connected with a support seat buckle 104 and a mounting swivel seat 103. The support seat buckle 104 is rotatably connected with a locking sleeve 105, and the locking sleeve 105 is engaged with the support seat buckle 104. A space for fixing the vertical electric push rod 301 is formed between the support seat buckle 104 and the locking sleeve 105. The upper surface of the connecting horizontal plate 110 is fixedly connected with a placement seat 106;

[0045] refer to Figure 1 , Figure 2 , the rear housing 101 provides installation space for the travel motor, and can have built-in batteries to provide electricity for a period of time. In the inspection environment of a linear water pipeline, the output end of the driving electric push rod 107 is in a central position, so that the front and rear travel wheels 201 are in the same direction, thereby ensuring that the overall movement is in a linear direction. In the inspection environment of a curved water pipeline, the output end of the driving electric push rod 107 is extended, and the driving rotating cross plate 108 is driven to rotate to the left, and the overall turn is left. The output end of the driving electric push rod 107 is retracted, and the driving rotating cross plate 108 is driven to rotate to the right, and the overall turn is right, so as to be suitable for inspection environments in different environments; wherein, the support seat buckle 104 and the locking sleeve 105 can fix the vertical electric push rod 301 in a vertical state, and the placement seat 106 can fix the vertical electric push rod 301 in a horizontal state, saving overall space and facilitating carrying and use.

[0046] Walking unit 2, the walking unit 2 includes a conical walking wheel 201 installed at both ends of the rear housing 101 and the rotating cross plate 108, the walking motor has two output ends, and the two output ends of the walking motor are respectively fixedly connected to the two walking wheels 201 on the rear side, and the end with a smaller diameter of the walking wheel 201 is fixedly connected to a mounting cone shell 205, and a sliding component that can reciprocate and knock the inner wall of the pipe is provided in the mounting cone shell 205, and the sliding component includes a sliding rod 207 slidably installed in the mounting cone shell 205, and the angle between the sliding rod 207 and the vertical plane is 45°, and the inclined sliding rod 207 can contact the inner wall of the pipe in both straight pipes and curved pipes, and has a wide range of adaptability. The inner end of the sliding rod 207 is fixedly connected to a contact head 206, and the outer end of the sliding rod 207 is fixedly connected to a knocking head 208, and a support spring 203 is provided between the mounting cone shell 205 and the walking wheel 201;

[0047] refer to Figure 1 , Figure 3 The travel wheel 201 can provide travel power under the drive of the travel motor. The conical travel wheel 201 can fit the curved inner wall of the water pipe more closely. The rotation of the travel wheel 201 can synchronously drive the installation cone shell 205 to rotate. The installation cone shell 205 drives the sliding rod 207, the contact head 206, and the knocking head 208 to rotate, so that the upper knocking head 208 contacts the inner wall of the pipe, collides, and produces a sound. After the knocking head 208 is subjected to force, the sliding rod 207 is pushed to slide inward, squeezing the support spring 203 to ensure the stability of the travel of the travel wheel 201. When the knocking head 208 rotates to the upper part, the support spring 203 is reset to ensure the accuracy of the next knocking position, which is convenient for positioning the overall equipment and can facilitate maintenance and operation. The angle between the sliding rod 207 and the vertical plane is 45°. The inclined design can ensure that the contact head 206 can be fully extended and contact the inner wall of the straight or curved pipe.

[0048] The stabilizing unit 3 includes a vertical electric push rod 301 mounted on the mounting swivel 103, a conical stabilizing wheel 303 is symmetrically mounted on the output end of the vertical electric push rod 301, and a walking convex strip 202 and a stabilizing convex strip 302 are respectively circumferentially arranged on the conical surfaces of the walking wheel 201 and the stabilizing wheel 303;

[0049] refer to Figure 1 , Figure 4 When the vertical electric push rod 301 is in a vertical state, it is powered on and drives the stabilizing wheel 303 to move partially upward. The stabilizing wheel 303 contacts the upper part of the inner wall of the water pipe, and provides friction while providing downward pressure on the lower connecting cross plate 110, thereby increasing the friction between the lower walking wheel 201 and the inner wall of the pipe, preventing the walking wheel 201 from slipping and ensuring good walking stability. The walking convex strips 202 and the stabilizing convex strips 302 can further improve the anti-skid performance of the walking wheel 201 and the stabilizing wheel 303.

