A self-propelled detection robot for deep buried pipelines

Abstract

The present invention belongs to the field of robot technology, and in particular, relates to a detection robot for self-propelled detection of deeply buried pipelines on the ground, including a robot dog main body, wherein the robot dog main body is provided with a left mechanical front leg, a right mechanical front leg, a left mechanical rear leg and a right mechanical rear leg, and the bottoms of the left mechanical front leg and the left mechanical rear leg are provided with mounting grooves. The present invention can realize that the robot dog can automatically walk on the ground and stably detect buried pipelines, effectively avoiding damage to the detection instrument caused by the tilting and tipping of the robot dog, and can use airflow to assist the insulated soil cone to smoothly insert into the soil, and detect pipeline leakage during the air supply process, and can further improve the smoothness of the insertion of the insulated soil cone with the help of ultrasonic vibration and airflow, comprehensively improve the efficiency, accuracy and safety of buried pipeline detection, and ensure the smooth progress of the detection work.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a detection robot for self-propelled detection of deep-buried pipelines on the ground. Background Art

[0002] Buried pipelines are widely distributed in urban infrastructure and industrial fields, and their safe operation is of vital importance. With the development of automation and intelligent technology, detection robots have emerged, which are expected to overcome the difficulties of traditional manual detection, realize efficient, accurate and safe underground pipeline detection, meet the growing demand for pipeline maintenance, and ensure the stable operation of various facilities.

[0003] The buried pipeline inspection robot can inspect the buried pipeline from the ground along the laying path of the buried pipeline, such as the ground self-propelled detection robot for deep buried pipelines disclosed in patent announcement number CN211806115U. Nowadays, ground walking robots can be equipped with various inspection instruments to quickly detect possible defects in pipelines. For example, the AC ground potential difference measurement method is used to locate the damaged point of the anti-corrosion layer of the buried pipeline without excavation, and the AC current attenuation method is used to detect the overall condition of the outer anti-corrosion layer of the buried pipeline without excavation. It is extremely convenient to use and has a high inspection efficiency.

[0004] Due to the complex and diverse ground environment of buried pipelines, the outdoor ground is often uneven and affected by factors such as wind flow. Therefore, in this case, even if the inspection robot adopts a four-legged support structure, it is still difficult to maintain stability all the time. When the robot is performing inspection tasks, it is equipped with various precision instruments for inspecting pipelines. Once the robot tilts due to ground environmental factors, it will not only interrupt the inspection work, but also easily cause these expensive and precise inspection instruments to be damaged, thereby affecting the inspection progress and data accuracy, and increasing the inspection cost and time. Therefore, it is very important to ensure the stability of the robot in complex ground environments. Summary of the invention

[0005] The purpose of the present invention is to provide a ground self-propelled detection robot for detecting deeply buried pipelines in view of the above-mentioned problems.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a ground self-propelled detection robot for deeply buried pipelines, comprising a robot dog body, the robot dog body is provided with a left mechanical front leg, a right mechanical front leg, a left mechanical hind leg and a right mechanical hind leg, the bottoms of the left mechanical front leg and the left mechanical hind leg are both provided with mounting grooves, the back and abdomen of the robot dog body are both provided with instrument interface seats for carrying detection instruments, and also include:

[0007] Two insulating soil cones are both arranged inside the installation groove on the same side;

[0008] Two driving units are installed inside the mounting groove on the same side and are used to drive the insulating soil cone to move;

[0009] Two airflow ejection units are respectively arranged inside the left mechanical front leg and the left mechanical rear leg, and the air outlet ends of the two airflow ejection units are both arranged on the side wall of the insulating soil plug cone on the same side;

[0010] An air supply unit is installed on the abdomen of the robot dog body, and the air supply unit is connected to the two air flow ejection units;

[0011] Two vibration components are respectively installed inside the left mechanical front leg and the left mechanical rear leg, and the control end of the robot dog body controls the vibration components to work according to the electrical signal output by the driving unit;

[0012] An active detection component is arranged inside the left mechanical front leg and installed inside the insulating soil cone on the same side;

[0013] The comparison detection component is arranged inside the left mechanical rear leg and installed inside the insulating soil cone on the same side.

