High water level detection robot
By designing a high-water level detection robot equipped with vertical and horizontal propulsion mechanism, tail rotation mechanism and multiple detection components, the problem of detection of medium and high water level pipelines in the prior art is solved, and the stable and accurate detection of the robot in a high water level environment is achieved.
Patent Information
- Application Number
- CN202411885549.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-19
- Publication Date
- 2025-02-14
AI Technical Summary
Existing pipeline detection robots are difficult to work properly in high water environments. Excessive water level will block the video equipment, resulting in the inability to obtain effective video images. At the same time, substances such as silt and sand will also affect the video quality.
A high water level detection robot is designed, using a combination of vertical and horizontal propulsion mechanisms to achieve precise vertical and horizontal movement of the robot. The robot is equipped with a tail rotation mechanism, image sonar, front and rear view cameras and Doppler taximeters. Through the coordinated work of these components, it can conduct all-round and blind spot detection in high-water pipelines.
The robot can move vertically and horizontally in high-water pipes, avoid obstacles, adjust detection height, acquire clear images and accurate depth measurement data, improve detection accuracy and reliability, and expand the robot's working range .
Smart Images
Figure CN119435881A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of pipeline detection, and more specifically, to a high water level detection robot. Background Art
[0002] Pipeline inspection robots are industrial robots used for automated inspection and maintenance of various pipeline systems. They are usually equipped with high-definition cameras, sensors and a variety of inspection equipment, and can efficiently and safely complete inspection tasks in complex pipeline environments. These robots are operated through a ground control console, can move freely and transmit images and data from the inside of the pipeline in real time, allowing workers to accurately understand the pipeline condition and promptly discover and repair potential defects.
[0003] However, the existing pipeline inspection robots have poor adaptability to the environment. For the existing pipeline inspection robots, they have strict requirements for the water level. The water level in the drainage pipe is too high, which will affect the video detection. When the water level exceeds the installation position of the equipment or there is water accumulation in the drainage pipe, the video equipment cannot work properly or the water level will block the key area, resulting in the inability to obtain effective video images. This will affect the accurate judgment and analysis of the internal conditions of the pipeline. In addition, there are often silt, foreign matter and other substances in the drainage pipe. These substances may adhere to the video equipment or enter the field of view of the camera, affecting the video quality. Such a situation will cause the video image to be blurred and the noise interference to increase, making the analysis results inaccurate.
[0004] Secondly, existing pipeline inspection robots require high-quality video images for analysis and inspection. However, obtaining high-quality video images in drainage pipes is a challenge. Often, it is necessary to block the drainage pipes for precipitation and dredging before inspection work can be carried out. If there is flowing water and discharged dirt in the pipes, subsequent work will not be possible and dredging is often required. Summary of the invention
[0005] In order to overcome the deficiencies of the prior art, the present invention provides a high water level detection robot to solve the problem that the existing pipeline detection robots are difficult to detect high water level pipelines.
[0006] The technical solution of the present invention is as follows: A high water level detection robot, comprising:
[0007] Main cabin;
[0008] A propulsion system, the propulsion system comprising a vertical propulsion mechanism installed above the center of gravity of the main cabin and a horizontal propulsion mechanism installed below the center of gravity of the main cabin, the vertical propulsion mechanism and the horizontal propulsion mechanism cooperate to adjust the spatial position of the main cabin;
[0009] A tail rotating mechanism, the tail rotating mechanism is arranged at the tail position of the main cabin, a driving servo motor is arranged in the main cabin, and the driving servo motor is connected to the tail rotating mechanism to drive the tail rotating mechanism to rotate;
[0010] A first detection component, the first detection component comprising an image sonar and a mechanical frame for mounting the image sonar, the image sonar being connected to the tail rotating mechanism through the mechanical frame;
[0011] A second detection component, the second detection component is arranged at the front end of the main cabin, the second detection component comprises two front-view lamps and a front-view camera, and the two front-view lamps are distributed on both sides of the front-view camera;
[0012] The third detection component is arranged on the tail rotating mechanism, and the third detection component includes two rearview lights and a rearview camera. The two rearview lights are distributed on both sides of the rearview camera.