[0050] The knocking unit 4 also includes an outer tube 401 and an inner tube 402 fixedly mounted on the end surface of the stabilizing wheel 303, an inner rod 405 is slidably connected to the outer tube 401, an outer end of the inner rod 405 is fixedly connected to an external head 406, a protrusion is provided on the inner rod 405, an inner spring 404 is sleeved on the inner rod 405 and located on the inner side of the protrusion, the inner spring 404 is located between the outer tube 401 and the inner tube 402, the inner rod 405 passes through the inner tube 402, and an inner end is fixedly connected to an inner end block 403, an air blowing bag 408 is provided in the inner tube 402 and located on the inner side of the inner end block 403, a whistle 407 is provided in the inner tube 402, and the air blowing bag 408 is connected to the whistle 407;

[0051] refer to Figure 5 The rotation of the stabilizing wheel 303 synchronously drives the outer tube 401 and the inner tube 402 to rotate, thereby driving the inner rod 405, the external head 406, and the inner end block 403 to rotate. When the external head 406 rotates to the upper part, it will contact and collide with the inner wall of the tube to produce a sound. The external head 406 is subjected to pressure, driving the inner rod 405 to have a bulge, which can squeeze the inner spring 404. The inner spring 404 is compressed to reduce the space occupied by the external head 406, thereby ensuring that the stabilizing wheel 303 can rotate normally, and the inner end block 403 squeezes the blowing airbag 408, and the gas blown out by the blowing airbag 408 enters the whistle 407 to make a sound, thereby increasing the decibel of the sound. When the external head 406 rotates to the lower part, the internal spring 404 is reset, and the blowing airbag 408 recovers its original shape under the effect of its own material, thereby ensuring that the position of the external head 406 is accurate next time, making it convenient for the next knocking use. A knocking sound can be provided on the top of the water pipe to improve the degree of recognition. In addition, in a curved pipe, the external head 406 can also contact the inner wall of the pipe, thereby having strong applicability.

[0052] The camera unit 5 includes a mounting frame 501 fixedly mounted on the output rod of the vertical electric push rod 301, and a micro camera 503 is mounted on the mounting frame 501 in a herringbone shape. The micro camera 503 can be a camera such as Zirun ZRL9, and a small spotlight is integrated on the micro camera 503; the camera unit 5 also includes a rotary motor 504 fixedly mounted in the mounting frame 501, and the output end of the rotary motor 504 is fixedly connected to a connecting rod 505, and the outer end of the connecting rod 505 can be A cleaning piece 507 is disassembled and connected, and a mounting cavity 5071 is provided on the cleaning piece 507. A lighting strip 506 is fixedly installed in the mounting cavity 5071. A U-shaped cleaning strip 5072 is fixedly connected to the inner side of the cleaning piece 507. A transparent cover 508 is fixedly connected to the end of the mounting frame 501. The output end of the rotary motor 504 passes through the transparent cover 508. The cleaning strip 5072 is in contact with the inner and outer walls of the transparent cover 508. A protective baffle 502 is fixedly connected to the mounting frame 501.

[0053] refer to Figure 1 , Figure 4 The mounting frame 501 will move synchronously with the extension of the output rod of the vertical electric push rod 301, thereby providing a higher shooting position for the micro camera 503. The three micro cameras 503 can completely shoot the inner wall of the entire water pipe without blind spots and comprehensive shooting. The rotary motor 504 can be powered on to rotate, driving the connecting rod 505 and the cleaning piece 507 to rotate. The cleaning strip 5072 on the cleaning piece 507 can clean the inner and outer walls of the transparent cover 508 at the same time, ensuring the cleanliness of the surface of the transparent cover 508 and the clarity of the shooting. The irradiation light strip 506 can emit light when powered on, and move in a circle with the cleaning piece 507, thereby providing an additional external light source, irradiating the inner wall of the tube in a circular manner, reducing the blind spots of the inner wall, and improving the comprehensiveness of the shooting.