[0014] Preferably, the two driving units each include an electric push rod fixedly inserted in the bottom of the mounting groove, a mounting block is installed at the telescopic end of the electric push rod, and a pressure detector is fixedly installed at the bottom of the mounting block, a slot block is arranged below the pressure detector, a pressure measuring end of the pressure detector is fixedly connected to the slot block, a rubber support gasket is fixedly arranged between the slot block and the mounting block, and the electric push rod and the pressure detector are both electrically connected to the control end of the robot dog body.

[0015] Preferably, the two air flow ejection units each include a connecting hose arranged inside the mounting groove, an air cavity is opened inside the left mechanical front leg and the left mechanical rear leg at a position above the mounting groove on the same side, the connecting hose is connected with the air cavity on the same side, an annular cavity is opened on the upper side of the side wall of the insulating soil plug cone, and the end of the connecting hose away from the air cavity is connected with the annular cavity, a plurality of jet holes are opened at the bottom of the annular cavity, and the air outlet end of each jet hole is arranged on the conical surface of the insulating soil plug cone.

[0016] Preferably, the air supply unit includes an installation box fixedly installed on the abdomen of the robot dog body, a installation plate is fixedly installed inside the installation box, the installation plate divides the installation box into a detection chamber and a mounting chamber, an air pump and a hollow block are fixedly installed inside the installation chamber, and the air outlet end of the air pump is connected to the hollow block, the hollow block is fixedly connected to two gas hoses, and the two gas hoses are connected to the corresponding air chambers, a replaceable gas detection probe is installed inside the detection chamber, a plurality of through holes connected to the installation chamber are opened on the upper cavity wall of the detection chamber, an air inlet is opened at the bottom of the detection chamber, and exhaust electric control valves are installed on the side walls of the hollow block at the air inlet ends of the two gas hoses, and the air pump, gas detection probe and exhaust electric control valve are all electrically connected to the control end of the robot dog body.

[0017] Preferably, the two vibration components both include a piezoelectric ultrasonic generator, a fixing groove is provided at the bottom of the left mechanical front leg and the left mechanical hind leg, and the piezoelectric ultrasonic generator is installed inside the fixing groove, a waveguide block is installed at the transmitting end of the piezoelectric ultrasonic generator, and the waveguide block is arranged at the notch of the fixing groove, and the piezoelectric ultrasonic generator is electrically connected to the control end of the robot dog body.

[0018] Preferably, the active detection component includes a sliding hole opened at the bottom of the insulating soil cone, and a detection probe is slidably arranged inside the sliding hole, a T-shaped column is installed on the top of the detection probe, and a supporting spring is fixedly arranged between the T-shaped column and the groove wall of the sliding groove, a permanent magnet is fixedly installed on the top of the T-shaped column, and an electromagnetic column is installed at a position above the permanent magnet inside the sliding hole, and the electromagnetic column and the detection probe are electrically connected to the control end of the robot dog body.

[0019] Preferably, the comparison detection component includes a circular groove opened at the bottom of the insulating soil cone, and a reference probe is fixedly installed at the bottom of the circular groove, and a wooden plug is sealed at the notch of the circular groove, and the reference probe is electrically connected to the control end of the robot dog body.

[0020] Preferably, the side walls of the two slot blocks are fixedly inserted with conductive rings, the lower sides of the slot walls of the two mounting slots are fixedly installed with insulating pads, and the end faces of the insulating pads are fixedly installed with resistance rods, the inner walls of the conductive rings are in sliding contact with the rod walls of the resistance rods, and the conductive rings and the resistance rods on the same side are electrically connected to the control end of the robot dog body.

[0021] Compared with the existing technology, the advantages of a ground self-propelled detection robot for deep buried pipelines are:

[0022] Through the mutual cooperation of the robot dog main body, left mechanical front leg, right mechanical front leg, left mechanical hind leg, right mechanical hind leg and instrument interface seat, the robot can automatically walk on the ground to detect buried pipes. Through the mutual cooperation of the insulating soil insertion cone and the drive unit, the robot dog can be inserted into the soil when walking to assist the robot dog to maintain sufficient stability, thereby avoiding the robot dog from tilting and falling during walking, thereby avoiding the phenomenon of damage to the detection instrument due to the falling of the robot dog.

[0023] By setting up the airflow ejection unit, the airflow can be used to assist the smooth insertion of the insulating soil cone when inserting into the soil. In conjunction with the set air supply unit, the air supply unit can supply air to the airflow ejection unit, and during the air supply process, it can assist in detecting the surrounding air, thereby detecting pipeline leaks.