[0013] Furthermore, the vertical propulsion mechanism includes two first vertical thrusters and two second vertical thrusters, and the two first vertical thrusters and the two second vertical thrusters are arranged in vector symmetry with respect to the center of gravity of the main cabin.
[0014] Furthermore, the horizontal propulsion mechanism includes a first horizontal propeller and a second horizontal propeller, the first horizontal propeller and the second horizontal propeller are respectively located on two side walls of the main cabin, and the first horizontal propeller and the second horizontal propeller are symmetrically arranged relative to the main cabin.
[0015] Furthermore, the two first vertical thrusters are arranged on the two side walls of the front end of the main cabin, the angle between the thrust axis of each of the first vertical thrusters and the Z-axis direction is 20°, and the intersection point of the thrust axes of the two first vertical thrusters is located above the center of gravity; the two second vertical thrusters are arranged on the two side walls of the rear end of the main cabin, the angle between the thrust axis of each of the second vertical thrusters and the Z-axis direction is 20°, and the intersection point of the thrust axes of the two second vertical thrusters is located below the center of gravity.
[0016] Furthermore, it also includes a pipeline sonar, which is arranged at the front end of the main cabin. When the main cabin moves along the extension direction of the pipeline, the pipeline sonar can perform a circular scan of the pipeline along the pipeline cross section.
[0017] Furthermore, it also includes a Doppler speed meter, which is installed at the bottom of the main cabin. When the main cabin moves along the inner wall of the pipeline, the Doppler speed meter transmits a sound wave signal to the inner wall of the pipeline. The sound wave signal is reflected by the inner wall of the pipeline and is received by the receiving system of the Doppler speed meter, and the moving speed of the main cabin is calculated.
[0018] Furthermore, a main control unit is provided in the main cabin, and the main control unit includes a control circuit board, and the propulsion system, the tail rotation mechanism, the first detection component, the second detection component and the third detection component are all electrically connected to the control circuit board.
[0019] Furthermore, a power battery is provided in the main cabin, and the power battery is electrically connected to the propulsion system, the tail rotation mechanism, the first detection component, the second detection component and the third detection component respectively.
[0020] Furthermore, an inertial navigation module is provided in the main cabin, and the inertial navigation module is used to draw the travel path of the main cabin and calculate the coordinate position of the main cabin.
[0021] Further, the mechanical frame includes a first hinge, a second hinge and a central rotating shaft, the first hinge and the second hinge are both provided with a rotating connecting sleeve, and both are hinged on the central rotating shaft through their respective rotating connecting sleeves, the first hinge is fixedly connected to the tail rotating mechanism, the second hinge is fixedly connected to the image sonar, the first hinge is provided with a first protrusion, the first protrusion is provided with a first through hole, the second hinge is provided with a second protrusion, the second protrusion is provided with an arc-shaped through hole arranged along the extension direction of the second protrusion, and the first through hole and the arc-shaped through hole are correspondingly arranged for fasteners to pass through.
[0022] The present invention according to the above scheme has the following beneficial effects:
[0023] (1) The present invention provides a high water level detection robot, whose propulsion system includes a vertical propulsion mechanism installed above the center of gravity of the main cabin and a horizontal propulsion mechanism installed below the center of gravity of the main cabin. The vertical propulsion mechanism is installed above the center of gravity of the main cabin. By adjusting the thrust, the robot can be precisely controlled in the vertical direction, so that the robot can easily move vertically in the high water level pipeline, adapt to the detection needs of different depths, and greatly expand the working range of the robot. In the high water level pipeline, the robot can not only avoid obstacles, adjust the detection height or conduct more in-depth detection by rising and falling, but also help the robot to quickly escape from the dangerous area in an emergency. Secondly, the horizontal propulsion mechanism is installed below the center of gravity of the main cabin. The vertical propulsion mechanism and the horizontal propulsion mechanism cooperate to adjust the spatial position of the main cabin, ensuring that the robot can maintain a good balance when moving vertically or horizontally. The vertical propulsion mechanism and the horizontal propulsion mechanism work together to ensure that the robot always moves around its center of gravity during the movement, thereby minimizing the risk of rollover, so that the detection robot can perform detection in high water level pipelines.