[0054] The cleaning unit 6 includes a micro water pump 601 fixedly mounted on the bottom of the connecting horizontal plate 110. The micro water pump 601 can be a CJD5-BSP27160 water pump. The water pumping end of the micro water pump 601 is connected to a filter 602. The filter 602 includes a filter housing 6021. The outer wall of the filter housing 6021 is evenly provided with water inlets 6026. The edge of the water inlet 6026 is provided with a cutting edge 6023. The upper part of the filter housing 6021 is provided with an interception slope 6024. The interior of the filter housing 6021 is fixedly connected with a built-in water pipe 6025. The angle between the interception slope 6024 and the vertical plane is 30 degrees. The height of the interception slope 6024 is the entire height of the filter housing 6021. The bottom of the filter shell 6021 is fixedly connected with a counterweight ball 6022, and the counterweight ball 6022 is made of elastic material, such as rubber. The water outlet end of the micro water pump 601 is fixedly connected with a connecting water pipe 603, and the connecting water pipe 603 passes through the lower support 109 and the support pipe seat 111. The booster shell 604 is located in front of the support pipe seat 111, and the end of the connecting water pipe 603 is fixedly connected with the booster shell 604. The circumferential surface of the booster shell 604 is evenly fixedly connected with a backward curved nozzle 605. The front part of the booster shell 604 is fixedly connected with a front shield 607, and a front camera 606 is installed in the front shield 607. The front camera 606 can adopt the camera of the Honggu standard version.

[0055] refer to Figure 1 , Figure 7 , Figure 8During the cleaning operation, the micro water pump 601 is powered on to pump water from the bottom of the water pipe through the filter element 602. If there is no water at the bottom of the water pipe, it can be connected to an external water source through a pipe or a water tank can be directly installed on the frame unit 1 to provide a water source. The water flow can enter the filter housing 6021 from the water inlet 6026 and be sucked by the built-in water pipe 6025. The cutting edge 6023 can cut impurities such as moss at the bottom of the water pipe to prevent impurities from clogging the water inlet 6026. The intercepting slope 6024 is used to provide another angle of water inlet direction to further ensure the smoothness of water inlet. The counterweight ball 6022 can increase the overall weight of the filter housing 6021 so that it can sink into the water, and then The water is transported to the pressurized shell 604 through the connecting water pipe 603. Since the pressurized shell 604 is flat, the internal space can be reduced and the water pressure can be increased. Then, it is sprayed out from the nozzle 605 to form a spraying range of an annular water flow, which can clean and wash the inner wall of the water pipe. It is especially suitable for inspection of water pipes with a large radius. The nozzle 605 is designed to be bent backward, which can change the contact position between the water flow and the inner wall of the pipe, and reduce the influence of the water flow on the shooting of the front camera 606. The front shield 607 provides protection for the front camera 606 to ensure the normal operation of the front camera 606. The front camera 606 can capture the image of the front side to determine whether the entire device is at the bent pipe, which is convenient for determining the approximate orientation of the device.

[0056] The embodiment of the present invention further provides an inspection method using the water pipeline inner wall inspection device as described above, comprising the following steps:

[0057] S1. Adjust the stabilizing unit 3 to a vertical state, and use the walking unit 2 and the frame unit 1 to provide power for stable walking. The rear housing 101 provides installation space for the walking motor, and can have built-in batteries to provide power for a period of time. In the inspection environment of a linear water pipeline, the output end of the driving electric push rod 107 is in a central position, so that the front and rear walking wheels 201 are in the same direction, thereby ensuring that the entire body moves in a linear direction. In the inspection environment of a curved water pipeline, the output end of the driving electric push rod 107 is extended, and the rotating cross plate 108 is driven to rotate to the left, and the entire body turns to the left. The output end of the driving electric push rod 107 is retracted, and the rotating cross plate 108 is driven to rotate to the right, and the entire body turns to the right, thereby being suitable for inspection environments in different environments; wherein, the support seat buckle 104 and the locking sleeve 105 can fix the vertical electric push rod 301 in a vertical state, and the placement seat 106 can fix the vertical electric push rod 301 in a horizontal state. The walking wheel 201 is fixed, saving overall space and convenient to carry and use; the walking wheel 201 can provide walking power under the drive of the walking motor, and the conical walking wheel 201 can fit the curved inner wall of the water pipe more closely. The rotation of the walking wheel 201 can synchronously drive the installation cone shell 205 to rotate, and the installation cone shell 205 drives the sliding rod 207, the contact head 206, and the knocking head 208 to rotate, so that the upper knocking head 208 contacts the inner wall of the pipe, collides, and produces sound. After the knocking head 208 is stressed, the sliding rod 207 is pushed to slide inward, squeezing the support spring 203 to ensure the stability of the walking of the walking wheel 201. The included angle between the sliding rod 207 and the vertical plane is 45°. The design of the inclined state can ensure that the contact head 206 can be fully extended and contact the inner wall of the straight or curved pipe. When the knocking head 208 rotates to the upper part, the support spring 203 is reset to ensure the accuracy of the next knocking position, which is convenient for positioning the overall equipment and can be convenient for maintenance and operation.

[0058] S2. While walking, use the cleaning unit 6 to extract water from the bottom of the water pipe and spray it out through the nozzle 605 to clean the inner wall of the water pipe. During the cleaning operation, the micro water pump 601 is powered on to pump water from the bottom of the water pipe through the filter element 602. The water can enter the filter housing 6021 from the water inlet 6026 and be sucked by the built-in water pipe 6025. The cutting edge 6023 can cut impurities such as moss at the bottom of the water pipe to prevent impurities from clogging the water inlet 6026. The interception slope 60 24 is used to provide another angle of water inlet direction to further ensure the smoothness of water inlet, and the weighted ball 6022 can increase the overall weight of the filter housing 6021 so that it can sink into the water, and then be transported to the booster housing 604 through the connecting water pipe 603. Since the booster housing 604 is flat, the internal space can be reduced, the water pressure can be increased, and then it is sprayed from the nozzle 605 to form a spraying range of an annular water flow, which can clean and wash the inner wall of the water pipeline, and is particularly suitable for inspection of water pipelines with a large radius;

[0059] S3, inspect the inner wall of the pipe through the camera unit 5, and drive the illumination light bar 506 and the cleaning piece 507 to make a circular motion through the rotating motor 504 to enhance the clarity and recognition of the camera. The mounting frame 501 will move synchronously with the extension of the output rod of the vertical electric push rod 301, so as to provide a higher camera position for the micro camera 503. The three micro cameras 503 can completely shoot the inner wall of the entire water pipeline without dead angles, and the shooting is comprehensive. The rotating motor 504 can be powered on to rotate, driving the connecting rod 505 and the cleaning piece 507 to rotate. The cleaning bar 5072 on the cleaning piece 507 can clean the inner and outer walls of the transparent cover 508 at the same time, ensuring that the surface of the transparent cover 508 is clean and the camera is clear. The illumination light bar 506 can emit light when powered on, and make a circular motion with the cleaning piece 507, so as to provide an additional external light source, circularly illuminate the inner wall of the pipe, reduce the blind angle of the inner wall, and improve the comprehensiveness of the shooting.

