CCTV robot rescue method in old pipeline based on rescue trolley

Abstract

The invention discloses a method for rescuing a CCTV robot in an old pipeline based on a rescue trolley, and the method comprises the steps: S1, conveying the rescue trolley into an inspection well to rescue the CCTV robot when the CCTV robot falls into a blind well or an underground tunnel; s2, a wire of the trapped CCTV robot is tensioned and then sleeved into a movable bayonet in a steel pipe of the rescue trolley, and the movable bayonet is locked; s3, the rescue trolley advances to the trapped area of the CCTV robot, the position of the rescue trolley is adjusted through a picture returned by a camera of the CCTV robot, and braking is conducted after position adjustment is completed; s4, pulling an electric wire of the trapped CCTV robot to enable the CCTV robot to be lifted to the air by the suspended end of the steel pipe; and S5, the rescue trolley is withdrawn towards the original road, and rescue succeeds.

Description

Technical Field

[0001] The present application belongs to the field of municipal construction technology, and in particular to a CCTV robot rescue method in old pipelines based on a rescue vehicle. Background Art

[0002] Today, trenchless repair technology for drainage pipes is widely used, and CCTV robot inspection is also widely used. During the inspection of pipelines, CCTV robots often encounter complex environments such as falling into dark wells, pits formed by broken pipelines, and losing power or being unable to escape. In similar situations, in order to rescue CCTV robots, digging to the top of the dark well or opening a hole on the top of the pipe to take out the CCTV robot, or using frogmen to enter the pipeline to manually retrieve the CCTV robot.

[0003] There are many disadvantages and shortcomings in rescuing CCTV robots through excavation: 1. Excavation rescue is time-consuming, resource-intensive, and requires a large amount of work; 2. Excavation rescue may affect surrounding buildings (structures), transportation, social operations (such as commercial areas), etc.; 3. Excavation rescue is difficult to support the excavation pit, and it is difficult to restore the dark wells and pipelines opened after excavation; 4. It is difficult to confirm the excavation location; 5. It does not conform to the concept of trenchless repair, etc.

[0004] Entering the pipeline through frogmen has obvious disadvantages and shortcomings: 1. Frogmen working in a small space may get stuck, be unable to retreat, and have uncertain safety risks in the unexplored area ahead; 2. Pipes with a diameter of 600mm are already difficult for frogmen to enter and operate inside. Existing drainage pipes with diameters less than 500mm, 400mm, and 300mm cannot be entered by frogmen at all, which has great limitations; 3. Temporary arrangements for frogmen to enter to recover CCTV robots require a long preparation time and high costs.

[0005] In complex environments, a rescue vehicle is used to rescue CCTV robots that have lost power or are unable to escape from a trap in complex environments such as dark wells or holes formed by broken pipes. During the rescue process, there is no need for large excavations or for frogmen to enter the trapped area to retrieve the CCTV robots. The rescue process is simple, convenient, fast, low-cost, and does not endanger the safety of operators. Summary of the invention

[0006] The purpose of this application is to overcome the problems of the prior art and disclose a method for rescuing a CCTV robot in an old pipeline based on a rescue vehicle. The method of the present invention adopts a rescue vehicle to rescue a CCTV robot that has lost power or cannot escape from a complex environment such as a dark well or a pit formed by a broken pipeline. During the rescue process, there is no need to use large excavation or frogmen to enter the trapped area to take out the CCTV robot. The rescue process is simple to operate, convenient and fast, with low cost and no risk of endangering the safety of the operator.

[0007] The purpose of this application is achieved through the following technical solutions:

[0008] A CCTV robot rescue method in an old pipeline based on a rescue vehicle, wherein the rescue vehicle comprises: an electric wire, a motor and a steel pipe;

[0009] One end of the wire is connected to a ground power source and the other end is connected to a motor, and the motor is used to provide driving force for the rescue vehicle; one end of the steel pipe is fixed to the top of the rescue vehicle in a detachable manner, and the other end is suspended, and the suspended end of the steel pipe is provided with a movable bayonet;

[0010] The CCTV robot rescue method comprises:

[0011] S1: When the CCTV robot falls into a dark well or tunnel, send a rescue vehicle into the inspection well to rescue the CCTV robot;

[0012] S2: tighten the wire of the trapped CCTV robot and put it into the movable bayonet on the steel pipe of the rescue vehicle, and lock the movable bayonet;

[0013] S3: The rescue car moves to the area where the CCTV robot is trapped, and adjusts the position of the rescue car through the images transmitted back by the CCTV robot camera. After the position adjustment is completed, the rescue car applies the brakes;

[0014] S4: Pull the wire of the trapped CCTV robot, so that the CCTV robot is lifted into the air by the suspended end of the steel pipe;

[0015] S5: The rescue vehicle returned to the original route and the rescue was successful.

[0016] According to a preferred embodiment, step S4 further includes: determining the escape state of the CCTV robot based on the images transmitted back by the camera of the CCTV robot.

[0017] According to a preferred embodiment, in step S1, the rescue vehicle is sent into the inspection well by hoisting or manual means.

[0018] According to a preferred embodiment, the steel pipe is fixed on the rescue vehicle via a pipe clamp.

[0019] According to a preferred embodiment, the suspended end of the steel pipe is also provided with a roller skating device (7), and in step S2, the wires of the CCTV robot are also passed through the roller skating device.

[0020] According to a preferred embodiment, the rescue vehicle is also provided with a counterweight.

[0021] The aforementioned main scheme of the present application and its further options can be freely combined to form multiple schemes, all of which are schemes that can be adopted and claimed for protection in the present application. After understanding the scheme of the present application, those skilled in the art can understand that there are multiple combinations based on the prior art and common knowledge, all of which are technical schemes to be protected by the present application, and they are not exhaustively listed here.

[0022] Beneficial effects of this application:

[0023] (1) In complex environments, a rescue vehicle is used to rescue CCTV robots that have lost power or are unable to escape from a trap in complex environments such as a dark well or a pit formed by a broken pipe. During the rescue process, there is no need to use large excavation or divers to enter the trapped area to retrieve the CCTV robot. The rescue process is simple, convenient, fast, low-cost, and does not endanger the safety of the operator.

[0024] (2) The rescue vehicle and steel pipe are designed to be detachable, which can effectively avoid the limitation of being unable to enter narrow spaces due to the large size of the structure.

[0025] (3) The rescue vehicle has a simple structure and cooperates with the trapped CCTV robot during the rescue process. The images transmitted back by the trapped CCTV robot’s camera visualize the rescue process, making the operation easy and controllable.

[0026] (4) A removable counterweight is provided to ensure that the rescue vehicle is light in weight when entering a narrow space, which is convenient for installation and operation. The counterweight is installed after entering the pipeline to ensure the stability of the rescue vehicle when pulling the wires of the CCTV robot (the front of the vehicle will not be lifted up or the body of the rescue vehicle will not be pulled). BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the structure of the rescue vehicle in this application;

[0028] Figure 2 This is a schematic diagram of the CCTV robot's working process;

[0029] Figure 3 It is a diagram of the trapped CCTV robot;

[0030] Figure 4 It is a schematic diagram of the rescue process of the rescue vehicle;

[0031] Among them, 1-electric wire, 2-motor, 3-counterweight, 4-pipe clamp, 5-steel pipe, 6-movable bayonet, 7-roller sled. DETAILED DESCRIPTION

[0032] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0033] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0034] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the application is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0035] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0036] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0037] In addition, the present application would like to point out that, in the present application, unless the specific structure, connection relationship, positional relationship, power source relationship, etc. are specifically written out, the structure, connection relationship, positional relationship, power source relationship, etc. involved in the present application are all known by those skilled in the art on the basis of the prior art without creative work.

[0038] The present invention discloses a CCTV robot rescue method in an old pipeline based on a rescue trolley. The rescue trolley comprises: an electric wire 1, a motor 2 and a steel pipe 5.

[0039] One end of the electric wire 1 is connected to a ground power source, and the other end is connected to a motor 2, and the motor 2 is used to provide driving force for the rescue vehicle.

