An underground pipe gallery environment detection system and method based on inspection robot

Abstract

The present invention relates to the technical field of inspection robots, and specifically discloses an underground pipe gallery environment detection system and method based on an inspection robot, including: a robot inspection system, a data transmission system, a monitoring system, an alarm system and a manual assisted inspection system; the robot inspection system includes: a pipeline, a charging storage bin, a controller, a conveying mechanism, a ground mobile mechanism and an external detection mechanism; the conveying mechanism is arranged outside the charging storage bin; the ground mobile mechanism is arranged outside the conveying mechanism; the external detection mechanism can be detachably placed in the pipeline and outside the pipeline. The present invention can quickly and automatically perform mobile inspections in the pipe gallery, avoid inspectors from directly entering dangerous environments, remotely analyze data in real time, and promptly warn when potential faults are found, and can perform inspection operations along the external area of ​​the pipeline and the ground area, and obtain comprehensive status information of the pipe gallery at one time, reducing the time cost of multiple inspections.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to an underground pipe gallery environment detection system and method based on an inspection robot. Background Art

[0002] Underground pipe gallery, namely urban underground comprehensive pipe gallery, refers to the public tunnel used for laying municipal pipelines such as electricity, communication, radio and television, water supply, drainage, heat, gas, etc. in the city. In the traditional municipal pipeline laying mode, since various pipelines belong to different departments, such as the power department laying power pipelines and the water department laying water pipes, when a certain type of pipeline needs to be repaired, updated or expanded, it is often necessary to excavate the road, which not only affects urban traffic but also causes waste of resources. Underground pipe gallery collects various pipelines in a centralized manner. When one of the pipelines needs to be operated, it can be done directly in the pipe gallery without repeatedly excavating the road. The underground pipe gallery provides a relatively stable operating environment for the pipeline. A complete monitoring system, fire prevention, moisture prevention, anti-theft and other facilities can be set up inside the pipe gallery.

[0003] In the existing technical field, underground pipeline corridors are relatively long, and manual inspections need to spend a lot of time on the road and rely on the subjective judgment of inspectors. Different inspectors may have different judgment standards for the same problem. In addition, current monitoring equipment such as sensors can only monitor specific locations or specific parameters and cannot achieve full coverage of the pipeline area. Summary of the invention

[0004] The purpose of the present invention is to provide an underground pipe gallery environment detection system and method based on a patrol robot to solve the problems mentioned in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an underground utility corridor environment detection system based on a patrol robot, comprising: a robot patrol system, a data transmission system, a monitoring system, an alarm system and a manually assisted patrol system; the robot patrol system is arranged inside the underground utility corridor, the data transmission system realizes data uploading and downloading, the monitoring system realizes data receiving and storage as well as analysis and processing, and the alarm system is triggered based on the threshold of the detection data inside the monitoring system.

[0006] Preferably, the robot inspection system includes: a pipeline, a charging storage bin, a controller, a conveying mechanism, a ground moving mechanism and an external detection mechanism; the charging storage bin is arranged outside the pipeline; the controller is installed outside the charging storage bin, and the charging storage bin and the controller are electrically connected; the conveying mechanism is arranged outside the charging storage bin, and the conveying mechanism can be stored inside the charging storage bin; the ground moving mechanism is arranged outside the conveying mechanism, and the ground moving mechanism can be stored inside the charging storage bin; the external detection mechanism can be detachably placed outside the pipeline in the pipeline, and the external detection mechanism can be stored inside the charging storage bin.

[0007] Preferably, the transport mechanism includes: a first mobile robot, a mobile robotic arm and a clamping module; the first mobile robot is located outside the charging storage bin, and the first mobile robot and the controller are remotely connected via a network; the mobile robotic arm is installed on the rear side of the top end of the first mobile robot, and the mobile robotic arm and the first mobile robot are electrically connected; the clamping module is installed at the mobile end of the mobile robotic arm, and the clamping module and the first mobile robot are electrically connected.

[0008] Preferably, the ground mobile mechanism includes: a second mobile robot, a base frame, a frame, a limiting rail, a pulley seat, a first motor, a belt, a limiting seat, a slot frame, a first electric telescopic rod, a lifting frame and a socket; the second mobile robot is located outside the first mobile robot, and the second mobile robot and the controller are remotely connected to the network; the number of the base frames is four, and the four base frames are installed at the four corners of the top end of the second mobile robot; the frame is installed on the top of the four base frames along the front-to-back direction; the number of the limiting rails is two, and the two limiting rails are installed on the left and right sides of the bottom end of the frame respectively along the front-to-back direction; the number of the pulley seats is two, and the two pulley seats are installed in the middle of the front and back sides of the frame respectively; the first motor is installed at the bottom end of the front pulley seat, and the rotating end of the first motor is connected to the pulley axis of the front pulley seat, and the first motor and the second mobile robot are electrically connected; the belt is sleeved on the front pulley seat along the front-to-back direction The outside of the pulleys in the rear two pulley seats; the number of the limit seats is two, and the two limit seats are respectively sleeved on the front and rear sides of the outside of the left and right limit rails along the left and right directions; the number of the slot frames is two, and the two slot frames are respectively installed on the top of the front and rear limit seats, and the front and rear slot frames are respectively connected to the front and rear ends of the left and right sides of the outside of the belt, and the slot frames are electrically connected to the second mobile robot; the number of the first electric telescopic rods is two, and the two first electric telescopic rods are respectively arranged on the inner sides of the front and rear slot frames, and the telescopic ends of the two first electric telescopic rods extend out of the upper surface of the slot frame and are respectively connected to the middle parts of the bottom ends of the two lifting frames, and the first electric telescopic rod is electrically connected to the second mobile robot; the number of the lifting frames is two, and the two lifting frames are respectively plugged into the tops of the front and rear slot frames; the number of the plug-in seats is two, and the two plug-in seats are respectively installed in the middle parts of the top ends of the front and rear lifting frames.