[0024] By setting up the vibration component, when the insulating soil plug cannot be inserted, ultrasonic vibration can be used to assist in loosening the soil. Combined with the airflow ejected by the airflow ejection unit, the smoothness of the insertion of the insulating soil plug can be further improved.

[0025] By setting up the active detection component and the comparison detection component, the potential difference of the soil can be measured after the insulating soil cone is inserted into the soil, so as to determine whether the buried pipeline is damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the structure of a ground self-propelled detection robot for deeply buried pipelines provided by the present invention;

[0027] Figure 2 It is a schematic diagram of the internal structure of the left mechanical front leg of a ground self-propelled detection robot for detecting deeply buried pipelines provided by the present invention;

[0028] Figure 3 It is a schematic diagram of the internal structure of the left mechanical hind leg of a ground self-propelled detection robot for deeply buried pipelines provided by the present invention;

[0029] Figure 4 The invention provides a ground self-propelled detection robot for deeply buried pipelines. Figure 2 A magnified view of the structure of part A;

[0030] Figure 5 It is a schematic diagram of the internal structure of an installation box of a detection robot for self-propelled detection of deep-buried pipelines provided by the present invention;

[0031] Figure 6 The invention provides a ground self-propelled detection robot for deeply buried pipelines. Figure 3 A magnified view of the structure of part B.

[0032] In the figure: 1 robot dog body, 2 left mechanical front leg, 3 right mechanical front leg, 4 left mechanical hind leg, 5 right mechanical hind leg, 6 mounting slot, 7 instrument interface seat, 8 insulating soil cone, 9 drive unit, 91 electric push rod, 92 mounting block, 93 pressure detector, 94 slot block, 95 rubber support gasket, 10 air flow ejection unit, 101 connecting hose, 102 air cavity, 103 annular cavity, 104 jet hole, 11 air supply unit, 111 mounting box, 112 mounting plate, 113 detection cavity, 114 mounting cavity, 115 air pump , 116 hollow block, 117 gas transmission hose, 118 gas detection probe, 119 through hole, 12 vibration component, 121 piezoelectric ultrasonic generator, 122 fixed groove, 123 waveguide block, 13 active detection component, 131 sliding hole, 132 detection probe, 133 T-shaped column, 134 support spring, 135 permanent magnet, 136 electromagnetic column, 14 comparison detection component, 141 round groove, 142 reference probe, 143 wooden plug, 15 conductive ring, 16 insulating spacer, 17 resistance rod, 18 exhaust electric control valve. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0034] like Figure 1-Figure 6 As shown, a detection robot for ground self-propelled detection of deeply buried pipelines includes a robot dog body 1, the robot dog body 1 is provided with a left mechanical front leg 2, a right mechanical front leg 3, a left mechanical hind leg 4 and a right mechanical hind leg 5, the bottom of the left mechanical front leg 2 and the left mechanical hind leg 4 are provided with a mounting groove 6, the back and abdomen of the robot dog body 1 are both equipped with an instrument interface seat 7 for carrying a detection instrument, and also includes: two insulating soil plugging cones 8, the two insulating soil plugging cones 8 are both arranged inside the mounting groove 6 on the same side, and two driving units 9 are both installed inside the mounting groove 6 on the same side and are used to drive the insulating soil plugging cones 8 to move, and the two The driving units 9 include an electric push rod 91 fixedly inserted in the bottom of the mounting groove 6, a mounting block 92 is installed at the telescopic end of the electric push rod 91, and a pressure detector 93 is fixedly installed at the bottom of the mounting block 92, a slot block 94 is arranged below the pressure detector 93, a pressure measuring end of the pressure detector 93 is fixedly connected to the slot block 94, a rubber support gasket 95 is fixedly arranged between the slot block 94 and the mounting block 92, the electric push rod 91 and the pressure detector 93 are both electrically connected to the control end of the robot dog body 1, the pressure detector 93 can detect the pressure, and after the pressure reaches the set value, feedback an electrical signal to the control end of the robot dog body 1.