[0024] (2) The present invention provides a high water level detection robot, wherein the tail rotating mechanism is arranged at the tail position of the main cabin, a driving servo motor is arranged in the main cabin, the driving servo motor is connected to the tail rotating mechanism to drive the tail rotating mechanism to rotate, and the first detection component includes an image sonar and a mechanical frame for installing the image sonar, and the mechanical frame and the tail rotating mechanism are hinged; such a design allows the image sonar to rotate together with the tail rotating mechanism, so that the robot can drive the image sonar to comprehensively scan the environment inside the pipeline by rotating the tail rotating mechanism without changing its own forward direction, and through the rotation of the tail rotating mechanism, not only can all-round detection of the inner wall of the pipeline be achieved to ensure detection of the inside of the pipeline without blind spots, but the angle of the image sonar can also be adjusted according to the actual size of the pipeline to achieve the optimal detection angle, thereby maximizing the detection capability and resolution of the image sonar, thereby obtaining clear images and accurate depth measurement data, which helps to reduce false alarms and missed alarms during the detection process and improve the accuracy and reliability of the detection.
[0025] (3) The high water level detection robot provided by the present invention also includes a second detection component and a third detection component. The second detection component is arranged at the front end of the main cabin, and the second detection component includes two front lights and a front camera, and the two front lights are distributed on both sides of the front camera; the third detection component is arranged on the tail rotating mechanism, and the third detection component includes two rear lights and a rear camera, and the two rear lights are distributed on both sides of the rear camera. With this design, in the high water level pipeline detection, due to the limitation of water flow and line of sight, the traditional single-direction detection is often difficult to fully cover the inner wall area of the pipeline. The robot, through the design of front and rear dual detection components, not only enhances the detection field of view, but also improves the comprehensiveness of the detection, and can effectively capture and record the pipeline wall in front of the detection robot and the pipeline wall behind it, providing detailed data support for subsequent pipeline maintenance and analysis. Secondly, in pipeline inspection, due to the different shapes, sizes and internal obstacles of the pipelines, traditional fixed inspection devices are often difficult to cope with. The inspection robot provided in this application can achieve all-round inspection of the inner wall of the pipeline through the combination of the tail rotation mechanism and the third inspection component, and also improve the adaptability and flexibility of the robot. Whether it is a straight pipeline or a curved pipeline, the robot can select the best inspection angle and position according to the actual situation, so as to stably provide high-quality image information and provide accurate judgment basis for inspection personnel. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] In order to more clearly illustrate the technical solutions in the present invention, the drawings required for use in the embodiments or prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0027] Figure 1 is a front view of the high water level detection robot in an embodiment of the present invention;
[0028] Figure 2 is a bottom view of the high water level detection robot in an embodiment of the present invention;
[0029] Figure 3 This is one of the three-dimensional structural schematic diagrams of the high water level detection robot in an embodiment of the present invention;
[0030] Figure 4 This is a second schematic diagram of the three-dimensional structure of the high water level detection robot in an embodiment of the present invention;
[0031] Figure 5 for Figure 4 A local enlarged schematic diagram;
[0032] Figure 6Schematic diagram of the internal structure of the high water level detection robot in an embodiment of the present invention;
[0033] Figure 7 is a schematic diagram of the arrangement of a vertical thruster in an embodiment of the present invention;
[0034] Figure 8 Schematic diagram of the installation angle of two first vertical thrusters in an embodiment of the present invention;
[0035] Fig. 9 Schematic diagram of the installation angle of two second vertical thrusters in an embodiment of the present invention.