[0009] Preferably, the external detection mechanism includes: a battery compartment, a sub-control module, a camera, a guide rail assembly, a first connecting seat, a second connecting seat, a folding frame, a screw component, a second motor, a bracket, a plug-in frame and a cross frame; the number of the battery compartments is two, and the two battery compartments are arranged in parallel up and down on the inner side of the upper and lower pipes of the pipeline; the sub-control module is arranged on the left side of the top of the battery compartment at the bottom, the sub-control module is electrically connected to the battery compartment, and the sub-control module is remotely connected to the controller through a network; the number of the cameras is two, and the two cameras are respectively installed on the right side of the upper and lower battery compartments, and the cameras are electrically connected to the sub-control module; the number of the guide rail assemblies is two groups, and the number of the guide rail assemblies in each group is two, and the two groups of the guide rail assemblies are respectively installed on the front and rear sides of the inner right end of the upper and lower battery compartments; the number of the first connecting seats is two groups, and the number of the first connecting seats in each group is two, and the two groups of the first connecting seats are respectively installed on the inner side of the limit ends of the upper and lower groups of guide rail assemblies; the number of the second connecting seats is two groups, and the number of the second connecting seats in each group is two, and the two groups of the second connecting seats are respectively installed on the upper and lower battery compartments The front and rear sides of the inner left end; the number of the folding frames is two, and the two folding frames are respectively installed on the outer sides of the first connecting seats and the second connecting seats on the upper and lower sides of the front and rear; the screw component is installed on the top of the battery compartment at the top and is located on the inner sides of the front and rear guide rail assemblies at the bottom, and the screw nut in the screw component is respectively connected to the inner sides of the front and rear first connecting seats at the top; the second motor is installed on the top of the battery compartment at the bottom, the rotating end of the second motor is connected to the axis of the screw in the screw component, and the second motor is electrically connected to the sub-control module; the number of the brackets is two groups , the number of the brackets in each group is two, and the two groups of the brackets are respectively installed in the middle of the front and rear sides of the upper and lower battery compartments; the number of the plug-in racks is two groups, the number of the plug-in racks in each group is two, and the two groups of the plug-in racks are respectively installed at the outer ends of the two groups of brackets; the number of the cross frames is two groups, the number of the cross frames in each group is two, and the two groups of the cross frames are respectively installed on the outer sides of the two groups of plug-in racks along the left and right directions; wherein, the left and right sides of the outer front and rear ends of the upper and lower battery compartments are provided with driving components, and the outer sides of the upper and lower battery compartments are provided with detection components.

[0010] Preferably, the driving assembly includes: a mounting seat, a limiting rod, a driving rod, a second electric telescopic rod, a third connecting seat and an electric wheel; the mounting seat is mounted on the outer side of the horizontal frame; one end of the limiting rod is rotatably connected to the inner outside of the mounting seat through a rotating shaft; the driving rod is rotatably connected to the inner inside of the mounting seat through a rotating shaft; the second electric telescopic rod is rotatably connected to the outer side of the battery compartment through a rotating shaft seat, the telescopic end of the second electric telescopic rod is connected to the inner side of the top end of the driving rod, and the second electric telescopic rod is electrically connected to the sub-control module; the third connecting seat is rotatably connected to the outer side of the other end of the limiting rod and the outer side of the bottom end of the driving rod through a rotating shaft; the electric wheel is mounted on the bottom end of the third connecting seat at the top, and the electric wheel is electrically connected to the sub-control module.

[0011] Preferably, the detection assembly includes: a base, a top seat, a detection module, a third motor, a linkage rod and a connecting rod; the base is installed on the outside of the battery compartment; the top seat is arranged on the outside of the base; the detection module is embedded in the middle inner side of the top seat, and the detection module and the sub-control module are electrically connected; the number of the third motors is three, and the three third motors are installed on the outside of the base at a circumferential interval of one hundred and twenty degrees, and the third motor and the sub-control module are electrically connected; the number of the linkage rods is three, and one end of the three linkage rods is respectively installed on the rotating ends of the three third motors; the number of the connecting rods is three, and one end of the three connecting rods is respectively rotatably connected to the other end of the three linkage rods through a rotating shaft, and the other ends of the three connecting rods are respectively rotatably connected to the bottom end of the detection module through a rotating shaft seat.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. The second motor drives the lead screw component to move the first connecting seat to the left, the front and rear folding frames fold inward, and drive the top battery compartment to move upward, and the top battery compartment moves to the corresponding position at the bottom of the upper pipeline. The second electric telescopic rod in the driving assembly in the upper and lower battery compartments drives the driving rod at the corresponding position to rotate inward by its own extension, and the third connecting seat moves inward under the limiting action of the upper limit rod at the corresponding position, so that the third connecting seat drives the inner roller of the electric wheel to contact the outer wall of the pipeline, and then the driving assemblies in the upper and lower battery compartments are respectively in contact with the outer walls of the upper and lower pipelines. The inner motor of the electric wheel drives the roller to rotate, so that the external detection mechanism moves along the outside of the pipeline, and the third motor drives the linkage rod at the corresponding position to rotate, so that the linkage rod drives one end of the connecting rod at the corresponding position to move upward or downward, and the top seat is driven to tilt to the specified direction with the cooperation of the three-side connecting rods to adjust the position of the detection module and align it with the specified position outside the pipeline, and the detection module collects the external environmental data of the corresponding pipeline.