[0035] The two airflow ejection units 10 are respectively arranged inside the left mechanical front leg 2 and the left mechanical rear leg 4, and the air outlet ends of the two airflow ejection units 10 are arranged on the side wall of the insulating soil plug cone 8 on the same side. The two airflow ejection units 10 both include a connecting hose 101 arranged inside the mounting groove 6. The inside of the left mechanical front leg 2 and the left mechanical rear leg 4 are both provided with an air cavity 102 at a position above the mounting groove 6 on the same side. The connecting hose 101 is connected to the air cavity 102 on the same side. The upper side of the side wall of the insulating soil plug cone 8 is provided with a connecting hose 101. An annular cavity 103 is provided, and one end of the connecting hose 101 away from the air cavity 102 is connected to the annular cavity 103. A plurality of jet holes 104 are provided at the bottom of the annular cavity 103, and the air outlet ends of each jet hole 104 are arranged at the conical surface of the insulating plug cone 8. Air pressure holes are left on the side walls of the two air cavities 102, and pressure valves are arranged in the air pressure holes to prevent excessive accumulation of gas inside the air cavity 102 when the gas cannot be discharged in time. Excessive airflow will push open the valve plate of the pressure valve and automatically discharge the gas.

[0036] The air supply unit 11 is installed on the abdomen of the robot dog body 1, and the air supply unit 11 is connected to the two air flow ejection units 10. The air supply unit 11 includes a mounting box 111 fixedly installed on the abdomen of the robot dog body 1. A mounting plate 112 is fixedly installed inside the mounting box 111. The mounting plate 112 divides the mounting box 111 into a detection chamber 113 and a mounting chamber 114. An air pump 115 and a hollow block 116 are fixedly installed inside the mounting chamber 114, and the air outlet end of the air pump 115 is connected to the hollow block 116. The hollow block 116 is fixedly connected to two air delivery hoses 117, and the two air delivery hoses 117 They are all connected with the corresponding air cavity 102, a replaceable gas detection probe 118 is installed inside the detection cavity 113, a plurality of through holes 119 connected with the installation cavity 114 are opened on the upper cavity wall of the detection cavity 113, an air inlet is opened at the bottom of the detection cavity 113, and the side walls of the hollow block 116 are located at the air inlet ends of the two air supply hoses 117. Exhaust electric control valves 18 are installed, the air pump 115, the gas detection probe 118 and the exhaust electric control valve 18 are all electrically connected to the control end of the robot dog body 1, and the gas detection probe 118 can be replaced according to the type of medium transported inside the buried pipeline to be detected.

[0037] The two vibration components 12 are respectively installed inside the left mechanical front leg 2 and the left mechanical hind leg 4. The control end of the robot dog body 1 controls the vibration component 12 to work according to the electrical signal output by the driving unit 9. The two vibration components 12 both include a piezoelectric ultrasonic generator 121. The bottom of the left mechanical front leg 2 and the left mechanical hind leg 4 are both provided with a fixing groove 122, and the piezoelectric ultrasonic generator 121 is installed inside the fixing groove 122. The transmitting end of the piezoelectric ultrasonic generator 121 is provided with a waveguide block 123, and the waveguide block 123 is arranged in the groove of the fixing groove 122. At the mouth, the piezoelectric ultrasonic generator 121 is electrically connected to the control end of the robot dog body 1. The piezoelectric ultrasonic generator 121 mainly uses the inverse piezoelectric effect of the piezoelectric crystal. When a high-frequency AC voltage is applied to the two poles of the piezoelectric crystal, the crystal is deformed due to the action of the electric field and produces mechanical vibration. The vibration frequency is the same as the frequency of the applied voltage. When the voltage frequency is close to or equal to the natural resonant frequency of the crystal, the crystal resonates and the vibration amplitude increases sharply, driving the resonance plate and other components connected to it to vibrate, thereby generating high-intensity ultrasonic waves and propagating them to the surrounding soil.

[0038] The active detection component 13 is arranged inside the left mechanical front leg 2 and installed inside the insulating soil cone 8 on the same side. The active detection component 13 includes a sliding hole 131 opened at the bottom of the insulating soil cone 8, and a detection probe 132 is slidably arranged inside the sliding hole 131. A T-shaped column 133 is installed on the top of the detection probe 132, and a support spring 134 is fixedly arranged between the T-shaped column 133 and the groove wall of the sliding groove. A permanent magnet 135 is fixedly installed on the top of the T-shaped column 133, and an electromagnetic column 136 is installed at a position above the permanent magnet 135 inside the sliding hole 131. The electromagnetic column 136 and the detection probe 132 are both electrically connected to the control end of the robot dog body 1. After the electromagnetic column 136 is energized, it can generate a magnetic repulsion force on the permanent magnet 135.