[0036] In the figure, 1. main cabin; 2. propulsion system; 21. vertical propulsion mechanism; 211. first vertical thruster; 212. second vertical thruster; 22. horizontal propulsion mechanism; 221. first horizontal thruster; 222. second horizontal thruster; 3. tail rotation mechanism; 4. first detection component; 41. image sonar; 42. mechanical frame; 421. first hinge; 4211. first convex part; 422. second hinge; 4221. second convex part; 423. central shaft; 5. second detection component; 51. front view light; 52. front view camera; 6. third detection component; 61. rear view light; 62. rear view camera; 7. pipeline sonar; 8. Doppler speed meter; 9. power battery; 10. inertial navigation module. DETAILED DESCRIPTION
[0037] The following detailed description of the embodiments of the present invention is provided in conjunction with the accompanying drawings and examples. The following detailed description of the embodiments and the accompanying drawings are used to illustrate the principles of the present invention, but cannot be used to limit the scope of the present invention, that is, the present invention is not limited to the described embodiments.
[0038] In order to better understand the present invention, the present invention is further described below in conjunction with the accompanying drawings and embodiments:
[0039] See also Figure 1 As shown, a high water level detection robot provided by the present invention includes a main cabin 1, a propulsion system 2, a tail rotation mechanism 3, a first detection component 4, a second detection component 5 and a third detection component 6.
[0040] Specifically, the propulsion system 2 includes a vertical propulsion mechanism 21 installed above the center of gravity of the main cabin 1 and a horizontal propulsion mechanism 22 installed below the center of gravity of the main cabin 1. The vertical propulsion mechanism 21 is installed above the center of gravity of the main cabin 1. By adjusting its thrust, precise control of the vertical direction of the robot can be achieved, so that the robot can easily achieve vertical movement in a high-water-level pipe, adapt to detection needs at different depths, and greatly expand the working range of the robot.
[0041] In actual application, when the robot provided in this embodiment performs detection operations in a high-water-level pipeline, the robot can not only avoid obstacles, adjust the detection height or conduct more in-depth detection by rising and falling, but also help the robot quickly escape from the dangerous area in an emergency.
[0042] It is worth mentioning that the high water level detection robot provided in this embodiment has a horizontal propulsion mechanism 22 installed under the center of gravity of the main cabin 1, and the vertical propulsion mechanism 21 and the horizontal propulsion mechanism 22 cooperate to adjust the spatial position of the main cabin 1, thereby ensuring that the robot can maintain a good balance when moving in the pipeline. The vertical propulsion mechanism 21 and the horizontal propulsion mechanism 22 work together to ensure that the robot always moves around its center of gravity during the movement, thereby minimizing the risk of rollover and enabling the detection robot to perform detection in high water level pipelines.
[0043] In some embodiments, the vertical propulsion mechanism 21 includes two first vertical propellers 211 and two second vertical propellers 212 , and the two first vertical propellers 211 and the two second vertical propellers 212 are arranged in vector symmetry with respect to the center of gravity of the main cabin 1 .
[0044] Specifically, the two first vertical thrusters 211 and the two second vertical thrusters 212 are arranged in vector symmetry with respect to the center of gravity of the main cabin 1, which helps to achieve force balance and improve the stability of the robot, and reduce rolling or yaw caused by unbalanced torque. When the robot needs to pitch forward and backward or pitch left and right, the two first vertical thrusters 211 and the two second vertical thrusters 212 can generate equal and opposite torques in the horizontal direction to maintain the balance of the robot, so that the robot can achieve multi-directional movements such as rising, descending, pitching forward and backward, and pitching left and right.
[0045] In some embodiments, the horizontal propulsion mechanism 22 includes a first horizontal propeller 221 and a second horizontal propeller 222, which are respectively located on the two side walls of the main cabin 1, and the first horizontal propeller 221 and the second horizontal propeller 222 are symmetrically arranged relative to the main cabin 1. This design enables the robot to achieve multi-directional movement such as forward, backward, left and right turns, etc.