[0014] 2. The pulley in the pulley seat at the corresponding position is driven to rotate by the first motor. When the pulley in the rear pulley seat is tensioned, the belt moves circumferentially and drives the front and rear slot frames to move inward under the limiting action of the limit seat. The first electric telescopic rod extends and shortens to drive the lifting frame to rise and fall to the specified height position on the top of the slot frame. The front and rear plug-in seats are inserted into the external detection mechanism and the front and rear plug-in frames are connected to each other. The second mobile robot moves under the bottom pipe along the predetermined route and collects the bottom pipe data with the cooperation of the detection module in the detection assembly in the top battery compartment.

[0015] In summary, the present invention can quickly and automatically carry out mobile inspections in the pipe gallery, avoid inspectors from directly entering dangerous environments, remotely analyze data in real time, and promptly issue warnings when potential faults are found. It can also carry out inspections along the external areas of the pipelines and the ground areas, obtain comprehensive status information of the pipe gallery at one time, and reduce the time cost of multiple inspections. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the present invention;

[0017] Figure 2 It is a structural schematic diagram of the present invention;

[0018] Figure 3 for Figure 2 Schematic diagram of the transport mechanism;

[0019] Figure 4 for Figure 2 Exploded diagram of the bottom moving mechanism;

[0020] Figure 5 for Figure 4 A magnified image of point A;

[0021] Figure 6 for Figure 2 Exploded diagram of external inspection agencies;

[0022] Figure 7 for Figure 6 A magnified view of point B;

[0023] Figure 8 for Figure 6 Enlarged view of point C;

[0024] Fig. 9 for Figure 6 Enlarged view of point D.

[0025] In the figure: 1, pipeline, 2, charging storage bin, 3, controller, 4, transport mechanism, 41, first mobile robot, 42, mobile robot arm, 43, clamping module, 5, ground mobile mechanism, 51, second mobile robot, 52, chassis, 53, frame, 54, limit rail, 55, pulley seat, 56, first motor, 57, belt, 58, limit seat, 59, slot rack, 510, first electric telescopic rod, 511, lifting frame, 512, socket, 6, external detection mechanism, 61, battery compartment, 62, sub-control Module, 63, camera, 64, guide rail assembly, 65, first connecting seat, 66, second connecting seat, 67, folding frame, 68, screw component, 69, second motor, 610, bracket, 611, plug-in frame, 612, cross frame, 613, mounting seat, 614, limit rod, 615, driving rod, 616, second electric telescopic rod, 617, third connecting seat, 618, electric wheel, 619, base, 620, top seat, 621, detection module, 622, third motor, 623, linkage rod, 624, connecting rod. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] See also Figure 1-Figure 9 The present invention provides a technical solution: an underground pipe gallery environment detection system based on a patrol robot, comprising: a robot patrol system, a data transmission system, a monitoring system, an alarm system and a manual assisted patrol system; the robot patrol system is arranged inside the underground pipe gallery, the data transmission system realizes data uploading and downloading, the monitoring system realizes data receiving and storage as well as analysis and processing, and the alarm system is triggered based on the threshold of the detection data inside the monitoring system.

[0028] As a preferred solution, further, Figure 2As shown, the robot inspection system includes: a pipeline 1, a charging storage bin 2, a controller 3, a conveying mechanism 4, a ground mobile mechanism 5 and an external detection mechanism 6; the charging storage bin 2 is arranged outside the pipeline 1, and the first mobile robot 41, the second mobile robot 51 and the battery compartment 61 can be stored inside the charging storage bin 2 for charging; the controller 3 is installed outside the charging storage bin 2, the charging storage bin 2 and the controller 3 are electrically connected, and a prefabricated program is arranged inside the controller 3; the conveying mechanism 4 is arranged outside the charging storage bin 2, and the conveying mechanism 4 can be stored inside the charging storage bin 2; the ground mobile mechanism 5 is arranged outside the conveying mechanism 4, and the ground mobile mechanism 5 can be stored inside the charging storage bin 2; the external detection mechanism 6 can be detachably placed outside the pipeline in the pipeline 1, and the external detection mechanism 6 can be stored inside the charging storage bin 2.

[0029] As a preferred solution, further, Figure 3 As shown, the conveying mechanism 4 includes: a first mobile robot 41, a mobile mechanical arm 42 and a clamping module 43; the first mobile robot 41 is located outside the charging storage bin 2, the first mobile robot 41 and the controller 3 are remotely connected via a network, and a control module is provided inside the first mobile robot 41 to automatically control the electrical components inside the conveying mechanism 4; the mobile mechanical arm 42 is installed at the rear side of the top end of the first mobile robot 41, the mobile mechanical arm 42 and the first mobile robot 41 are electrically connected, the mobile mechanical arm 42 is controlled by the built-in control module of the first mobile robot 41, and the mobile mechanical arm 42 can drive the clamping module 43 to move in multiple angles; the clamping module 43 is installed at the mobile end of the mobile mechanical arm 42, the clamping module 43 and the first mobile robot 41 are electrically connected, the clamping module 43 is controlled by the built-in control module of the first mobile robot 41, and the clamping module 43 can clamp the external detection mechanism 6.