[0039] The comparison detection component 14 is arranged inside the left mechanical hind leg 4 and installed inside the insulating soil cone 8 on the same side. The comparison detection component 14 includes a circular groove 141 opened at the bottom of the insulating soil cone 8, and a reference probe 142 is fixedly installed at the bottom of the circular groove 141. The notch of the circular groove 141 is encapsulated with a wooden plug 143. The reference probe 142 is electrically connected to the control end of the robot dog body 1, and the wooden plug 143 can prevent the soil from pressing the reference probe 142.

[0040] Conductive rings 15 are fixedly inserted into the side walls of the two slot blocks 94, insulating pads 16 are fixedly installed on the lower sides of the slot walls of the two mounting slots 6, and resistor rods 17 are fixedly installed on the end faces of the insulating pads 16. The inner wall of the conductive ring 15 is in sliding contact with the rod wall of the resistor rod 17, and the conductive ring 15 and the resistor rod 17 on the same side are electrically connected to the control end of the robot dog body 1. After the contact position of the conductive ring 15 and the resistor rod 17 changes, the connection loop resistance of the conductive ring 15, the resistor rod 17 and the control end measurement circuit of the robot dog body 1 also changes synchronously.

[0041] The operating principle of the present invention is now described as follows: a suitable detection instrument is installed on the instrument interface seat 7 of the robot dog body 1, such as a pipeline positioning electromagnetic detector, an anti-corrosion layer detection receiver, an anti-corrosion layer detection magnetic boot, etc. After the robot dog body 1 is started, the robot dog body 1 moves along the path information of the buried pipeline according to the GPS locator inside it (the robot dog body 1 can collect the geographical location information of the pipeline through the GPS locator, complete the detection task along the pipeline according to the preset pipeline route and GPS information, and it can also facilitate the detection personnel to grasp the position of the robot dog body 1), the robot dog body 1 controls the left mechanical front leg 2, the right mechanical front leg 3, the left mechanical hind leg 4 and the right mechanical hind leg 5 to work alternately according to the preset program, so that the robot dog body 1 moves, for example, the left mechanical front leg 2 and the right mechanical hind leg 5 are lifted and moved forward at the same time, when the left mechanical front leg 2 and the right mechanical hind leg 5 have completed their forward movement, the right mechanical front leg 3 and the left mechanical hind leg 4 are lifted and moved synchronously, and then the steps are repeated, so that the robot dog body 1 can be moved;

[0042] Among them, after the left mechanical front leg 2 and the right mechanical hind leg 5 are lifted up, moved forward and placed on the ground, the control end of the robot dog body 1 controls the electric push rod 91 inside the left mechanical front leg 2 to work, so that the insulating soil cone 8 can be inserted into the soil through the mounting block 92, the pressure detector 93, and the slot block 94. At the same time, the control end of the robot dog body 1 controls the air pump 115 to work, and controls the exhaust electric control valve 18 at the corresponding position to be powered on and opened. At this time, the air pump 115 conveys air to the air cavity 102 of the left mechanical front leg 2 through the hollow block 116 and the corresponding air delivery hose 117, and then the air flow is conveyed to the annular cavity 103 through the connecting hose 101, and finally ejected through each jet hole 104. After the insulating soil cone 8 is inserted into the soil, in the spray Under the action of the outgoing airflow, the soil at the insertion end of the insulating soil cone 8 is pushed outward, thereby reducing the resistance of the insulating soil cone 8 to the insertion. When the insulating soil cone 8 cannot be inserted further due to resistance or other reasons, the insulating soil cone 8 cannot move. At this time, the pressure detected by the pressure detector 93 on this side continues to increase. When the pressure detector 93 detects a pressure of 40N, the pressure detector 93 will feed back an electrical signal to the control end of the robot dog body 1. At this time, the control end of the robot dog body 1 will control the electric push rod 91 to stop working and start the piezoelectric ultrasonic generator 121 of the left mechanical front leg 2. The piezoelectric ultrasonic generator 121 will emit ultrasonic waves (the piezoelectric ultrasonic generator 121 mainly uses the reverse pressure of the piezoelectric crystal to generate an ultrasonic wave). The piezoelectric effect works. When a high-frequency AC voltage is applied to the two poles of the piezoelectric crystal, the crystal is deformed due to the electric field and produces mechanical vibration. The vibration frequency is the same as the applied voltage frequency. When the voltage frequency is close to or equal to the natural resonant frequency of the crystal, the crystal resonates and the vibration amplitude increases sharply, driving the resonance plate and other components connected to it to vibrate, thereby generating high-intensity ultrasonic waves and propagating them to the surrounding soil). The ultrasonic waves are transmitted to the soil through the waveguide block 123, and its high-frequency vibration causes interaction between soil particles. On the one hand, the vibration causes the particles to move relative to each other, destroying the original connection structure between the particles. For example, the cementing material between clay particles loosens under vibration, and the cohesion between the particles is reduced. On the other hand, the cavitation effect during the ultrasonic propagation process produces tiny bubbles, which The bubble collapses rapidly in the high-pressure area, forming a local impact force, impacting the soil particles, causing the particles to further disperse and displace, increasing the soil porosity, reducing the soil compaction, and finally loosening the soil. Secondly, due to the airflow delivered to the soil by the air pump 115, the high-frequency vibration of the ultrasonic wave and the pressure impact and energy transfer of the airflow work together to continuously overcome the friction and cohesion between the soil particles, further assisting the loosening of the soil, thereby facilitating the insertion of the insulating soil cone 8. After the piezoelectric ultrasonic generator 121 works for 10 seconds, the piezoelectric ultrasonic generator 121 will stop working, and then the control end of the robot dog body 1 controls the electric push rod 91 to work again. At this time, since the soil has been loosened, the insulating soil cone 8 can continue to be inserted into the soil;