[0060] S4. Through the sliding assembly and the knocking unit 4, the inner wall of the pipeline is knocked to produce a whistle sound to identify the position of the equipment in the pipeline. The rotation of the walking wheel 201 can synchronously drive the installation cone shell 205 to rotate. The installation cone shell 205 drives the sliding rod 207, the contact head 206, and the knocking head 208 to rotate, so that the upper knocking head 208 contacts the inner wall of the pipeline, collides, and produces a sound. After the knocking head 208 is subjected to force, the sliding rod 207 is pushed to slide inward, squeezing the support spring 203 to ensure the stability of the walking wheel 201. When the knocking head 208 rotates to the upper part, the support spring 203 is reset to ensure the accuracy of the next knocking position, which is convenient for positioning the overall equipment and can facilitate maintenance and operation. The rotation of the stabilizing wheel 303 synchronously drives the outer cylinder 401 and the inner cylinder 402 to rotate. And drive the internal rod 405, the external head 406, and the inner end block 403 to rotate. When the external head 406 rotates to the upper part, it will contact and collide with the inner wall of the tube to produce sound. The external head 406 is subjected to pressure, which drives the internal rod 405 to have a protrusion, which can squeeze the internal spring 404. The internal spring 404 is compressed to reduce the space occupied by the external head 406, thereby ensuring that the stabilizing wheel 303 can rotate normally, and the inner end block 403 squeezes the blowing airbag 408. The gas blown out of the blowing airbag 408 enters the whistle 407 to make a sound, increasing the decibel of the sound. When the external head 406 rotates to the lower part, the internal spring 404 is reset to ensure that the position of the external head 406 is accurate next time, which is convenient for the next knocking use. It can provide a knocking sound on the top of the water pipeline to improve the recognition degree.

[0061] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A water pipeline inner wall inspection device, characterized in that: include: A frame unit (1), the frame unit (1) comprising a rear housing (101) and a rotating transverse plate (108), a travel motor being installed in the rear housing (101), a connecting transverse plate (110) being fixedly connected to the middle of the rear housing (101), a supporting tube seat (111) and a lower support (109) being fixedly connected to the front of the connecting transverse plate (110), an end of the connecting transverse plate (110) being rotatably connected to the rotating transverse plate (108), a driving electric push rod (107) for driving the rotating transverse plate (108) to rotate horizontally being provided on the connecting transverse plate (110), and a supporting seat buckle (104) and a mounting swivel seat (103) being fixedly connected to the rear of the connecting transverse plate (110); A walking unit (2), the walking unit (2) comprising conical walking wheels (201) mounted on both ends of a rear housing (101) and a rotating horizontal plate (108), the walking motor having two output ends, the two output ends of the walking motor being fixedly connected to two walking wheels (201) corresponding to the two ends of the rear housing (101), the end of the walking wheel (201) having a smaller diameter being fixedly connected to a mounting cone shell (205), the mounting cone shell (205) being provided with a sliding component capable of reciprocatingly sliding to knock against the inner wall of the tube; A stabilizing unit (3), the stabilizing unit (3) comprising a vertical electric push rod (301) mounted on a mounting swivel seat (103), a conical stabilizing wheel (303) being symmetrically mounted at an output end of the vertical electric push rod (301); A camera unit (5), the camera unit (5) comprising a mounting frame (501) fixedly mounted on the output end of the vertical electric push rod (301), a micro camera (503) being mounted on the mounting frame (501) in a herringbone shape, and a small spotlight being integrated on the micro camera (503); A cleaning unit (6), the cleaning unit (6) comprising a micro water pump (601) fixedly mounted on the bottom of the connecting horizontal plate (110), the water pumping end of the micro water pump (601) being connected to a filter element (602), the water outlet end of the micro water pump (601) being fixedly connected to a connecting water pipe (603), the end of the connecting water pipe (603) being fixedly connected to a booster housing (604), a backward-bending nozzle (605) being evenly mounted on a circumferential surface of the booster housing (604), a front shield (607) being fixedly connected to the front of the booster housing (604), and a front camera (606) being mounted inside the front shield (607); The device also comprises a striking unit (4), the striking unit (4) comprising an outer tube (401) and an inner tube (402) fixedly mounted on an end of the stabilizing wheel (303) with a smaller diameter, the outer tube (401) being slidably connected to an inner rod (405), the outer end of the inner rod (405) being fixedly connected to an external head (406), a protrusion being provided on the rod body of the inner rod (405), and an inner spring being provided on the inner rod (405) and located on the inner side of the protrusion. The inner tube (402) includes a spring (404), the inner spring (404) being located between the outer tube (401) and the inner tube (402), the inner rod (405) passing through the inner tube (402), and the inner end thereof being fixedly connected to an inner end block (403), an air blowing bag (408) being provided inside the inner tube (402) and located inside the inner end block (403), a whistle (407) being provided inside the inner tube (402), and the air blowing bag (408) being in communication with the whistle (407).

