Multifunctional pipeline detection robot and detection method thereof

Abstract

The invention discloses a multifunctional pipeline detection robot and a detection method thereof, and belongs to the technical field of pipeline detection robots. The system comprises a spiral roller robot, wherein the spiral roller robot comprises a floating cabin, a robot main body and a spiral roller; a floating cabin is arranged at the bottom of the robot body, spiral rollers are arranged on the two sides of the floating cabin, and the special function sensor and the spiral roller robot are combined into a whole through a fixing frame. The special function sensor comprises a water quality sensor and a flow velocity sensor. The device is long in single detection distance, carries the water quality detection module and the flow velocity detection module besides conventional video detection, can obtain water quality information and water flow velocity in a pipeline while performing video detection, is more comprehensive in detection information, can measure water quality and flow velocity of each point along the line in real time while collecting the section shape of a pipe network, and is high in detection accuracy. And the problems of mixed connection, misconnection and the like of the pipe network can be accurately judged.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection robots, and more specifically, to a multifunctional pipeline detection robot and a detection method thereof. Background Art

[0002] As an important infrastructure of the city, the urban drainage network is the lifeline of urban water pollutant transfer. In recent years, various problems of urban drainage networks, such as serious pipeline diseases, mixed connection of rainwater and sewage, confluence of clean and sewage, and imperfect sewage interception, have gradually begun to receive attention. Governments at all levels and relevant work units are also increasing their efforts to detect and investigate urban drainage networks. There are many traditional detection methods, but they are inefficient. With the continuous advancement of science and technology and people's demand for high efficiency, various pipeline detection equipment has emerged at home and abroad. Whether it is domestic or foreign pipeline network detection, it is mainly based on pipeline robots. However, the environment in some underground pipelines is complex. Special areas such as culverts and box culverts with high water levels and thick silt have been relying on manual inspections. Not only is the detection time long, the data is inaccurate, but it is also relatively dangerous. To solve these problems, in recent years, China has developed several water inspection robots for inspection in such environments. The inspection distance is mostly between 200-350m, which cannot meet the requirements of long-distance inspection. At the same time, the robots suitable for non-stop water inspection conditions that take into account high liquid level and medium and low liquid level have single functions and poor inspection efficiency. The performance of inspection robots on the market is uneven, which makes the inspection robots have problems such as travel failures and poor inspection accuracy when working on site, and cannot complete the inspection work efficiently within the limited maintenance time.

[0003] The present invention directly addresses the prominent and difficult issues in improving the quality and efficiency of pipeline networks, and aims to solve the problem of detecting defects in drainage pipeline networks in areas that are difficult to excavate under special conditions such as blind wells, long-distance culverts, and river-crossing culverts. A non-excavation pipeline inspection robot with high precision, fast detection, and visualization is developed to solve the problem of accurately locating special mixing points, structural defects, and functional defect sites, and provide basic technical parameters for the repair, mixed connection transformation, management and maintenance of drainage pipeline network systems. Summary of the invention

[0004] 1. Technical problem to be solved by the invention

[0005] In view of the defects and shortcomings of the prior art, the present invention provides a multifunctional pipeline inspection robot and an inspection method thereof. The present invention controls the driving device of the spiral drum through a control system to achieve forward and directional control, and retracts the robot through the joint action of a floating cable and a control system, thereby achieving diverse inspection functions. While collecting the cross-sectional shape of the pipeline network, the present invention can measure the water quality and flow rate at each point along the line in real time, which helps to accurately identify problems such as mixed and wrong connections in the pipeline network.

[0006] 2. Technical solution

[0007] In order to achieve the above object, the technical solution provided by the present invention is:

[0008] A multifunctional pipeline inspection robot of the present invention includes a multifunctional pipeline inspection robot, including a spiral drum robot, wherein the spiral drum robot includes a floating cabin, a robot body and a spiral drum;

[0009] A floating cabin is arranged at the bottom of the robot body, spiral drums are arranged on both sides of the floating cabin, and a driving mechanism is arranged at the end of the spiral drum;

[0010] The spiral drum robot is provided with a fixed frame, and the special function sensor is combined with the spiral drum robot into a whole through the fixed frame;

[0011] The special function sensors include water quality sensors and flow rate sensors.