[0046] In some embodiments, two first vertical thrusters 211 are arranged on the two side walls of the front end of the main cabin 1, the angle between the thrust axis of each first vertical thruster 211 and the Z-axis direction is 20°, and the intersection of the thrust axes of the two first vertical thrusters 211 is located above the center of gravity of the main cabin 1; two second vertical thrusters 212 are arranged on the two side walls of the rear end of the main cabin 1, the angle between the thrust axis of each second vertical thruster 212 and the Z-axis direction is 20°, and the intersection of the thrust axes of the two second vertical thrusters 212 is located below the center of gravity of the main cabin 1. Since the intersection of the thrust axes of the two first vertical thrusters 211 is located above the center of gravity, and the intersection of the thrust axes of the two second vertical thrusters 212 is located below the center of gravity of the main cabin 1, such a design can effectively balance the front and rear pitch and left and right pitch movements of the main cabin 1, thereby improving the stability of the robot.
[0047] See also Figure 7 to Figure 9 As shown, specifically, the two first vertical thrusters 211 located on the two side walls of the front end of the main cabin 1 are vertical thrusters T1 and vertical thrusters T2 respectively, and the two second vertical thrusters 212 located on the two side walls of the rear end of the main cabin 1 are vertical thrusters T3 and vertical thrusters T4 respectively, the angle between the thrust axis of the vertical thruster T1 and the Z-axis direction is 20°, the angle between the thrust axis of the vertical thruster T2 and the Z-axis direction is 20°, and the intersection point of the thrust axis of the vertical thruster T1 and the thrust axis of the vertical thruster T2 is located above the center of gravity of the main cabin 1; the angle between the thrust axis of the vertical thruster T3 and the Z-axis direction is 20°, the angle between the thrust axis of the vertical thruster T4 and the Z-axis direction is 20°, and the intersection point of the thrust axis of the vertical thruster T3 and the thrust axis of the vertical thruster T4 is located below the center of gravity of the main cabin 1. When the main cabin 1 is subject to external disturbances, such as fluid resistance or wind, by setting the angle between the thrust axis and the Z-axis direction to 20°, a larger lateral thrust and torque can be generated in the horizontal plane. The vertical thruster can offset these disturbances by adjusting the thrust to maintain the stable posture of the main cabin 1, so that the main cabin 1 can maintain a high anti-interference ability in a complex environment, thereby enabling the main cabin 1 to have a hovering function.
[0048] See also Figure 1 and Figure 2As shown, the tail rotating mechanism 3 is arranged at the tail position of the main cabin 1, and a driving servo motor is arranged in the main cabin 1. The driving servo motor is connected to the tail rotating mechanism 3 to drive the tail rotating mechanism 3 to rotate. The first detection component 4 includes an image sonar 41 and a mechanical frame 42 for installing the image sonar 41, and the image sonar 41 is connected to the tail rotating mechanism 3 through the mechanical frame 42; such a design allows the image sonar 41 to rotate with the tail rotating mechanism 3, so that the robot can drive the image sonar 41 to fully scan the environment in the pipeline by rotating the tail rotating mechanism 3 without changing its own forward direction. Moreover, through the rotation of the tail rotating mechanism 3, not only can all-round detection of the inner wall of the pipeline be achieved to ensure that the inside of the pipeline is detected without blind spots, but also the angle of the image sonar can be adjusted according to the actual size of the pipeline to achieve the optimal detection angle, maximize the detection capability and resolution of the image sonar, thereby obtaining clear images and accurate depth measurement data, which helps to reduce false alarms and missed alarms in the detection process and improve the accuracy and reliability of the detection.