[0043] Among them, when the electric push rod 91 drives the insulating soil cone 8 to move downward, the groove block 94 will also synchronously drive the conductive ring 15 to move downward, so the contact point of the conductive ring 15 and the resistor rod 17 moves downward relatively. At this time, the length of the resistor rod 17 and the conductive ring 15 connected to the measurement circuit of the control end of the robot dog body 1 becomes shorter. When the insulating soil cone 8 is normally inserted completely, the conductive ring 15 is located at the lower rod wall of the resistor rod 17. At this time, the connection loop resistance of the resistor rod 17, the conductive ring 15 and the control end measurement circuit of the robot dog body 1 is the smallest, so its measurement circuit will detect that the current of the connection loop reaches 20mA. At this time, the control end of the robot dog body 1 will control the electric push rod 91 to stop working. When the insulating soil cone 8 encounters obstacles such as gravel during insertion, at this time, since the insertion depth of the insulating soil cone 8 is shallow (the conductive ring 15 is located within the top third of the resistor rod 17), even after airflow and ultrasonic waves , gravel and the like cannot be broken, so when the electric push rod 91 resumes working again, the insulating soil cone 8 still cannot be inserted further. At this time, when the electric push rod 91 works again, since the insulating soil cone 8 still cannot move further, the pressure detector 93 will again feedback an electrical signal to the control end of the robot dog body 1, and since the conductive ring 15 is located within one-third of the top of the resistor rod 17, after the control end of the robot dog body 1 receives the electrical signal fed back by the pressure detector 93 again, the electrical signal strength measured by the measurement circuit of the control end of the robot dog body 1 is lower than 7mA, which means that sufficient stability cannot be maintained at this position. The control end of the robot dog body 1 will control the electric push rod 91 to rotate, drive the insulating soil cone 8 to move back and reset, and control the left mechanical front leg 2 to lift up and move forward a certain distance (for example, 5cm) again, and then repeat the above steps to re-insert the insulating soil cone 8;

[0044] When the conductive ring 15 is located within the range of one-third to two-thirds of the resistance rod 17, it means that the insertion depth of the current insulating soil cone 8 meets the standing stability requirement. However, since the soil is hard, the detection probe 132 should not be inserted for detection to prevent damage to the detection probe 132. When the conductive ring 15 is located within the range of two-thirds to the tail end of the resistance rod 17, it means that the insertion depth of the insulating soil cone 8 meets the requirement and is convenient for the insertion of the detection probe 132.