[0012] Furthermore, a control system is provided inside the robot body, and the driving mechanism is controlled by the control system.

[0013] Furthermore, the spiral rollers are provided in two groups and are respectively installed on both sides of the floating cabin, and the robot body is arranged at the upper end of the floating cabin.

[0014] Furthermore, a floating cable interface is provided on the upper surface of the robot body, the floating cable interface is externally connected to a floating cable, and one end of the floating cable is connected to a cable reel;

[0015] The floating cable is a lightweight cable that can float on the water surface. It can reduce the weight of the robot and keep the body stable. The length of the floating cable is not less than 500 meters.

[0016] Furthermore, an external sensor interface is provided on the top of the robot body, and the special function sensors are connected to the external sensor interface through connecting wires, and the connecting wires are fitted and fixed to the robot body;

[0017] Special function sensors can adjust the vertical distance according to the water depth of the pipeline to achieve accurate measurement. Special function sensors can synchronously measure the water quality and flow rate at each point in the pipeline network.

[0018] Furthermore, the front and rear ends of the spiral drum robot are both provided with fixed frames;

[0019] The water quality sensor is installed on the tail of the spiral drum robot through a fixed frame;

[0020] The spiral drum robot is equipped with a measuring component, which includes a high-definition camera, a sonar detector, and a two-dimensional laser side scanner. The high-definition camera, sonar detector, and two-dimensional laser side scanner are respectively connected to the control system;

[0021] The sonar detector and the special function sensor are respectively detachably connected to the fixed frame.

[0022] Furthermore, a two-dimensional laser side scanner is installed at the front end of the robot body, a high-definition camera is arranged at the top of the robot body, and a rear-view camera is arranged at the rear end of the robot body.

[0023] Furthermore, a flow rate sensor height adjustment rod is provided at the bottom of the spiral drum robot, the upper end of the flow rate sensor height adjustment rod is connected to the spiral drum robot through a fixed frame, a locking screw is provided on the rod body of the flow rate sensor height adjustment rod, and the bottom of the flow rate sensor height adjustment rod is assembled with the flow rate sensor through a flow meter fixing part.

[0024] Furthermore, the longitudinal section of the flow meter fixture is U-shaped, two groups of flow sensor height adjustment rods are provided, both ends of the flow meter fixture are respectively fixed to the flow sensor height adjustment rods, and the flow sensor is installed on the flow meter fixture.

[0025] A detection method for a multifunctional pipeline detection robot, the steps of which are:

[0026] Step 1: When using, first determine the required detection parameters of the pipeline, assemble the measurement components and special function sensors according to the parameters, connect the cable reel, dock the robot body with the floating cable aviation plug, and tighten the nut to complete the connection. The installation height of the flow rate sensor is adjusted according to the water level of the on-site box culvert pipeline;

[0027] Step 2: Connect the cable to the robot, connect the cable reel to 220 AC power, connect the PC to the cable reel via wire, fasten the carabiner, start the robot body, and open the software to check whether the robot's lens, lighting and other functions are normal.

[0028] Step 3: Go down to the well and pass the cable through the multi-section wire pulley to prevent the cable from rubbing against the pipe wall during the inspection process and causing mechanical damage. The multi-section wire pulley can ensure that the floating cable will not cause mechanical damage to the cable even if it is bent at a 90-degree angle at the bottom of the inspection well. The inspection robot is smoothly placed into the inspection well or box culvert through the pulley and fixed locking rope;

[0029] Step 4: Operate the robot to move forward, backward, turn, and other instructions to check whether the robot is ready for function, and control the robot's measurement behavior through the handheld control terminal and cables;

[0030] Its measurement behaviors include: high-definition cameras observe the internal environment of the pipeline above the water surface, two-dimensional laser side scanners scan the outline of the pipeline above the water surface; sonar detectors detect the underwater outline and siltation;

[0031] The water quality sensor is an ammonia nitrogen sensor, which is used to measure the ammonia content in water; the flow rate sensor is used to measure the flow rate of water in the culvert;

[0032] The water quality sensor uses PVC membrane to select ions in the water, and then determines the ammonia content in the water. The built-in compensation algorithm unit significantly improves the measurement accuracy of the sensor.