[0030] As a preferred solution, further, Figure 4 and Figure 5As shown, the ground mobile mechanism 5 includes: a second mobile robot 51, a base frame 52, a frame 53, a limiting rail 54, a pulley seat 55, a first motor 56, a belt 57, a limiting seat 58, a slot frame 59, a first electric telescopic rod 510, a lifting frame 511 and a socket 512; the second mobile robot 51 is located outside the first mobile robot 41, the second mobile robot 51 and the controller 3 are remotely connected to the network, and a control module is arranged inside the second mobile robot 51 to automatically control the internal electrical components of the ground mobile mechanism 5; the number of the base frames 52 is four, and the four base frames 52 are installed at the four corners of the top of the second mobile robot 51; the frame 53 is arranged along the front and rear directions It is installed on the top of four base frames 52; there are two limiting rails 54, and the two limiting rails 54 are respectively installed on the left and right sides of the bottom end of the frame 53 along the front and rear directions; there are two pulley seats 55, and the two pulley seats 55 are respectively installed in the middle of the front and rear sides of the frame 53; the first motor 56 is installed at the bottom end of the front pulley seat 55, and the rotating end of the first motor 56 is connected to the pulley axis of the front pulley seat 55. The first motor 56 is electrically connected to the second mobile robot 51, and the first motor 56 is controlled by the built-in control module of the second mobile robot 51. The first motor 56 can drive the internal pulley of the pulley seat 55 at the corresponding position to rotate clockwise or counterclockwise. The belt 57 is sleeved on the outside of the pulleys in the front and rear pulley seats 55 in the front and rear directions; there are two limit seats 58, which are respectively sleeved on the front and rear sides of the outside of the left and right limit rails 54 in the left and right directions, and the limit seats 58 can move forward and backward along the outside of the limit rails 54; there are two slot racks 59, which are respectively installed on the top of the front and rear limit seats 58, and the front and rear slot racks 59 are respectively connected to the front and rear ends of the left and right sides of the outside of the belt 57, and the slot racks 59 are electrically connected to the second mobile robot 51; there are two first electric telescopic rods 510, which are respectively arranged at the front and rear On the inner side of the two slot racks 59, the telescopic ends of the two first electric telescopic rods 510 extend out of the upper surface of the slot racks 59 and are respectively connected to the middle of the bottom ends of the two lifting racks 511. The first electric telescopic rod 510 is electrically connected to the second mobile robot 51. The first electric telescopic rod 510 is controlled by the built-in control module of the second mobile robot 51. The first electric telescopic rod 510 drives the lifting rack 511 to move up and down by its own extension and shortening; there are two lifting racks 511, and the two lifting racks 511 are respectively plugged into the tops of the front and rear slot racks 59; there are two sockets 512, and the two sockets 512 are respectively installed in the middle of the top ends of the front and rear lifting racks 511.

[0031] As a preferred solution, further, Figure 6 , Figure 7 , Figure 8 and Fig. 9As shown, the external detection mechanism 6 includes: a battery compartment 61, a sub-control module 62, a camera 63, a guide rail assembly 64, a first connecting seat 65, a second connecting seat 66, a folding frame 67, a screw component 68, a second motor 69, a bracket 610, a plug-in frame 611 and a cross frame 612; the number of battery compartments 61 is two, and the two battery compartments 61 are arranged in parallel on the inner sides of the upper and lower pipes of the pipe 1, and the battery compartment 61 can supply power to the internal electrical components of the external detection mechanism 6; the sub-control module 62 is arranged on the left side of the top of the bottom battery compartment 61, the sub-control module 62 and the battery compartment 61 are electrically connected, the sub-control module 62 and the controller 3 are remotely connected to the network, and the preset program is set inside the sub-control module 62. It is capable of controlling the internal electrical components of the external detection mechanism 6; there are two cameras 63, which are respectively installed on the right sides of the upper and lower battery compartments 61, and the cameras 63 are electrically connected to the sub-control module 62, and the cameras 63 can collect external image data; there are two groups of guide rail assemblies 64, and each group of guide rail assemblies 64 has two members, and the two groups of guide rail assemblies 64 are respectively installed on the front and rear sides of the inner right ends of the upper and lower battery compartments 61, and the outer side of the guide rail in the guide rail assembly 64 is sleeved with a limiting slider as a limiting end; there are two groups of first connecting seats 65, and each group of first connecting seats 65 has two members, and the two groups of first connecting seats 65 are respectively installed on the upper and lower groups of guide rail assemblies 64 The inner side of the limit end; the number of the second connecting seat 66 is two groups, and the number of the second connecting seats 66 in each group is two. The two groups of second connecting seats 66 are respectively installed on the front and rear sides of the inner left end of the upper and lower battery compartments 61; the number of folding frames 67 is two, and the two folding frames 67 are respectively installed on the outer sides of the first connecting seats 65 and the second connecting seats 66 on the front and rear upper and lower sides; the screw component 68 is installed on the top of the top battery compartment 61 and is located on the inner side of the two front and rear guide rail assemblies 64 below, and the screw nut in the screw component 68 is respectively connected to the inner sides of the two front and rear first connecting seats 65 at the top; the second motor 69 is installed on the top of the bottom battery compartment 61, and the rotating end of the second motor 69 and the screw nut in the screw component 68 The rod axis is connected, the second motor 69 and the sub-control module 62 are electrically connected, and the second motor 69 is controlled by the sub-control module 62 to drive the screw in the screw component 68 to rotate clockwise or counterclockwise; the number of brackets 610 is two groups, and the number of each group of brackets 610 is two, and the two groups of brackets 610 are respectively installed in the middle of the front and rear sides of the upper and lower battery compartments 61; the number of plug-in frames 611 is two groups, and the number of each group of plug-in frames 611 is two, and the two groups of plug-in frames 611 are respectively installed at the outer ends of the two groups of brackets 610; the number of cross frames 612 is two groups, and the number of each group of cross frames 612 is two, and the two groups of cross frames 612 are respectively installed on the outer sides of the two groups of plug-in frames 611 along the left and right directions;Among them, driving components are provided on the left and right sides of the front and rear ends of the outer sides of the upper and lower battery compartments 61, and the driving components include: a mounting seat 613, a limiting rod 614, a driving rod 615, a second electric telescopic rod 616, a third connecting seat 617 and an electric wheel 618; the mounting seat 613 is installed on the outer side of the cross frame 612; one end of the limiting rod 614 is rotatably connected to the inner outside of the mounting seat 613 through a rotating shaft; the driving rod 615 is rotatably connected to the inner inside of the mounting seat 613 through a rotating shaft, and the driving rod 615 can rotate inward or outward on the inner side of the mounting seat 613; the second electric telescopic rod 616 is rotatably connected to the outer side of the battery compartment 61 through a rotating shaft seat, and the second The telescopic end of the electric telescopic rod 616 is connected to the inner side of the top end of the driving rod 615, the second electric telescopic rod 616 is electrically connected to the sub-control module 62, the second electric telescopic rod 616 is controlled by the sub-control module 62, and the second electric telescopic rod 616 drives the driving rod 615 to move by its own extension and contraction; the third connecting seat 617 is rotatably connected to the outer side of the other end of the limit rod 614 and the outer side of the bottom end of the driving rod 615 through a rotating shaft; the electric wheel 618 is installed at the bottom end of the third connecting seat 617 at the top, the electric wheel 618 is electrically connected to the sub-control module 62, the second electric telescopic rod 616 is controlled by the sub-control module 62, and the second electric telescopic rod 616 drives the driving rod 615 to move by its own extension and contraction. The driving rod 615 is driven to move by the length and shortening; the outer sides of the upper and lower battery compartments 61 are provided with detection components, which include: a base 619, a top seat 620, a detection module 621, a third motor 622, a linkage rod 623 and a connecting rod 624; the base 619 is installed on the outer side of the battery compartment 61; the top seat 620 is arranged on the outer side of the base 619; the detection module 621 is embedded in the inner middle part of the top seat 620, and the detection module 621 is electrically connected to the sub-control module 62, and the detection module 621 detects the external environment and sends the detected data to the data transmission system through the sub-control module 62 and the controller 3; the number of the third motor 622 is three, three The third motors 622 are installed outside the base 619 at intervals of 120 degrees along the circumferential direction. The third motors 622 are electrically connected to the sub-control module 62. The third motors 622 are controlled by the sub-control module 62. The third motors 622 can drive the linkage rods 623 to rotate clockwise or counterclockwise. There are three linkage rods 623, one end of which is respectively installed at the rotating end of the three third motors 622. There are three connecting rods 624, one end of which is respectively connected to the other end of the three linkage rods 623 through a rotating shaft, and the other ends of the three connecting rods 624 are respectively connected to the bottom end of the detection module 621 through a rotating shaft seat.