[0045] When the conductive ring 15 is located within the range from two-thirds to the tail end of the resistor rod 17, the control end of the robot dog body 1 controls the electromagnetic column 136 to work. Under the magnetic repulsion of the electromagnetic column 136 on the permanent magnet 135, the T-shaped column 133 drives the detection probe 132 to extend outward and insert into the soil. Then, by measuring the potential difference between the detection probe 132 and the reference probe 142, it can be determined whether there is a defective point in the buried pipeline. Before the robot dog body 1 is used for detection, an electrical signal needs to be loaded from one end of the buried pipeline to the buried pipeline. When the pipeline anti-corrosion layer is intact, the electrical signal is normally transmitted along the buried pipeline, and the soil potential distribution around the buried pipeline is relatively stable. If the buried pipeline anti-corrosion layer is damaged, the detection probe 132 will detect the potential change caused by the leakage of the electrical signal, and form a potential difference with the stable potential reference provided by the reference probe 142. By analyzing the change of the potential difference, if the potential difference fluctuates abnormally or exceeds the normal range, it can be inferred that the pipeline may be damaged at the corresponding position, thereby realizing the detection and judgment of the integrity and potential damage of the pipeline anti-corrosion layer;

[0046] After the control end of the robot dog body 1 controls the electromagnetic column 136 to work for 10 seconds, the control end of the robot dog body 1 controls the electromagnetic column 136 to cut off the power, and controls the electric push rod 91 of the left mechanical hind leg 4 to rotate, so that the insulating soil cone 8 inside the left mechanical hind leg 4 moves back and resets. Then, the robot dog body 1 controls the left mechanical hind leg 4 and the right mechanical front leg 3 to lift up at the same time, and move forward for a distance, and then repeat the above steps, so that the robot dog can walk stably above the ground along the buried pipeline and detect the buried pipeline;

[0047] Among them, when the control end of the robot dog body 1 controls the air pump 115 to work, it will synchronously control the gas detection probe 118 to work. When the air pump 115 is working, it can inhale the external air through the air inlet, so that the gas flows through the gas detection probe 118. The gas detection probe 118 can detect pollutants in the air flow. For example, when the gas transported in the pipeline is combustible gas, the combustible gas detection probe 118 can detect whether the gas is leaking. Since the air pump 115 transports air to the surrounding soil, the air retained in the soil will escape to the outside, so that the waste gas originally remaining in the soil pores is discharged from the soil along with the air flow, so that the gas detection probe 118 can detect pollutants conveniently, avoiding the gas detection probe 118 from missing detection due to the pollutant waste gas remaining in the soil;

[0048] The robot dog body 1 is equipped with components such as a camera, an infrared ranging probe, a wireless communicator, and a signal receiver. The robot dog body 1 can walk autonomously along the ground above the buried pipeline according to a preset program and data fed back from each detection port, and feed back the detected data and other information to the remote control terminal.

[0049] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A ground self-propelled detection robot for deeply buried pipelines, comprising a robot dog body (1), wherein the robot dog body (1) is provided with a left mechanical front leg (2), a right mechanical front leg (3), a left mechanical hind leg (4) and a right mechanical hind leg (5), characterized in that: The bottoms of the left mechanical front leg (2) and the left mechanical rear leg (4) are both provided with mounting grooves (6), and the back and abdomen of the robot dog body (1) are both provided with instrument interface seats (7) for carrying detection instruments, and further comprising: Two insulating soil cones (8) are both arranged inside the mounting groove (6) on the same side; Two driving units (9) are both installed inside the mounting groove (6) on the same side and are used to drive the insulating soil cone (8) to move; Two airflow ejection units (10) are respectively arranged inside the left mechanical front leg (2) and the left mechanical rear leg (4), and the air outlet ends of the two airflow ejection units (10) are both arranged on the side wall of the insulating soil plug cone (8) on the same side; An air supply unit (11) is installed on the abdomen of the robot dog body (1), and the air supply unit (11) is connected to the two air flow ejection units (10); Two vibration components (12) are respectively installed inside the left mechanical front leg (2) and the left mechanical rear leg (4), and the control end of the robot dog body (1) controls the vibration components (12) to work according to the electrical signal output by the drive unit (9); An active detection component (13) is arranged inside the left mechanical front leg (2) and installed inside the insulating soil cone (8) on the same side; The comparison detection component (14) is arranged inside the left mechanical rear leg (4) and installed inside the insulating soil cone (8) on the same side.

2. The detection robot for self-propelled detection of deep-buried pipelines according to claim 1 is characterized in that: The two drive units (9) each comprise an electric push rod (91) fixedly plugged into the bottom of the mounting groove (6); a mounting block (92) is mounted on the telescopic end of the electric push rod (91); a pressure detector (93) is fixedly mounted on the bottom of the mounting block (92); a slot block (94) is arranged below the pressure detector (93); a pressure measuring end of the pressure detector (93) is fixedly connected to the slot block (94); a rubber support gasket (95) is fixedly arranged between the slot block (94) and the mounting block (92); and both the electric push rod (91) and the pressure detector (93) are electrically connected to the control end of the robot dog body (1).