[0033] Step 5: Recover the inspection robot to the ground. Pay attention to the reverse speed during recovery, retract and release the cables in time, and store the instrument according to the robot and sensor maintenance methods.

[0034] 3. Beneficial effects

[0035] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0036] The present invention realizes the diversity of detection functions. While collecting the cross-sectional shape of the pipeline network, it can measure the water quality and flow rate at each point along the line in real time, which is helpful to accurately determine the problems such as mixed and wrong connections in the pipeline network.

[0037] The robot of the present invention relies on the buoyancy of the floating cabin as a whole, controls the driving device of the spiral drum through the control system, realizes the control of the forward movement and direction, and retracts the robot through the joint action of the floating cable and the control system. Each component can be installed, disassembled and adjusted as needed. It is convenient, fast and efficient to use, and realizes the measurement of pipeline water quality and flow rate in addition to the measurement of pipeline shape parameters, and realizes the measurement of large pipe diameters, water levels in various working conditions, and long distances. Through the control system and the software analysis system, pipeline defects and mixed and wrong connection conditions can be accurately determined. Combined with the shape parameters of the fixed points of the pipeline and the water quality and water quantity parameters, a large amount of re-measurement costs can be saved and the detection efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a side view of the present invention;

[0039] Figure 2 It is the tail structure diagram of the present invention;

[0040] Figure 3 A top view of the present invention;

[0041] Figure 4 It is a front side view of the present invention;

[0042] Figure 5 A three-dimensional diagram of the present invention

[0043] In the figure: 1. Floating cabin; 2. Floating cable interface; 3. External sensor socket; 4. High-definition camera; 5. Two-dimensional laser side scanner; 6. Robot body; 7. Sonar detector; 8. Flow rate sensor; 9. Flow rate sensor fixing screw; 10. Flow rate sensor height adjustment rod; 11. Spiral drum; 12. Rear view camera; 13. Water quality sensor; 14. Fixed frame; 15. Flow meter fixing; 16. Floating cable. DETAILED DESCRIPTION

[0044] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0045] Example 1

[0046] from Figure 1-5 It can be seen that a multifunctional pipeline inspection robot of this embodiment includes a spiral drum robot, and the spiral drum robot includes a floating cabin 1, a robot body 6 and a spiral drum 11;

[0047] A floating cabin 1 is arranged at the bottom of the robot body 6, spiral drums 11 are arranged on both sides of the floating cabin 1, and driving mechanisms are arranged at the ends of the spiral drums 11; a control system is arranged inside the robot body 6, and the driving mechanism is controlled by the control system.

[0048] In an environment with complex water quality, there are many impurities and the robot is heavy. If propeller propulsion is used, it will consume a lot of power and be easily entangled and damaged by debris. Therefore, the electric speed controller plus propeller method is not used.

[0049] The driving mode is a DC motor driving the spiral drum 11. The motor has a larger torque and a relatively moderate speed, which is more suitable for the pipeline environment.

[0050] Two groups of spiral drums 11 are provided and respectively installed on both sides of the floating cabin 1, and the robot body 6 is arranged at the upper end of the floating cabin 1;

[0051] A fixed frame 14 is provided on the spiral drum robot, and the special function sensor is combined with the spiral drum robot into a whole through the fixed frame 14;

[0052] The special function sensors include a water quality sensor 13 and a flow rate sensor 8 .

[0053] The upper surface of the robot body 6 is provided with a floating cable interface 2, the floating cable interface 2 is externally connected to a floating cable 16, and one end of the floating cable 16 is connected to a cable reel;

[0054] The floating cable 16 is a lightweight cable that can float on the water surface, thereby reducing the weight of the robot and maintaining the stability of the robot body. The length of the floating cable 16 is not less than 500 meters.

[0055] When the robot body 6 is working, the driving mechanism drives the spiral drum 11 to rotate and drives the robot body 6 forward. During the forward movement, the floating cable 16 is pulled and released. When the robot body 6 retreats, the cable drum rotates to retract the floating cable 16 and the robot body 6 simultaneously.

[0056] Since the equipment is traveling on the water surface, a floating cable 16 needs to be designed according to the power supply scheme to prevent the cable from sinking to the bottom of the water due to gravity and causing resistance to the equipment.