[0040] One end of the steel pipe 5 is detachably fixed to the top of the rescue vehicle, and the other end is suspended in the air. The suspended end of the steel pipe 5 is provided with an active bayonet 6 .

[0041] Preferably, the steel pipe 5 is fixed on the rescue vehicle via the pipe clamp 4. The rescue vehicle and the steel pipe 5 are designed to be detachable, which can effectively avoid the limitation that the structure size is too large to enter a narrow space.

[0042] Preferably, the CCTV robot rescue method comprises the following steps.

[0043] Step S1: When the CCTV robot falls into a dark well or tunnel, a rescue vehicle is sent into the inspection well to rescue the CCTV robot.

[0044] Preferably, in step S1, the rescue vehicle is sent into the inspection well by hoisting or manual means.

[0045] Step S2: tighten the wire of the trapped CCTV robot and then insert it into the movable bayonet on the steel pipe of the rescue vehicle, and lock the movable bayonet.

[0046] Step S3: The rescue vehicle moves to the area where the CCTV robot is trapped, and adjusts the position of the rescue vehicle through the images transmitted back by the CCTV robot camera. After the position adjustment is completed, the brakes are applied.

[0047] Step S4: Pull the wire of the trapped CCTV robot so that the CCTV robot is suspended into the air by the suspended end of the steel pipe.

[0048] Preferably, step S4 further comprises: determining the escape status of the CCTV robot based on the images transmitted back by the camera of the CCTV robot.

[0049] Step S5: The rescue vehicle returns to the original route, and the rescue is successful.

[0050] Preferably, the suspended end of the steel pipe is also provided with a roller skating device 7, and in step S2, the wires of the CCTV robot are also passed through the roller skating device.

[0051] Preferably, the rescue trolley is also provided with a counterweight 3. By providing a detachable counterweight, it is ensured that the rescue trolley is light in weight when entering a narrow space, and the installation operation is convenient. After entering the pipeline, the counterweight is installed to ensure the stability of the rescue trolley itself during the process of pulling the CCTV robot wire (the front of the trolley will not be lifted up, and the rescue trolley body will not be pulled).

[0052] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A CCTV robot rescue method in an old pipeline based on a rescue vehicle, characterized in that: The rescue vehicle comprises: an electric wire (1), a motor (2) and a steel pipe (5); One end of the electric wire (1) is connected to a ground power source and the other end is connected to a motor (2), and the motor (2) is used to provide driving force for the rescue vehicle; one end of the steel pipe (5) is fixed to the top of the rescue vehicle in a detachable manner, and the other end is suspended, and the suspended end of the steel pipe (5) is provided with a movable bayonet (6); The CCTV robot rescue method comprises: S1: When the CCTV robot falls into a dark well or tunnel, send a rescue vehicle into the inspection well to rescue the CCTV robot; S2: tighten the wire of the trapped CCTV robot and insert it into the movable bayonet (6) on the steel pipe of the rescue vehicle, and lock the movable bayonet (6); S3: The rescue car moves to the area where the CCTV robot is trapped, and adjusts the position of the rescue car through the images transmitted back by the CCTV robot camera. After the position adjustment is completed, the rescue car applies the brakes; S4: Pull the wire of the trapped CCTV robot so that the CCTV robot is lifted into the air by the suspended end of the steel pipe (5); S5: The rescue vehicle returned to the original route and the rescue was successful.

2. The CCTV robot rescue method according to claim 1, characterized in that: Step S4 also includes: determining the escape status of the CCTV robot based on the images transmitted back by the camera of the CCTV robot.

3. The CCTV robot rescue method according to claim 1, characterized in that: In step S1, the rescue vehicle is sent into the inspection well by hoisting or manual means.

4. The CCTV robot rescue method according to claim 1, characterized in that: The steel pipe (5) is fixed on the rescue vehicle via the pipe clamp (4).

5. The CCTV robot rescue method according to claim 1, characterized in that: The suspended end of the steel pipe (5) is also provided with a roller skating device (7), and in step S2, the wires of the CCTV robot are also passed through the roller skating device (7).

6. The CCTV robot rescue method according to claim 1, characterized in that: The rescue vehicle is also provided with a counterweight (3).

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