Drainage pipe fluctuation detection method and detection robot

Abstract

The invention provides a drainage pipe fluctuation detection method and a detection robot, and the method comprises the steps: collecting the advancing distance and pitching angle change of the pipeline detection robot at the lowest gravity point of each pipeline section position in a pipeline advancing process of the pipeline detection robot, and forming a data recording library of continuous feature points in a detected pipeline; the data visualization system simulates and draws a pipeline gravity lowest point simulation diagram through data operation, and a judgment basis is provided for pipeline operation. According to the invention, the fluctuating change diagram of the whole detection pipeline is visually and equivalently simulated, so that a basis is provided for judging the influence degree of the gravity flow direction of water flow; meanwhile, compared with pipeline simulation methods such as laser radar internal point distribution, the method is relatively simple to operate.

Description

Technical Field

[0001] The invention belongs to the technical field of municipal drainage, and relates to a drainage pipe undulation detection method and a detection robot. Background Art

[0002] Urban municipal rainwater and sewage pipe networks are generally laid by gravity flow. By detecting the elevation changes of the pipe laying, it can be determined whether the construction quality of the pipe meets the requirements and whether it meets the flow capacity. At present, the detection method for the elevation changes of the laid pipes is pipeline CCTV (Closed Circuit Television) detection, and this method mainly determines the local pipeline through the water accumulation inside the pipeline, and cannot form an intuitive fluctuation change of the entire pipeline, and also does not visualize the pipeline fluctuation data. Summary of the invention

[0003] The purpose of the present invention is to provide a drainage pipe undulation detection method and a detection robot in view of the defects of the prior art. The detection robot and method collect the travel distance and pitch angle changes of the detection robot at the lowest gravity point of each pipe cross-section position to form a data record library of continuous feature points in the detection pipe. The data visualization system calculates the data and simulates the lowest gravity point simulation diagram of the pipe to visualize the water flow direction in the pipe, thereby providing a basis for judgment of the pipe operation.

[0004] A first aspect of the present invention provides a method for detecting the rise and fall of a drainage pipe, comprising the following steps: S1 places the pipeline inspection robot in the pipeline to be inspected and sets the starting stroke to zero at the pipe opening; S2 determines a feature point at a fixed length interval in the pipeline, controls the pipeline inspection robot to continue moving in the pipeline, and detects and records the posture pitch change data of the pipeline inspection robot at each feature point position; S3 collects angle change data and travel change data L of the pipeline inspection robot moving between two adjacent feature points according to the set feature point positions until the pipeline inspection robot passes through the inspection pipe section; wherein the angle change of the pipeline inspection robot between the feature points is divided into an angle change ɑ with the horizontal plane and an angle change β with the plumb plane, and the above data collection steps are repeated until the pipeline inspection robot passes through the inspection pipe section; S4 calculates the elevation changes between feature points based on the angle change data and stroke change data, and draws an equivalent simulation diagram of the lowest gravity point of the pipeline based on the data.

[0005] Preferably, during the movement, the angle of the pipeline inspection robot in the direction of the pipeline cross section is adjusted so that the pipeline inspection robot always remains at the lowest point of gravity in the pipeline cross section, and the force angle of the pipeline inspection robot in the plumb plane points in the direction of gravity.

[0006] Preferably, during the inspection process, when the angle change β of the pipeline inspection robot in the plumb plane exceeds a preset angle, the forward travel is stopped, the pipeline inspection robot's posture is adjusted and then continues to move forward, ensuring that the travel distance between each feature point of the pipeline inspection robot is close to a straight-line distance.

[0007] Preferably, the travel between the feature points where the angle changes along the gravity direction is approximated as an arc, and the travel data between the feature points recorded by the pipeline inspection robot is approximated as the length of the arc, which is recorded as ΔX; the angle of the previous feature point is calculated as α1, the angle of the next feature point is calculated as α2, and the angle change of the approximate arc is calculated as Δα, which is calculated as follows: Δα=|α1-α2|; The corresponding chord length of the arc between the feature points is counted as L, and the radius of the arc is counted as r, which is calculated as follows: r = ; L = ; The height change between feature points is counted as ΔH and is calculated as follows: ΔH= .

[0008] Preferably, when the angle change β of the pipeline inspection robot on the plumb plane exceeds 2.5°, the forward travel is stopped, and the pipeline inspection robot continues to move forward after adjusting its posture.