[0032] Here’s how it works:

[0033] Step 1: Prepare inspection tasks in advance in the monitoring center, and assign inspection tasks to different robot inspection systems or inspection personnel based on the priorities of different areas in the corridor and the relevance of equipment;

[0034] Step 2: The transport mechanism 4, the ground moving mechanism 5 and the external detection mechanism 6 in the robot inspection system are charged inside the charging storage bin 2 and perform self-inspection before departure;

[0035] Step 3: When inspecting the top pipe and the pipes at adjacent positions on the upper and lower sides of the pipe 1, the staff remotely controls the controller 3 at the monitoring center to start, and the pre-made program inside the controller 3 controls the first mobile robot 41 to start, and the pre-made program inside the first mobile robot 41 controls the mobile mechanical arm 42 and the clamping module 43 to start. With the cooperation of the mobile mechanical arm 42 and the clamping module 43, the first mobile robot 41 moves out of the pipe 1 along a predetermined route, and moves the external detection mechanism 6 from the charging storage bin 2 and transports it to the pipe surface of the pipe 1;

[0036] Step 4: The prefabricated program inside the sub-control module 62 controls the electrical components in the external detection mechanism 6 to start the movement, and the second motor 69 drives the first connecting seat 65 at the corresponding position to move through the screw component 68, so that the front and rear folding frames 67 are folded inward, and the top battery compartment 61 is driven to move upward, and the top battery compartment 61 is moved to the corresponding position at the bottom of the upper pipeline. The second electric telescopic rod 616 in the driving assembly in the upper and lower battery compartments 61 drives the driving rod 615 at the corresponding position to rotate inward, so that the third connecting seat 617 drives the inner roller of the electric wheel 618 to contact the outer wall of the pipeline, and then the driving assembly in the upper and lower battery compartments 61 is respectively in contact with the upper and lower outer walls of the pipeline, and the inner motor of the electric wheel 618 drives the roller to rotate, so that the external detection mechanism 6 moves in the pipeline gallery along the outside of the pipeline according to the predetermined route;

[0037] Step 5: The camera 63 sends the external image data to the sub-control module 62. The sub-control module 62 moves to the designated position along the outside of the pipeline according to the image data. The third motor 622 drives the linkage rod 623 on the corresponding position to rotate, so that the linkage rod 623 drives one end of the connecting rod 624 on the corresponding position to move upward or downward. With the cooperation of the three-side connecting rods 624, the top seat 620 is driven to tilt to the designated direction to adjust the position of the detection module 621 and align it with the designated position outside the pipeline. The detection module 621 collects the external environment data of the corresponding pipeline, and sends the collected data to the external data transmission system through the sub-control module 62 and the controller 3.