[0049] See also Figure 3 As shown, the second detection component 5 is arranged at the front end of the main cabin 1, and the second detection component 5 includes two front lights 51 and a front camera 52, and the two front lights 51 are distributed on both sides of the front camera 52; the third detection component 6 is arranged on the tail rotating mechanism 3, and the third detection component 6 includes two rear lights 61 and a rear camera 62, and the two rear lights 61 are distributed on both sides of the rear camera 62. With this design, in the high-water level pipeline inspection, due to the limitation of water flow and line of sight, the traditional single-direction inspection is often difficult to fully cover the inner wall area of the pipeline. The robot, through the design of front and rear dual detection components, not only enhances the inspection field of view, but also improves the comprehensiveness of the inspection, and can effectively capture and record the pipeline wall in front of the inspection robot and the pipeline wall behind, providing detailed data support for subsequent pipeline maintenance and analysis. Secondly, in pipeline inspection, due to the different shapes, sizes and internal obstacles of the pipelines, traditional fixed inspection devices are often difficult to cope with. The inspection robot provided in the present application can achieve all-round inspection of the inner wall of the pipeline through the combination of the tail rotation mechanism 3 and the third inspection component 6, and also improve the adaptability and flexibility of the robot. Whether it is a straight pipeline or a curved pipeline, the robot can select the best inspection angle and position according to the actual situation, so as to stably provide high-quality image information and provide accurate judgment basis for the inspection personnel.
[0050] In some embodiments, the high water level detection robot provided by the present invention also includes a pipeline sonar 7, which is arranged at the front end of the main cabin 1. When the main cabin 1 moves along the extension direction of the pipeline, the pipeline sonar 7 can perform a circular scan of the pipeline along the pipeline cross section.
[0051] When the high water level detection robot is conducting inspection in the pipeline, the pipeline sonar is located at the front end of the main cabin 1, and can realize circular scanning of the pipeline along the pipeline cross section, quickly cover the entire pipeline cross section, and preliminarily screen out possible abnormal areas; since sonar technology has the characteristics of strong penetration and wide detection range, it can conduct preliminary screening of the pipeline in a short time, thereby improving detection efficiency. When the pipeline sonar finds an abnormality in a certain section, it can immediately locate the abnormal area, and provide an accurate target position for subsequent image sonar observation and confirmation, which helps to reduce blindness in the detection process and improve detection efficiency. Image sonar can realize detailed detection of tiny defects and display them in a more intuitive and clear way.
[0052] It is worth mentioning that the pipeline sonar obtains the internal conditions of the pipeline by sending sound wave signals and receiving their reflected waves. When the pipeline sonar performs a circular scan on the pipeline cross section, the pipeline sonar emits sound wave signals along the circumferential direction of the pipeline. These sound wave signals will be reflected when encountering obstacles (such as silt) inside the pipeline. The reflected waves are received by the sonar device and converted into image data. When there is silt at the bottom of the pipeline, the sound wave signal is reflected from the silt surface to form a specific echo signal. After these echo signals are received by the sonar device, they are processed and converted into image data, thereby showing the outline of the silt on the scanned image. Through the image processing algorithm, useful information in the image can be extracted, such as the outline and area of the silt. After extracting the silt outline, the volume or area of the silt can be estimated by integral calculation. The process of integral calculation usually involves cumulative summation of image data point by point or region by region. Since this application does not involve improvements to the image processing algorithm, this application does not expand on this. On this basis, those skilled in the art can obtain the algorithm in the prior art to calculate the volume or area of the silt.
[0053] In some embodiments, the main cabin 1 is also equipped with a laser measurement module. When the robot moves in the pipeline, on the one hand, the pipeline sonar can be used to scan the size of the pipeline, and on the other hand, with the help of the laser measurement module carried on the main cabin 1, the size of the object in the front field of vision can be measured by laser, thereby displaying the size of the object, so that the robot can simultaneously obtain the size information of the pipeline and the detailed information of the object in front.
[0054] See also Figure 2 As shown, in some embodiments, the high water level detection robot provided by the present invention also includes a Doppler speed meter 8, which is installed at the bottom of the main cabin 1. When the main cabin 1 moves along the inner wall of the pipe, the Doppler speed meter 8 transmits a sound wave signal to the inner wall of the pipe. The sound wave signal is reflected by the inner wall of the pipe and is received by the receiving system of the Doppler speed meter 8, and the moving speed of the main cabin 1 is calculated.