[0009] A second aspect of the present invention provides a pipeline inspection robot for implementing a drainage pipe undulation detection method as described in any of the above items, comprising a robot body, wherein a gyroscope is provided in the robot body, and the gyroscope is used to collect an angle change β between the pipeline inspection robot and a plumb plane.

[0010] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a drainage pipe undulation detection method and detection robot, which collects the travel distance and pitch angle changes of the detection robot at the lowest gravity point of each pipe cross-section position to form a data record library of continuous feature points in the detection pipe. The data visualization system calculates the data and simulates the lowest gravity point simulation diagram of the pipe to visualize the water flow direction in the pipe, thereby providing a judgment basis for the operation of the pipe.

[0011] This patent uses visual equivalent simulation to produce an ups and downs diagram of the entire detection pipeline, providing a basis for determining the degree of influence of gravity on the direction of water flow; at the same time, compared with pipeline simulation methods such as internal point layout of laser radar, the operation of the present invention is relatively simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 The figure is a schematic diagram of a state of an embodiment of the present invention.

[0013] Figure 2 It is a cross-sectional view of an implementation state in an embodiment of the present invention.

[0014] Figure 3 This is a state diagram of a pipeline inspection robot in an undulating position in an embodiment of the present invention.

[0015] Figure 4 Schematic diagram of the calculation principle of the present invention.

[0016] In the figure: 1. Communication cable, 2. Pipeline inspection robot, 3. Control system, 4. Starting point, 5. Feature point, 6. Gyroscope, 7. Steering wheel; A. Inspection well 1; B. Inspection well 2; C. Pipeline. DETAILED DESCRIPTION

[0017] In order to enable those skilled in the art to better understand the technical solution of the present invention, the preferred implementation scheme of the present invention is described below in conjunction with specific embodiments. However, it should be understood that the drawings are only used for exemplary descriptions and cannot be understood as limitations on this patent; in order to better illustrate this embodiment, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted; the positional relationship described in the drawings is only used for exemplary descriptions and cannot be understood as limitations on this patent.

[0018] As an embodiment of the present invention, see the attached Figure 1-Figure 2 This embodiment provides a method for detecting the rise and fall of a drainage pipe. In the figure, A is an inspection well 1, B is an inspection well 2, and C is a pipeline. The detection occurs between two adjacent inspection wells, and includes the following steps: S1 places the pipeline inspection robot 2 in the pipeline C to be inspected. Figure 1 As shown, the pipeline inspection robot 2 is connected to the control system 3 via a communication cable 1, and the starting stroke is reset to zero at the pipe mouth position. This point is counted as the 4th starting point, and the inspection robot starts from the starting point 4; S2 determines a feature point 5 at a fixed length interval in the pipeline C, controls the pipeline inspection robot 2 to continue moving in the pipeline, and detects and records the posture pitch change data of the pipeline inspection robot 2 at each feature point position; S3 collects the angle change data and travel change data L of the pipeline inspection robot 2 moving between two adjacent feature points according to the set position of the feature point 5, until the pipeline inspection robot 2 passes through the inspection pipe section; wherein the angle change of the pipeline inspection robot 2 between the feature points is divided into the angle change ɑ with the horizontal plane and the angle change β with the plumb plane, and the above data collection steps are repeated until the pipeline inspection section is passed; S4 Figure 3 and Figure 3 As shown, the elevation changes between the characteristic points are calculated based on the angle change data and the stroke change data, and an equivalent simulation diagram of the lowest gravity point of the pipeline is drawn based on the data.

[0019] Specifically, in the above embodiment, during the movement, the control system 3 adjusts the angle of the pipeline inspection robot 2 in the cross-section direction of the pipeline C, so that the pipeline inspection robot 2 always remains at the lowest point of gravity in the pipeline cross-section, and the force angle of the pipeline inspection robot 2 in the vertical plane points to the direction of gravity, so that the path of the pipeline inspection robot walking in the pipeline C can always remain on the median vertical plane of the pipeline, which can improve the detection accuracy, and the calculated pipeline elevation change simulation diagram is the most accurate.

[0020] In some preferred embodiments, during the inspection process, the pipeline inspection robot 2 may inevitably deviate from the vertical plane in the pipeline. Therefore, during the inspection process, when the angle change β of the pipeline inspection robot 2 in the plumb plane exceeds a preset angle, the forward travel is stopped, and the posture of the pipeline inspection robot 2 is adjusted and then continued to move forward, ensuring that the travel distance between each feature point of the pipeline inspection robot 2 is close to a straight-line distance, so that the travel route can be corrected in time to ensure that the error is minimized.