2. A water pipeline inner wall inspection device according to claim 1, characterized in that: The camera unit (5) further comprises a rotary motor (504) fixedly mounted in the mounting frame (501); the output end of the rotary motor (504) is fixedly connected to a connecting rod (505); the outer end of the connecting rod (505) is detachably connected to a cleaning piece (507); a mounting cavity (5071) is provided on the cleaning piece (507); an illumination light bar (506) is fixedly mounted in the mounting cavity (5071); a U-shaped cleaning strip (5072) is fixedly connected to the inner side of the cleaning piece (507); a transparent cover (508) is fixedly connected to the end of the mounting frame (501); the output end of the rotary motor (504) passes through the transparent cover (508); the cleaning strip (5072) is in contact with both the inner wall and the outer wall of the transparent cover (508); and a protective baffle (502) is fixedly connected to the mounting frame (501).

3. A water pipeline inner wall inspection device according to claim 1, characterized in that: The filter element (602) comprises a filter housing (6021), water inlets (6026) are evenly arranged on the outer wall of the filter housing (6021), a cutting edge (6023) is arranged at the edge of the water inlet (6026), an intercepting slope (6024) is arranged on the upper part of the filter housing (6021), and a built-in water pipe (6025) is fixedly connected to the interior of the filter housing (6021).

4. A water pipeline inner wall inspection device according to claim 3, characterized in that: The angle between the intercepting slope (6024) and the vertical plane is 30 degrees, the height of the intercepting slope (6024) is 1 / 3 of the overall height of the filter housing (6021), and a weight ball (6022) is fixedly connected to the bottom of the filter housing (6021), and the weight ball (6022) is made of elastic material.

5. The water pipeline inner wall inspection device according to claim 1, characterized in that: The sliding assembly comprises a sliding rod (207) slidably mounted in a mounting cone shell (205), the included angle between the sliding rod (207) and a vertical plane is 45 degrees, the inner end of the sliding rod (207) is fixedly connected to a contact head (206), the outer end of the sliding rod (207) is fixedly connected to a striking head (208), and a supporting spring (203) is provided between the mounting cone shell (205) and the walking wheel (201).

6. The water pipeline inner wall inspection device according to claim 1, characterized in that: The connecting water pipe (603) passes through the lower support (109) and the support pipe seat (111), and the booster housing (604) is located in front of the support pipe seat (111).

7. The water pipeline inner wall inspection device according to claim 1, characterized in that: A locking sleeve (105) is rotatably connected to the support seat buckle (104), the locking sleeve (105) is engaged with the support seat buckle (104), a space for fixing the vertical electric push rod (301) is formed between the support seat buckle (104) and the locking sleeve (105), and a placement seat (106) is fixedly connected to the upper surface of the connecting cross plate (110).

8. The water pipeline inner wall inspection device according to claim 1, characterized in that: A walking convex strip (202) is provided on the circumference of the conical surface of the walking wheel (201), a stabilizing convex strip (302) is provided on the circumference of the conical surface of the stabilizing wheel (303), one end of the driving electric push rod (107) is rotatably mounted in the connecting transverse plate (110), and the output end of the driving electric push rod (107) is rotatably connected to the end of the rotating transverse plate (108).

9. An inspection method using the water pipeline inner wall inspection device according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1, adjusting the stabilizing unit (3) to a vertical state, and using the walking unit (2) and the frame unit (1) to provide power for stable walking; S2, while walking, using the cleaning unit (6) to extract water from the bottom of the water pipe and spray it out through the nozzle (605) to clean the inner wall of the water pipe; S3, inspecting the inner wall of the pipe by using the camera unit (5), and driving the illumination light bar (506) and the cleaning member (507) to move in a circular motion by using the rotary motor (504), thereby enhancing the clarity and recognition of the camera; S4. The inner wall of the pipeline is knocked by the sliding assembly and the knocking unit (4), thereby generating a whistle sound and identifying the position of the device in the pipeline.

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