[0055] Specifically, the Doppler odometer 8 uses the Doppler frequency shift between the emitted sound waves and the received reflected waves from the inner wall of the pipe (or particles in the water layer) to measure the robot's speed relative to the inner wall of the pipe. When the robot moves, the Doppler odometer 8 emits sound wave signals to the inner wall of the pipe. After these sound wave signals are reflected by the inner wall of the pipe, they are received by the receiving system of the Doppler odometer 8. Due to the relative motion between the robot and the inner wall of the pipe, the received reflected sound wave signals will undergo a Doppler frequency shift, that is, the frequency of the signal will change. This frequency change is proportional to the speed of the robot, and the speed of the robot can be calculated by measuring the frequency change.
[0056] See also Figure 6 As shown, in some embodiments, a main control unit is provided in the main cabin 1, and the main control unit includes a control circuit board, and the propulsion system 2, the tail rotation mechanism 3, the first detection component 4, the second detection component 5, and the third detection component 6 are all electrically connected to the control circuit board. Specifically, a power battery 9 is provided in the main cabin 1, and the power battery 9 is electrically connected to the propulsion system 2, the tail rotation mechanism 3, the first detection component 4, the second detection component 5, and the third detection component 6, respectively.
[0057] See also Figure 6 As shown, in some embodiments, an inertial navigation module 10 is disposed in the main cabin 1 , and the inertial navigation module 10 is used to draw the travel path of the main cabin 1 and calculate the coordinate position of the main cabin 1 .
[0058] See also Figure 5 As shown, in some embodiments, the mechanical frame 42 includes a first hinge piece 421, a second hinge piece 422 and a central rotating shaft 423, the first hinge piece 421 and the second hinge piece 422 are both provided with a rotating connecting sleeve, and both are hinged on the central rotating shaft 423 through their respective rotating connecting sleeves, the first hinge piece 421 is fixedly connected to the tail rotating mechanism 3, the second hinge piece 422 is fixedly connected to the imaging sonar 41, a first protrusion 4211 is provided on the first hinge piece 421, the first protrusion 4211 is provided with a first through hole, a second protrusion 4221 is provided on the second hinge piece 422, the second protrusion 4221 is provided with an arc-shaped through hole arranged along the extension direction of the second protrusion 4221, and the first through hole and the arc-shaped through hole are correspondingly arranged for fasteners to pass through.
[0059] Specifically, the design of the mechanical frame 42 allows the angle between the first hinge piece 421 and the second hinge piece 422 to be changed by adjusting the position of the fastener in the arc-shaped through hole, thereby adjusting the inclination angle of the imaging sonar 41, so that the inclination angle of the imaging sonar 41 can be freely adjusted to adapt to different monitoring needs and working environments.
[0060] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.
[0061] The above is an exemplary description of the present invention in conjunction with the accompanying drawings. It is obvious that the implementation of the present invention is not limited to the above-mentioned method. As long as various improvements are made by adopting the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.
Claims
1. A high water level detection robot, characterized in that: include: Main cabin (1); A propulsion system (2), the propulsion system (2) comprising a vertical propulsion mechanism (21) installed above the center of gravity of the main cabin (1) and a horizontal propulsion mechanism (22) installed below the center of gravity of the main cabin (1), the vertical propulsion mechanism (21) and the horizontal propulsion mechanism (22) cooperating to adjust the spatial position of the main cabin (1); A tail rotating mechanism (3), the tail rotating mechanism (3) being arranged at the tail position of the main cabin (1), a driving servo motor being arranged in the main cabin (1), the driving servo motor being connected to the tail rotating mechanism (3) to drive the tail rotating mechanism (3) to rotate; A first detection component (4), the first detection component (4) comprising an imaging sonar (41) and a mechanical frame (42) for mounting the imaging sonar (41), the imaging sonar (41) being connected to the tail rotating mechanism (3) via the mechanical frame (42); A second detection component (5), the second detection component (5) being arranged at the front end of the main cabin (1), the second detection component (5) comprising two front-view lights (51) and a front-view camera (52), the two front-view lights (51) being distributed on both sides of the front-view camera (52); A third detection component (6), the third detection component (6) is arranged on the tail rotating mechanism (3), the third detection component (6) comprises two rearview lights (61) and a rearview camera (62), the two rearview lights (61) are distributed on both sides of the rearview camera (62).