3. The ground self-propelled detection robot for deep-buried pipelines according to claim 1 is characterized in that: The two airflow ejection units (10) each comprise a connecting hose (101) arranged inside the mounting groove (6); an air cavity (102) is provided inside the left mechanical front leg (2) and the left mechanical rear leg (4) at a position above the mounting groove (6) on the same side; the connecting hose (101) is connected to the air cavity (102) on the same side; an annular cavity (103) is provided on the upper side of the side wall of the insulating soil plug cone (8); and one end of the connecting hose (101) away from the air cavity (102) is connected to the annular cavity (103); a plurality of air injection holes (104) are provided at the bottom of the annular cavity (103), and the air outlet end of each air injection hole (104) is provided on the conical surface of the insulating soil plug cone (8).

4. The detection robot for self-propelled detection of deep-buried pipelines according to claim 3 is characterized in that: The air supply unit (11) comprises a mounting box (111) fixedly mounted on the abdomen of the robot dog body (1), a mounting plate (112) fixedly mounted inside the mounting box (111), the mounting plate (112) dividing the mounting box (111) into a detection chamber (113) and a mounting chamber (114), an air pump (115) and a hollow block (116) fixedly mounted inside the mounting chamber (114), an air outlet end of the air pump (115) being connected to the hollow block (116), the hollow block (116) being fixedly connected to two air delivery hoses (117), and the two air delivery hoses (117) are both The detection cavity (113) is connected to the corresponding air cavity (102); a replaceable gas detection probe (118) is installed inside the detection cavity (113); a plurality of through holes (119) connected to the installation cavity (114) are provided on the upper cavity wall of the detection cavity (113); an air inlet is provided at the bottom of the detection cavity (113); exhaust electric control valves (18) are installed on the side walls of the hollow block (116) at the air inlet ends of two air delivery hoses (117); and the air pump (115), the gas detection probe (118) and the exhaust electric control valve (18) are all electrically connected to the control end of the robot dog body (1).

5. The detection robot for self-propelled detection of deep-buried pipelines according to claim 1 is characterized in that: The two vibration components (12) each include a piezoelectric ultrasonic generator (121); a fixing groove (122) is provided at the bottom of the left mechanical front leg (2) and the left mechanical rear leg (4); the piezoelectric ultrasonic generator (121) is installed inside the fixing groove (122); a waveguide block (123) is installed at the transmitting end of the piezoelectric ultrasonic generator (121); and the waveguide block (123) is arranged at the notch of the fixing groove (122); and the piezoelectric ultrasonic generator (121) is electrically connected to the control end of the robot dog body (1).

6. The ground self-propelled detection robot for deep-buried pipelines according to claim 1, characterized in that: The active detection component (13) comprises a sliding hole (131) formed at the bottom of the insulating soil cone (8), and a detection probe (132) is slidably arranged inside the sliding hole (131), a T-shaped column (133) is installed on the top of the detection probe (132), and a support spring (134) is fixedly arranged between the T-shaped column (133) and the wall of the sliding groove, a permanent magnet (135) is fixedly installed on the top of the T-shaped column (133), and an electromagnetic column (136) is installed inside the sliding hole (131) at a position above the permanent magnet (135), and the electromagnetic column (136) and the detection probe (132) are both electrically connected to the control end of the robot dog body (1).

7. The detection robot for self-propelled detection of deep-buried pipelines according to claim 1, characterized in that: The comparison detection component (14) comprises a circular groove (141) formed at the bottom of the insulating soil cone (8), a reference probe (142) being fixedly mounted at the bottom of the circular groove (141), a wooden plug (143) being sealed at the notch of the circular groove (141), and the reference probe (142) being electrically connected to a control end of the robot dog body (1).

8. The ground self-propelled detection robot for deep-buried pipelines according to claim 2, characterized in that: The side walls of the two slot blocks (94) are fixedly plugged with conductive rings (15), the lower sides of the slot walls of the two mounting slots (6) are fixedly mounted with insulating pads (16), and the end faces of the insulating pads (16) are fixedly mounted with resistance rods (17), the inner walls of the conductive rings (15) are in sliding contact with the rod walls of the resistance rods (17), and the conductive rings (15) and the resistance rods (17) on the same side are electrically connected to the control end of the robot dog body (1).

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