[0057] An external sensor interface 3 is provided on the top of the robot body 6, and the special function sensors are connected to the external sensor interface 3 through connecting wires, and the connecting wires are fitted and fixed to the robot body 6;

[0058] Special function sensors can adjust the vertical distance according to the water depth of the pipeline to achieve accurate measurement. Special function sensors can synchronously measure the water quality and flow rate at each point in the pipeline network.

[0059] The front and rear ends of the spiral drum robot are both provided with fixed frames 14;

[0060] The water quality sensor 13 is installed at the tail of the spiral drum robot through a fixed frame 14;

[0061] The spiral drum robot is equipped with a measuring component, which includes a high-definition camera 4, a sonar detector 7, and a two-dimensional laser side scanner 5. The high-definition camera 4, the sonar detector 7, and the two-dimensional laser side scanner 5 are respectively connected to the control system;

[0062] The sonar detector 7 and the special function sensor are respectively detachably connected to the fixed frame 14;

[0063] The sonar detector 7 is mounted on the front of the spiral drum robot through a fixed frame 14;

[0064] A two-dimensional laser side scanner 5 is installed at the front end of the robot body 6, a high-definition camera 4 is arranged on the top of the robot body 6, and the high-definition camera 4 can adjust the angle. A rear-view camera 12 is arranged at the rear end of the robot body 6.

[0065] A flow rate sensor height adjustment rod 10 is provided at the bottom of the spiral drum robot. The upper end of the flow rate sensor height adjustment rod 10 is connected to the spiral drum robot through a fixed frame 14. A locking screw 9 is provided on the rod body of the flow rate sensor height adjustment rod 10. The bottom of the flow rate sensor height adjustment rod 10 is assembled with the flow rate sensor 8 through a flow meter fixing part 15.

[0066] The longitudinal section of the flow meter fixture 15 is U-shaped. Two groups of flow sensor height adjustment rods 10 are provided. Both ends of the flow meter fixture 15 are respectively fixed to the flow sensor height adjustment rods 10 . The flow sensor 8 is installed on the flow meter fixture 15 .

[0067] A detection method for a multifunctional pipeline detection robot, the steps of which are:

[0068] Step 1: When using, first determine the required detection parameters of the pipeline, assemble the measurement components and special function sensors according to the parameters, connect the cable reel, dock the robot body 6 with the aviation plug of the floating cable 16, and tighten the nut to complete the connection. Among them, the installation height of the flow rate sensor 8 is adjusted according to the water level of the on-site box culvert pipeline;

[0069] Step 2: Connect the cable to the robot, connect the cable reel to 220 AC power, connect the PC to the cable reel via wire, fasten the carabiner, start the robot body 6, and open the software to check whether the robot's lens, lighting and other functions are normal.

[0070] Step 3: Go down to the well and pass the cable through the multi-section wire pulley to prevent the cable from rubbing against the pipe wall during the inspection process and causing mechanical damage. The multi-section wire pulley can ensure that the floating cable 16 will not cause mechanical damage to the cable even if it is bent at a 90-degree angle at the bottom of the inspection well. The inspection robot is smoothly placed into the inspection well or box culvert through the pulley and the fixed locking rope;

[0071] Step 4: Operate the robot to move forward, backward, turn, and other instructions to check whether the robot is ready for function, and control the robot's measurement behavior through the handheld control terminal and cables;

[0072] Its measurement behavior includes: a high-definition camera 4 observes the internal environment of the pipeline above the water surface, a two-dimensional laser side scanner 5 scans the outline of the pipeline above the water surface; a sonar detector 7 detects the underwater outline and siltation;

[0073] The water quality sensor 13 is an ammonia nitrogen sensor, which is used to measure the ammonia content in water;

[0074] The ammonia nitrogen content in water can reflect the degree of eutrophication of water to a certain extent. The water quality sensor 13 uses PVC membrane to select ions in water, and then measures the ammonia content in water. The built-in compensation algorithm unit significantly improves the measurement accuracy of the sensor. The sensor has high accuracy, long life, and strong anti-interference ability, meeting the detection requirements.

[0075] The flow rate sensor 8 is used to measure the flow rate of water in the culvert; it can understand the amount of sewage in the culvert and provide a basis for formulating drainage network reconstruction and repair plans;

[0076] This application uses a Doppler flowmeter to measure the flow rate of the water. This method has high automation and accuracy and can follow the robot for dynamic detection;

[0077] Step 5: Recover the inspection robot to the ground. Pay attention to the reverse speed during recovery, retract and release the cables in time, and store the instrument according to the robot and sensor maintenance methods.