[0038] Step 6: When it is necessary to inspect the bottom pipeline, the mobile mechanical arm 42 and the clamping module 43 cooperate to clamp the external detection mechanism 6 and move it to the position above the second mobile robot 51. The prefabricated program inside the second mobile robot 51 controls the first motor 56 and the lifting frame 511 to start. The first motor 56 drives the pulley in the pulley seat 55 at the corresponding position to rotate. Under the tension of the pulley in the rear pulley seat 55, the belt 57 moves circumferentially and drives the front and rear slot frames 59 to move inward under the limiting action of the limiting seat 58. The first electric telescopic rod 510 extends and shortens to drive the lifting frame 511 to rise and fall to the specified height position at the top of the slot frame 59. The front and rear plug-in seats 512 are inserted into the front and rear plug-in frames 611 in the external detection mechanism 6 for docking. The second mobile robot 51 moves under the bottom pipeline along the predetermined route and collects the bottom pipeline data under the cooperation of the detection module 621 in the detection assembly in the top battery compartment 61.

[0039] Step 7: The data transmission system uploads the data to the monitoring system. After receiving the data transmitted by the robot inspection system, the monitoring system pre-processes the data and performs an integrity check on the data to ensure that the data is not lost or damaged during the transmission process. If the data is found to be incomplete, the external inspection agency 6 is notified to retransmit the relevant data;

[0040] Step 8: The monitoring system sends the pre-processed data to the data analysis module for in-depth analysis and processing. Based on the comprehensive analysis results of multi-source data, it determines whether the equipment has a fault and the type and severity of the fault. If a fault is diagnosed, the fault information is sent to the alarm system for visual display. The alarm system pushes the alarm information to the handheld terminals of management personnel and inspection staff.

[0041] Step 9: The manual inspection auxiliary system in the inspection staff's handheld terminal formulates targeted inspection tasks for manual inspection personnel based on the results in the alarm system. During the inspection process, the inspection personnel use the inspection terminal to record the on-site situation and manually intervene and check the alarm information.

[0042] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An underground pipe gallery environment detection system based on a patrol robot, characterized in that: include: Robot inspection system, data transmission system, monitoring system, alarm system and manual assisted inspection system; The robot inspection system is arranged inside the underground pipe gallery, the data transmission system realizes data uploading and downloading, the monitoring system realizes data receiving, storage, analysis and processing, the alarm system is triggered based on the threshold of the internal detection data of the monitoring system, and the manual assisted inspection system cooperates with manual inspection based on the internal detection data of the monitoring system; The robot inspection system comprises: pipeline(1); A charging storage bin (2) arranged outside the pipeline (1); A controller (3) is installed outside the charging storage bin (2), and the charging storage bin (2) and the controller (3) are electrically connected; A transport mechanism (4) is arranged outside the charging storage bin (2), and the transport mechanism (4) can be stored inside the charging storage bin (2); A ground moving mechanism (5) is arranged outside the transport mechanism (4), and the ground moving mechanism (5) can be stored inside the charging storage bin (2); An external detection mechanism (6) is detachably placed outside the pipeline (1), and the external detection mechanism (6) can be stored inside the charging storage bin (2); The transport mechanism (4) comprises a first mobile robot (41), a mobile mechanical arm (42) and a clamping module (43). When inspecting the top pipe and pipes at adjacent positions on both sides of the pipe (1), the first mobile robot (41) moves the external detection mechanism (6) from the inside of the charging storage bin (2) and transports it to the surface of the pipe (1) under the cooperation of the mobile mechanical arm (42) and the clamping module (43). The external detection mechanism (6) moves along the pipe surface in the pipe gallery according to a predetermined route. The ground mobile mechanism (5) comprises a second mobile robot (51). When the bottom pipeline needs to be inspected, the mobile mechanical arm (42) and the clamping module (43) cooperate to clamp the external inspection mechanism (6) and move it to a position above the second mobile robot (51). The second mobile robot (51) moves below the bottom pipeline along a predetermined route.

2. According to claim 1, an underground pipe gallery environment detection system based on a patrol robot is characterized in that: The first mobile robot (41) is located outside the charging storage bin (2), and the first mobile robot (41) and the controller (3) are remotely connected via a network; the mobile robotic arm (42) is installed at the rear side of the top end of the first mobile robot (41), and the mobile robotic arm (42) and the first mobile robot (41) are electrically connected; the clamping module (43) is installed at the mobile end of the mobile robotic arm (42), and the clamping module (43) and the first mobile robot (41) are electrically connected.