2. A high water level detection robot as claimed in claim 1, characterized in that: The vertical propulsion mechanism (21) comprises two first vertical propellers (211) and two second vertical propellers (212), and the two first vertical propellers (211) and the two second vertical propellers (212) are arranged in vector symmetry relative to the center of gravity of the main cabin (1).
3. A high water level detection robot as claimed in claim 2, characterized in that: The horizontal propulsion mechanism (22) comprises a first horizontal propeller (221) and a second horizontal propeller (222), wherein the first horizontal propeller (221) and the second horizontal propeller (222) are respectively located on two side walls of the main cabin (1), and the first horizontal propeller (221) and the second horizontal propeller (222) are symmetrically arranged relative to the main cabin (1).
4. A high water level detection robot as claimed in claim 3, characterized in that: The two first vertical thrusters (211) are arranged on the two side walls of the front end of the main cabin (1), and the two second vertical thrusters (212) are arranged on the two side walls of the rear end of the main cabin (1).
5. A high water level detection robot as claimed in claim 1, characterized in that: It also comprises a pipeline sonar (7), which is arranged at the front end of the main cabin (1). When the main cabin (1) moves along the extension direction of the pipeline, the pipeline sonar (7) can perform a circular scan of the pipeline along the pipeline cross section.
6. A high water level detection robot as claimed in claim 1, characterized in that: The invention also comprises a Doppler speed meter (8), which is installed at the bottom of the main cabin (1). When the main cabin (1) moves along the inner wall of the pipeline, the Doppler speed meter (8) emits a sound wave signal to the inner wall of the pipeline. The sound wave signal is reflected by the inner wall of the pipeline and is received by the receiving system of the Doppler speed meter (8).
7. A high water level detection robot as claimed in claim 1, characterized in that: A main control unit is arranged in the main cabin (1), and the main control unit comprises a control circuit board. The propulsion system (2), the tail rotation mechanism (3), the first detection component (4), the second detection component (5) and the third detection component (6) are all electrically connected to the control circuit board.
8. A high water level detection robot as claimed in claim 1, characterized in that: A power battery (9) is arranged in the main cabin (1), and the power battery (9) is electrically connected to the propulsion system (2), the tail rotation mechanism (3), the first detection component (4), the second detection component (5) and the third detection component (6).
9. A high water level detection robot as claimed in claim 1, characterized in that: An inertial navigation module (10) is arranged in the main cabin (1), and the inertial navigation module (10) is used to draw the travel path of the main cabin (1) and calculate the coordinate position of the main cabin (1).
10. A high water level detection robot as claimed in claim 1, characterized in that: The mechanical frame (42) comprises a first hinge piece (421), a second hinge piece (422) and a central rotating shaft (423); the first hinge piece (421) and the second hinge piece (422) are both provided with a rotating connection sleeve, and both are hinged on the central rotating shaft (423) through their respective rotating connection sleeves; the first hinge piece (421) is fixedly connected to the tail rotating mechanism (3); the second hinge piece (422) is fixedly connected to the image sonar (41); the first hinge piece (421) is provided with a first convex portion (4211); the first convex portion (4211) is provided with a first through hole; the second hinge piece (422) is provided with a second convex portion (4221); the second convex portion (4221) is provided with an arc-shaped through hole arranged along the extension direction of the second convex portion (4221); the first through hole and the arc-shaped through hole are correspondingly arranged to allow a fastener to pass through.