[0021] In some embodiments, during specific calculations, the travel between feature points where angle changes occur along the gravity direction is approximated as an arc, and the travel data between feature points recorded by the pipeline inspection robot is approximated as the length of the arc, which is recorded as ΔX; the angle of the previous feature point is counted as α1, the angle of the next feature point is counted as α2, and the angle change of the approximate arc is counted as Δα, which is calculated as follows: Δα=|α1-α2|; The corresponding chord length of the arc between the feature points is counted as L, and the radius of the arc is counted as r, which is calculated as follows: r = ; L = ; The height change between feature points is counted as ΔH and is calculated as follows: ΔH= .

[0022] In some preferred embodiments, when the angle change β of the pipeline inspection robot in the plumb plane exceeds 2.5°, the forward stroke is stopped, and the posture of the pipeline inspection robot 2 is adjusted by the steering wheel 7 so that the angle change β along the pipeline cross-section direction returns to zero, or continues to move forward when the conditions are met. By setting a smaller correction angle, timely adjustments are made through the control system 3 to reduce errors.

[0023] As another preferred embodiment of the present invention, a pipeline inspection robot that implements a drainage pipe undulation detection method as described in any of the above embodiments, the inspection robot includes a robot body, and a gyroscope 6 is provided in the robot body. The gyroscope 6 is used to collect the angle change β between the pipeline inspection robot 2 and the plumb plane.

[0024] In the implementation of the present invention, the number of feature points in the detection process can be adjusted according to different accuracy requirements.

[0025] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A method for detecting the fluctuation of a drainage pipe, characterized in that: The steps include: S1 places the pipeline inspection robot in the pipeline to be inspected and sets the starting stroke to zero at the pipe opening; S2 determines a feature point at a fixed length interval in the pipeline, controls the pipeline inspection robot to continue moving in the pipeline, and detects and records the posture pitch change data of the pipeline inspection robot at each feature point position; S3 collects angle change data and travel change data L of the pipeline inspection robot moving between two adjacent feature points according to the set feature point positions until the pipeline inspection robot passes through the inspection pipe section; wherein the angle change of the pipeline inspection robot between the feature points is divided into an angle change ɑ with the horizontal plane and an angle change β with the plumb plane, and the above data collection steps are repeated until the pipeline inspection robot passes through the inspection pipe section; S4 calculates the elevation changes between feature points based on the angle change data and stroke change data, and draws an equivalent simulation diagram of the lowest gravity point of the pipeline based on the data.

2. A drainage pipe fluctuation detection method according to claim 1, characterized in that: During the movement, adjust the angle of the pipeline inspection robot in the direction of the pipeline cross section so that the pipeline inspection robot always remains at the lowest point of gravity in the pipeline cross section, and the force angle of the pipeline inspection robot in the plumb plane points in the direction of gravity.

3. A drainage pipe fluctuation detection method according to claim 1, characterized in that: During the inspection process, when the angle change β of the pipeline inspection robot in the plumb plane exceeds the preset angle, the pipeline inspection robot stops moving forward, adjusts its posture and continues moving forward to ensure that the travel distance between each feature point of the pipeline inspection robot is close to the straight-line distance.

4. A drainage pipe fluctuation detection method according to claim 1, characterized in that: The travel between the feature points with angle changes along the gravity direction is approximated as an arc, and the travel data between the feature points recorded by the pipeline inspection robot is approximated as the length of the arc, which is recorded as ΔX; the angle of the previous feature point is calculated as α1, the angle of the next feature point is calculated as α2, and the angle change of the approximate arc is calculated as Δα, which is calculated as follows: Δα=|α1-α2|; The corresponding chord length of the arc between the feature points is counted as L, and the radius of the arc is counted as r, which is calculated as follows: r = ； L = ； The height change between feature points is counted as ΔH and is calculated as follows: ΔH= 。 5. A drainage pipe fluctuation detection method according to claim 3, characterized in that: When the angle change β of the pipeline inspection robot on the plumb plane exceeds 2.5°, the forward travel is stopped, and the pipeline inspection robot continues to move forward after adjusting its posture.

6. A pipeline detection robot for implementing a drainage pipe undulation detection method as claimed in any one of claims 1 to 5, characterized in that: The robot comprises a robot body, wherein a gyroscope is arranged in the robot body, and the gyroscope is used to collect an angle change β between the pipeline detection robot and a plumb plane.

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