3. According to claim 2, an underground pipe gallery environment detection system based on a patrol robot is characterized in that: The ground moving mechanism (5) further comprises: A bottom frame (52), the number of the bottom frames (52) being four, and the four bottom frames (52) being installed at the four corners of the top end of the second mobile robot (51); A frame (53) mounted on top of the four base frames (52) in a front-to-rear direction; Limiting rails (54), the number of the limiting rails (54) being two, and the two limiting rails (54) being respectively installed on the left and right sides of the bottom end of the frame (53) along the front-back direction; A pulley seat (55), wherein the number of the pulley seats (55) is two, and the two pulley seats (55) are respectively installed in the middle of the front and rear sides of the frame (53); A first motor (56) is mounted on the bottom end of the front pulley seat (55), the rotating end of the first motor (56) is connected to the pulley axis of the front pulley seat (55), and the first motor (56) is electrically connected to the second mobile robot (51); A belt (57) is sleeved on the outside of the pulleys in the two front and rear pulley seats (55) along the front-rear direction; A limit seat (58), wherein the number of the limit seats (58) is two, and the two limit seats (58) are respectively sleeved on the front and rear sides of the exterior of the left and right limit rails (54) in the left and right directions; A slot frame (59), wherein the number of the slot frames (59) is two, and the two slot frames (59) are respectively mounted on the tops of the two front and rear limit seats (58), and the two front and rear slot frames (59) are respectively connected to the front and rear ends of the left and right sides of the outside of the belt (57), and the slot frames (59) are electrically connected to the second mobile robot (51); A first electric telescopic rod (510), wherein the number of the first electric telescopic rods (510) is two, and the two first electric telescopic rods (510) are respectively arranged on the inner sides of the front and rear slot frames (59), and the telescopic ends of the two first electric telescopic rods (510) extend out of the upper surface of the slot frame (59) and are respectively connected to the middle parts of the bottom ends of the two lifting frames (511), and the first electric telescopic rod (510) is electrically connected to the second mobile robot (51); A lifting frame (511), wherein the number of the lifting frames (511) is two, and the two lifting frames (511) are respectively plugged into the tops of the two front and rear slot frames (59); A plug socket (512), wherein the number of the plug sockets (512) is two, and the two plug sockets (512) are respectively installed at the middle of the top ends of the front and rear lifting frames (511); The second mobile robot (51) is located outside the first mobile robot (41), and the second mobile robot (51) and the controller (3) are remotely connected via a network.

4. According to claim 3, an underground pipe gallery environment detection system based on a patrol robot is characterized in that: The external detection mechanism (6) further comprises: A battery compartment (61), wherein the number of the battery compartments (61) is two, and the two battery compartments (61) are arranged in parallel up and down on the inner sides of the upper and lower pipes of the pipe (1); A sub-control module (62) is arranged on the left side of the top of the battery compartment (61) at the bottom, the sub-control module (62) and the battery compartment (61) are electrically connected, and the sub-control module (62) and the controller (3) are remotely connected via a network; Cameras (63), the number of the cameras (63) being two, the two cameras (63) being respectively mounted on the right sides of the upper and lower battery compartments (61), and the cameras (63) being electrically connected to the sub-control module (62); Guide rail assemblies (64), the number of the guide rail assemblies (64) being two groups, the number of the guide rail assemblies (64) in each group being two, the two groups of guide rail assemblies (64) being respectively mounted on the front and rear sides of the inner right ends of the upper and lower battery compartments (61); First connecting seats (65), the number of the first connecting seats (65) being two groups, the number of the first connecting seats (65) in each group being two, and the two groups of the first connecting seats (65) being respectively mounted on the inner sides of the limiting ends of the upper and lower groups of guide rail assemblies (64); The second connecting seats (66) are in two groups, each group of the second connecting seats (66) has two second connecting seats, and the two groups of the second connecting seats (66) are respectively mounted on the front and rear sides of the inner left ends of the upper and lower battery compartments (61); A folding frame (67), wherein the number of the folding frames (67) is two, and the two folding frames (67) are respectively mounted on the outer sides of the first connecting seat (65) and the second connecting seat (66) at the front and rear upper and lower sides; A lead screw component (68) is mounted on the top of the battery compartment (61) and is located inside the two front and rear guide rail assemblies (64) below, and a lead screw nut in the lead screw component (68) is respectively connected to the inside of the two front and rear first connection seats (65) at the top; A second motor (69) is mounted on the top of the battery compartment (61) at the bottom, the rotating end of the second motor (69) is connected to the axis of the lead screw in the lead screw component (68), and the second motor (69) is electrically connected to the sub-control module (62); Brackets (610), the number of the brackets (610) being two groups, the number of the brackets (610) in each group being two, and the two groups of brackets (610) being respectively installed at the middle of the front and rear sides of the upper and lower battery compartments (61); A plug-in rack (611), wherein the number of the plug-in racks (611) is two groups, the number of the plug-in racks (611) in each group is two, and the two groups of the plug-in racks (611) are respectively installed on the outer ends of the two groups of brackets (610); A cross frame (612), wherein the cross frames (612) are provided in two groups, each group of the cross frames (612) is provided with two cross frames, and the two groups of the cross frames (612) are respectively installed on the outsides of the two groups of the plug-in frames (611) in the left-right direction; Wherein, driving components are provided on both left and right sides of the front and rear ends of the exterior of the upper and lower battery compartments (61), and detection components are provided on the exterior sides of the upper and lower battery compartments (61).

5. The underground pipe gallery environment detection system based on the inspection robot according to claim 4 is characterized in that: The drive assembly comprises: A mounting seat (613) mounted on the outside of the cross frame (612); A limiting rod (614), one end of which is rotatably connected to the inner exterior of the mounting seat (613) via a rotating shaft; A driving rod (615) rotatably connected to the inner side of the mounting seat (613) via a rotating shaft; A second electric telescopic rod (616) is rotatably connected to the outside of the battery compartment (61) via a rotating shaft seat, the telescopic end of the second electric telescopic rod (616) is connected to the inner side of the top end of the driving rod (615), and the second electric telescopic rod (616) is electrically connected to the sub-control module (62); A third connecting seat (617) is rotatably connected to the outer side of the other end of the limiting rod (614) and the outer side of the bottom end of the driving rod (615) via a rotating shaft; The electric wheel (618) is mounted on the bottom end of the third connecting seat (617) at the top, and the electric wheel (618) is electrically connected to the sub-control module (62).