[0078] The prototype of the developed equipment was tested in a culvert. After testing, the equipment operated stably on the water surface, and all functions were normal after advancing 500m and then recovering. The cable could float on the water surface, the robot had sufficient pulling force, and the battery had sufficient power to complete the journey. The video display on the software was clear and stable, and the water quality concentration and water flow speed could be displayed in real time. The collected information could be saved in real time.

[0079] Taking the box culvert inspection in Ruyigou, Maanshan as an example, the box culvert is designed to be 5m wide, 1.5m high and 500m long. During the inspection, the internal condition of the box culvert can be clearly observed, and the ammonia nitrogen data and water flow velocity can be detected in real time. The inspection found that the box culvert had some defects, the main defects were a few obstacles, corrosion and falling of the top material of the box culvert, and a few concealed connections of branch pipes. The other parts were the same as the design, and no obvious defects were found.

[0080] The present invention realizes the diversity of detection functions. While collecting the cross-sectional shape of the pipeline network, it can measure the water quality and flow rate at each point along the line in real time, which is helpful to accurately determine the problems such as mixed and wrong connections in the pipeline network.

[0081] The robot of the present invention relies on the buoyancy of the floating cabin 1 as a whole, controls the driving device of the spiral drum 11 through the control system, realizes the control of the forward movement and direction, and recovers the robot through the combined action of the floating cable and the control system.

[0082] The various components of the present invention can be installed, disassembled and adjusted as needed, and are easy, quick and efficient to use. In addition to the measurement of pipeline shape parameters, the measurement of pipeline water quality and flow rate is realized, and large pipe diameters, water levels in various working conditions, and long-distance measurements are realized. Through the control system and software analysis system, pipeline defects and mixed and wrong connection conditions can be accurately determined. Combined with the shape parameters of fixed points of the pipeline and the water quality and quantity parameters, a large amount of re-measurement costs can be saved and the detection efficiency can be improved.

[0083] The device of the present invention combines a variety of sensors to perform more comprehensive detection. At the same time, a sensor interface is reserved, and different sensors can be replaced for use later according to different needs.

[0084] The single detection distance of the present invention is long, not less than 500m, while the detection distance of traditional detection equipment is generally short, with a single detection distance of only 200-350m.

[0085] In addition to conventional video detection, the present invention is also equipped with a water quality detection module and a flow rate detection module. While performing video detection, water quality information and water flow rate in the pipeline can be obtained, and the detection information is more comprehensive.

[0086] The present invention and its embodiments are described schematically above, and the description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by it and designs a structural method and an embodiment similar to the technical solution without creativity without departing from the purpose of the invention, they shall all fall within the protection scope of the present invention.

Claims

1. A multifunctional pipeline inspection robot, including a spiral drum robot, Features: The spiral drum robot comprises a floating cabin (1), a robot body (6) and a spiral drum (11); A floating cabin (1) is arranged at the bottom of the robot body (6), spiral drums (11) are arranged on both sides of the floating cabin (1), and a driving mechanism is arranged at the end of the spiral drum (11); The spiral drum robot is provided with a fixed frame (14), and the special function sensor is combined with the spiral drum robot through the fixed frame (14) to form a whole; The special function sensor comprises a water quality sensor (13) and a flow rate sensor (8).

2. A multifunctional pipeline inspection robot according to claim 1, Features: A control system is arranged inside the robot body (6), and the driving mechanism is controlled by the control system.

3. A multifunctional pipeline inspection robot according to claim 1, Features: The spiral rollers (11) are provided in two groups and are respectively installed on both sides of the floating cabin (1), and the robot body (6) is arranged at the upper end of the floating cabin (1).

4. A multifunctional pipeline inspection robot according to claim 2, Features: The upper surface of the robot body (6) is provided with a floating cable interface (2), the floating cable interface (2) is externally connected to a floating cable (16), and one end of the floating cable (16) is connected to a cable reel; The floating cable (16) is a lightweight cable that can float on the water surface, thereby reducing the weight of the robot and maintaining the stability of the robot body. The length of the floating cable (16) is not less than 500 meters.

