Drain pipe undulation detection method and detection robot

Abstract

The present invention proposes a drainage pipe undulation detection method and detection robot. This method utilizes the pipeline detection robot to collect the travel distance and pitch angle changes at the lowest gravity point of each pipeline cross-section during its travel through the pipeline, forming a data record library for continuous feature points within the detection pipeline. The data visualization system calculates the data and simulates a simulation diagram of the pipeline's lowest gravity point, providing a basis for determining pipeline operation. The present invention uses visualization to equivalently simulate the undulation change diagram of the entire detection pipeline, providing a basis for determining the degree of influence of water gravity on the flow direction. At the same time, compared with pipeline simulation methods such as internal point placement of laser radar, the present invention is simpler 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 sewage and rainwater pipe networks are typically laid using gravity flow. By detecting changes in pipe elevation during installation, it's possible to determine whether the pipeline's construction quality meets requirements and whether it meets its flow capacity. Currently, the only method for detecting changes in the elevation of installed pipelines is closed circuit television (CCTV). This method primarily detects localized pipe conditions by monitoring internal water accumulation, failing to provide a visual overview of the entire pipeline's fluctuations. Furthermore, it doesn't visualize the fluctuation data. Summary of the Invention

[0003] The purpose of the present invention is to address the defects of the existing technology and provide a drainage pipe undulation detection method and detection robot. 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 for 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, providing a basis for judgment of pipe operation.

[0004] A first aspect of the present invention provides a method for detecting the undulation of a drainage pipe, comprising the following steps:

[0005] S1 places the pipeline inspection robot in the pipeline to be inspected and resets the starting stroke to zero at the pipe opening.

[0006] 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;

[0007] 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 the inspection pipe section; the angle change between the feature points is divided into the angle change ɑ with the horizontal plane and the angle change β with the plumb plane. The above data collection steps are repeated until the pipeline inspection section is passed;

[0008] 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.

[0009] 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 vertical plane points in the direction of gravity.

[0010] 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 posture of the pipeline inspection robot is adjusted and then the forward travel is continued to ensure that the travel distance between each feature point of the pipeline inspection robot is close to a straight-line distance.

[0011] Preferably, the distance between the feature points where the angle changes along the gravity direction is approximated as an arc, and the distance 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:

[0012] Δα=|α1-α2|;

[0013] 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:

[0014] r = ;

[0015] L = ;

[0016] The height change between feature points is ΔH, which is calculated as follows:

[0017] ΔH= .

[0018] Preferably, when the angle change β of the pipeline inspection robot on the vertical plane exceeds 2.5°, the pipeline inspection robot stops its forward travel, adjusts its posture, and then continues to move forward.

[0019] A second aspect of the present invention provides a pipeline inspection robot for implementing any of the above-mentioned drainage pipe undulation detection methods, comprising a robot body, wherein a gyroscope is provided in the robot body, and the gyroscope is used to collect the angle change β between the pipeline inspection robot and the plumb plane.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] The present invention provides a drainage pipe undulation detection method and detection robot. By collecting the travel distance and pitch angle changes of the detection robot at the lowest gravity point of each pipe cross-section, a data record library of continuous feature points in the detection pipe is formed. 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, providing a judgment basis for pipe operation.

[0022] This patent uses visual equivalent simulation to produce an undulating change diagram of the entire detection pipeline, providing a basis for judging 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 this invention is relatively simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Schematic diagram of a state of an embodiment of the present invention.

[0024] Figure 2 It is a cross-sectional view of an implementation state in an embodiment of the present invention.

[0025] Figure 3 This is a state diagram of a pipeline inspection robot in an undulating position in an embodiment of the present invention.

[0026] Figure 4 Schematic diagram of the calculation principle of the present invention.

[0027] 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

[0028] In order to enable those skilled in the art to better understand the technical solution of the present invention, the preferred embodiments of the present invention are described below in conjunction with specific embodiments. However, it should be understood that the drawings are only for illustrative purposes and cannot be understood as limiting 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 relationships described in the drawings are only for illustrative purposes and cannot be understood as limiting this patent.

[0029] 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 inspection well 1, B is inspection well 2, and C is a pipeline. The detection occurs between adjacent inspection wells and includes the following steps:

[0030] S1 places the pipeline inspection robot 2 in the pipeline C to be inspected, as shown in Figure 1As 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;

[0031] 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;

[0032] S3 collects angle change data and travel change data L of the pipeline inspection robot 2 between two adjacent feature points based on the set positions of the feature points 5 until the pipeline inspection robot 2 passes through the inspection pipe section. The angle change between the feature points is divided into the angle change ɑ with the horizontal plane and the angle change β with the vertical plane. The above data collection steps are repeated until the pipeline inspection robot 2 passes through the inspection pipe section.

[0033] 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.

[0034] 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. In this way, 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.

[0035] 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 vertical plane exceeds a preset angle, the forward travel is stopped, the posture of the pipeline inspection robot 2 is adjusted, and then the forward travel is continued to ensure that the travel distance between each feature point of the pipeline inspection robot 2 is close to the straight-line distance. In this way, the travel route can be corrected in time to ensure that the error is minimized.

[0036] In some embodiments, during specific calculations, the distance between feature points where angles change along the gravity direction is approximated as an arc, and the distance data between the feature points recorded by the pipeline inspection robot is approximated as the length of the arc, 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. The calculation is as follows:

[0037] Δα=|α1-α2|;

[0038] 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:

[0039] r = ;

[0040] L = ;

[0041] The height change between feature points is ΔH, which is calculated as follows:

[0042] ΔH= .

[0043] 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.

[0044] 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.

[0045] During the implementation of the present invention, the number of feature points in the detection process can be adjusted according to different accuracy requirements.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. 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 solutions of the present invention may be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions of the present invention, which should all 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 resets 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 the inspection pipe section; the angle change between the feature points is divided into the angle change ɑ with the horizontal plane and the angle change β with the plumb plane. The above data collection steps are repeated until the pipeline inspection section is passed; S4 calculates the elevation change between the feature points based on the angle change data and the stroke change data, and draws an equivalent simulation diagram of the lowest gravity point of the pipeline based on the data. The stroke between the feature points where the angle changes along the gravity direction is approximated as an arc. The stroke 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. The calculation is 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 ΔH, which is calculated as follows: ΔH= 。 2. A drainage pipe undulation 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 vertical plane points to 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 a straight-line distance.

4. 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, the posture of the pipeline inspection robot is adjusted, and then the forward travel is continued.

5. A pipeline inspection robot that implements the drainage pipe undulation detection method according to any one of claims 1 to 4, characterized in that: The robot comprises 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 detection robot and a plumb plane.

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