6. The underground pipe gallery environment detection system based on the inspection robot according to claim 5 is characterized in that: The detection component comprises: A base (619) mounted on the outside of the battery compartment (61); A top seat (620) is arranged on the outside of the base (619); A detection module (621) is embedded in the middle of the inner side of the top seat (620), and the detection module (621) is electrically connected to the sub-control module (62); A third motor (622), the number of the third motors (622) being three, the three third motors (622) being installed outside the base (619) at intervals of one hundred and twenty degrees in the circumferential direction, the third motors (622) being electrically connected to the sub-control module (62); Linkage rods (623), the number of the linkage rods (623) being three, and one end of the three linkage rods (623) being respectively mounted on the rotating ends of three third motors (622); Connecting rods (624), the number of the connecting rods (624) is three, one end of the three connecting rods (624) is rotatably connected to the other end of the three linkage rods (623) via a rotating shaft, and the other ends of the three connecting rods (624) are rotatably connected to the bottom end of the detection module (621) via a rotating shaft seat.

7. A method for detecting an underground pipe gallery environment based on a patrol robot, which is applied to an underground pipe gallery environment detection system based on a patrol robot as claimed in claim 6, characterized in that: The following steps are involved: Step 1: Prepare inspection tasks in advance in the monitoring center, and assign inspection tasks to different robot inspection systems or inspection personnel based on the priorities of different areas in the corridor and the relevance of equipment; Step 2: The transport mechanism (4), the ground moving mechanism (5) and the external detection mechanism (6) in the robot inspection system are charged inside the charging storage bin (2) and perform a self-inspection before departure; Step 3: When inspecting the top pipe and the pipes at adjacent positions on the upper and lower sides of the pipe (1), the staff remotely controls the controller (3) at the monitoring center to start, and the pre-programmed program inside the controller (3) controls the first mobile robot (41) to start, and the pre-programmed program inside the first mobile robot (41) controls the mobile mechanical arm (42) and the clamping module (43) to start. With the cooperation of the mobile mechanical arm (42) and the clamping module (43), the first mobile robot (41) moves out of the pipe (1) along a predetermined route, and moves the external detection mechanism (6) from the inside of the charging storage bin (2) and transports it to the surface of the pipe (1); Step 4: The sub-control module (62) has an internal prefabricated program to control the electric device in the external detection mechanism (6) to start movement, and the second motor (69) drives the first connecting seat (65) at the corresponding position to move through the lead screw component (68), so that the front and rear folding frames (67) are folded inwards, and the top battery compartment (61) is driven to move upwards, and the top battery compartment (61) is moved to the corresponding position at the bottom of the upper pipeline, and the second electric telescopic rod (616) in the driving assembly in the upper and lower battery compartments (61) drives the driving rod (615) at the corresponding position to rotate inwards, so that the third connecting seat (617) drives the inner roller of the electric wheel (618) to contact the outer wall of the pipeline, thereby making the driving assembly in the upper and lower battery compartments (61) contact the outer walls of the upper and lower pipelines respectively, and the inner motor of the electric wheel (618) drives the roller to rotate, so that the external detection mechanism (6) moves along the outside of the pipeline in the pipeline gallery according to the predetermined route; Step 5: The camera (63) sends the external image data to the sub-control module (62). The sub-control module (62) moves to a designated position along the outside of the pipeline according to the image data. The third motor (622) drives the linkage rod (623) at the corresponding position to rotate, so that the linkage rod (623) drives one end of the connecting rod (624) at the corresponding position to move upward or downward. With the cooperation of the three-side connecting rods (624), the top seat (620) is driven to tilt to a designated direction, so as to adjust the position of the detection module (621) and align it with the designated position outside the pipeline. The detection module (621) collects the external environment data of the corresponding pipeline, and sends the collected data to the external data transmission system through the sub-control module (62) and the controller (3); Step 6: When the bottom pipeline needs to be inspected, the mobile robot arm (42) and the clamping module (43) cooperate to clamp the external inspection mechanism (6) and move it to a position above the second mobile robot (51). The pre-made program inside the second mobile robot (51) controls the first motor (56) and the lifting frame (511) to start. The first motor (56) drives the pulley in the pulley seat (55) at the corresponding position to rotate. When the pulley in the rear pulley seat (55) is tensioned, the belt (57) moves in a circumferential direction and drives the slots on the front and rear sides. The frame (59) moves inward under the limiting action of the limiting seat (58), the first electric telescopic rod (510) extends and shortens to drive the lifting frame (511) to rise and fall to a specified height position on the top of the slot frame (59), the front and rear plug-in seats (512) are inserted into the front and rear plug-in frames (611) in the external detection mechanism (6) for docking, the second mobile robot (51) moves under the bottom pipeline along a predetermined route, and collects bottom pipeline data in cooperation with the detection module (621) in the detection assembly in the top battery compartment (61); Step 7: The data transmission system uploads the data to the monitoring system. After receiving the data transmitted by the robot inspection system, the monitoring system pre-processes the data and performs an integrity check on the data to ensure that the data is not lost or damaged during the transmission process. If the data is found to be incomplete, the external inspection agency is notified (6) to retransmit the relevant data; Step 8: The monitoring system sends the pre-processed data to the data analysis module for in-depth analysis and processing. Based on the comprehensive analysis results of multi-source data, it determines whether the equipment has a fault and the type and severity of the fault. If a fault is diagnosed, the fault information is sent to the alarm system for visual display. The alarm system pushes the alarm information to the handheld terminals of management personnel and inspection staff. Step 9: The manual inspection auxiliary system in the inspection staff's handheld terminal formulates targeted inspection tasks for manual inspection personnel based on the results in the alarm system. During the inspection process, the inspection personnel use the inspection terminal to record the on-site situation and manually intervene and check the alarm information.

Images