5. A multifunctional pipeline inspection robot according to claim 4, Features: An external sensor interface (3) is provided on the top of the robot body (6), and the special function sensors are connected to the external sensor interface (3) via connecting wires, and the connecting wires are fitted and fixed to the robot body (6); Special function sensors can adjust the vertical distance according to the water depth of the pipeline to achieve accurate measurement. Special function sensors can synchronously measure the water quality and flow rate at each point in the pipeline network.

6. A multifunctional pipeline inspection robot according to claim 5, Features: The front end and the rear end of the spiral drum robot are both provided with a fixed frame (14); The water quality sensor (13) is installed at the tail of the spiral drum robot through a fixed frame (14); The spiral drum robot is equipped with a measuring component, which includes a high-definition camera (4), a sonar detector (7), and a two-dimensional laser side scanner (5). The high-definition camera (4), the sonar detector (7), and the two-dimensional laser side scanner (5) are respectively connected to the control system; The sonar detector (7) and the special function sensor are respectively detachably connected to the fixed frame (14).

7. A multifunctional pipeline inspection robot according to claim 6, Features: A two-dimensional laser side scanner (5) is installed at the front end of the robot body (6), a high-definition camera (4) is arranged on the top of the robot body (6), and a rear-view camera (12) is arranged at the rear end of the robot body (6).

8. The multifunctional pipeline inspection robot according to claim 7, Features: A flow velocity sensor height adjustment rod (10) is arranged at the bottom of the spiral drum robot, the upper end of the flow velocity sensor height adjustment rod (10) is connected to the spiral drum robot via a fixed frame (14), a locking screw (9) is arranged on the rod body of the flow velocity sensor height adjustment rod (10), and the bottom of the flow velocity sensor height adjustment rod (10) is assembled with the flow velocity sensor (8) via a flow meter fixing piece (15).

9. The multifunctional pipeline inspection robot according to claim 8, Features: The longitudinal section of the velocity meter fixing part (15) is U-shaped, two groups of flow velocity sensor height adjustment rods (10) are provided, two ends of the velocity meter fixing part (15) are respectively fixed to the flow velocity sensor height adjustment rods (10), and the flow velocity sensor (8) is installed on the velocity meter fixing part (15).

10. The detection method of the multifunctional pipeline detection robot according to claim 9, Features: The steps are: Step 1: When using, first determine the detection parameters required for the pipeline, assemble the measurement components and special function sensors according to the parameters, connect the cable reel, connect the robot body (6) with the aviation plug of the floating cable (16), and tighten the nut to complete the connection. The installation height of the flow rate sensor (8) is adjusted according to the water level of the on-site box culvert pipeline; Step 2: Connect the cable to the robot, connect the cable reel to 220 AC power, connect the PC to the cable reel via wire, fasten the carabiner, start the robot body (6), and open the software to check whether the robot's lens, lighting and other functions are normal. Step 3: Go down to the well and pass the cable through the multi-section wire pulley to prevent the cable from rubbing against the pipe wall during the inspection process and causing mechanical damage. The multi-section wire pulley can ensure that the floating cable (16) will not cause mechanical damage to the cable even if it is bent at a 90-degree angle at the bottom of the inspection well. The inspection robot is smoothly placed in the inspection well or box culvert through the pulley and the fixed locking rope; Step 4: Operate the robot to move forward, backward, turn, and other instructions to check whether the robot is ready for function, and control the robot's measurement behavior through the handheld control terminal and cables; Its measurement behaviors include: a high-definition camera (4) observes the internal environment of the pipeline above the water surface, a two-dimensional laser side scanner (5) scans the outline of the pipeline above the water surface; a sonar detector (7) detects the underwater outline and siltation; The water quality sensor (13) is an ammonia nitrogen sensor for measuring the ammonia content in water; the flow rate sensor (8) is used to measure the flow rate of water in the culvert; The water quality sensor (13) uses a PVC membrane to select ions in water, thereby determining the ammonia content in water, and significantly improves the measurement accuracy of the sensor through a built-in compensation algorithm unit; Step 5: Recover the inspection robot to the ground. Pay attention to the reverse speed during recovery, retract and release the cables in time, and store the instrument according to the robot and sensor maintenance methods.

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