Shuttling inspection robot suitable for underground comprehensive pipe gallery

Abstract

The invention relates to a shuttling inspection robot suitable for an underground comprehensive pipe gallery, which comprises an inspection robot body, the top of the inspection robot body is provided with a tool box seat arranged diagonally, the interior of the tool box seat is provided with an air pump, and the top of the tool box seat is provided with an environmental data monitor through a vertical rod. A camera barrel is embedded in the surface of the tool box base, a camera lens is installed in the camera barrel, a plurality of air inlets are formed in one side of the surface of the camera barrel, a self-collection dust roll opposite to the air inlets is installed on the inner wall of the camera barrel, the self-collection dust roll comprises an elastic layer, and the elastic layer is of a spiral structure and is made of a memory material. An adhesive sticker layer is connected to the surface of the elastic layer, and air supply folding pipes which are symmetrically arranged are mounted on the inner wall of the camera barrel in a penetrating manner, so that dust on the surface of the camera lens is solved, the camera lens is prevented from being shielded by a cleaning structure, and continuous inspection shooting monitoring work is ensured.

Description

Technical Field

[0001] The present invention relates to a shuttle inspection robot suitable for an underground comprehensive pipe gallery, and in particular to a shuttle inspection robot suitable for an underground comprehensive pipe gallery in the field of inspection. Background Art

[0002] The urban underground integrated pipeline corridor integrates various engineering pipelines such as electricity, communications, gas, heating, water supply and drainage, and builds an intensive tunnel in the underground space of urban roads. As an important component of the city, the quality of the pipeline network directly affects the lives of residents. Because the underground pipeline corridors are of different lengths and the operation and maintenance conditions are extremely complicated, it is impossible for the inspection personnel to fully grasp the operation conditions of the underground pipeline corridors in real time. Therefore, it is necessary to use shuttle inspection robots to assist the inspection personnel in the corresponding inspection work. However, during the inspection process, the surface of the camera lens installed on the surface of the shuttle inspection robot is usually affected by the dust in the underground pipeline corridor, which reduces the clarity of the captured image.

[0003] In order to solve the problem of dust covering the surface of the camera lens during the inspection process of the shuttle inspection robot, a certain shuttle inspection robot on the market adopts a design that combines wet wiping and dry wiping, and has a certain market share.

[0004] The specification of Chinese invention patent CN202310162636.5 discloses a patrol robot, including a patrol robot body, one side of the first circular gear is meshed and connected with a tooth plate, the inner bottom of the groove is fixed with an automatic water supply mechanism, the automatic water supply mechanism passes through the tooth plate and is connected with a cleaning mechanism, the cleaning mechanism is fixed on the top of the tooth plate, the cleaning mechanism passes through the top of the patrol robot body, and a camera is fixed on one side of the patrol robot body. The patrol robot can achieve the purpose of combining wet wiping and dry wiping, the rotation of the third circular gear can drive the fourth circular gear and the fifth circular gear to rotate at the same time, thereby driving the first belt transmission device and the second belt transmission device to rotate at the same time, and it is convenient to use a driving device to realize the rotation of the first sponge and the second sponge. After wiping the camera with the first sponge, the support box can be lowered, and then the water on the camera can be wiped off with the second sponge, making the whole cleaning process more complete and tidy.

[0005] The above inspection robot utilizes the rotation of the sponge to clean the dust on the surface of the camera lens. However, in the actual cleaning process, the sponge has a certain effect of blocking the line of sight, which will destroy the continuity of the surveillance image taken by the camera lens and easily cause the interruption of the inspection work.

[0006] Application Contents In view of the above-mentioned prior art, the technical problem to be solved by the present invention is to ensure that the dust on the surface of the camera lens is removed while avoiding the cleaning structure from blocking the camera lens, thereby ensuring the continuous progress of the inspection, shooting and monitoring work.

[0007] In order to solve the above problems, the present invention provides a shuttle inspection robot suitable for an underground comprehensive pipe gallery, including an inspection robot body, a tool box seat arranged diagonally is installed on the top of the inspection robot body, an air pump is installed inside the tool box seat, an environmental data monitor is installed on the top of the tool box seat through a vertical pole, a camera tube is inlaid and installed on the surface of the tool box seat, a camera lens is installed inside the camera tube, a plurality of air inlets are opened on one side of the surface of the camera tube, and the air inlet is connected to the output end of the air pump through an air pipe, a self-collecting dust roll arranged opposite to the air inlet is installed on the inner wall of the camera tube, and the area where the self-collecting dust roll is fixedly bonded to the inner wall of the camera tube does not exceed one tenth of the area of ​​the self-collecting dust roll itself, the self-collecting dust roll includes an elastic layer, the elastic layer is a spiral structure and is made of memory material, the surface of the elastic layer is connected with a self-adhesive layer, and the inner wall of the camera tube is penetrated by symmetrically arranged air supply folding pipes, and one end of the air supply folding pipe faces the surface of the self-collecting dust roll.

[0008] In the above-mentioned shuttle inspection robot suitable for underground integrated pipeline corridors, with the cooperation of the air inlet, the self-collecting dust roll and the air supply folding pipe, the effect of impact dust removal is achieved, which can not only ensure the dust removal and cleaning effect of the camera lens surface, but also avoid the interruption problem caused by the obstruction of the camera monitoring operation field of view caused by the traditional wiping cleaning mode.

[0009] As a further improvement of the present application, a water-absorbing layer is connected between the elastic layer and the self-adhesive layer. The water-absorbing layer is made of a water-absorbing material, and the surface of the water-absorbing layer is covered with a waterproof film. A transmission column is connected through the surface of the water-absorbing layer, and the tail end of the transmission column extends through one side of the self-adhesive layer.

[0010] As a further improvement of the present application, the surface of the elastic layer close to the inner wall of the camera tube is coated with an anti-stick coating, and when the dust collecting roll is in the reeled state, the gap between the inner and outer layers is greater than the distance between the conveying column and the surface of the adhesive layer. As a further improvement of the present application, the conveying column includes an isolation sleeve, the inner side of which is connected to a water-conducting core whose tail end extends to the interior of the water-absorbing layer, and the isolation sleeve is made of an anti-sticking material.

[0011] As a further improvement of the present application, a drainage pipe is connected through the bottom of the water absorbing layer. The drainage pipe is made of a hose and the tail end thereof extends to the bottom of the inspection robot body.

[0012] As a further improvement of the present application, the thickness of the self-collecting dust roll in the rolled-up state is smaller than the distance between the camera lens and the inner wall of the camera barrel, and ventilation holes are provided inside the water-absorbing layer, the self-adhesive layer and the elastic layer, and the end of the air supply folded tube is flush with the inner wall of the camera barrel and is located in front of the camera lens.

[0013] As another improvement of the present application, the top and bottom ends of the surface of the water-absorbing layer are connected to a shedding tube, and the shedding tube is fixedly connected to the surface of the self-adhesive layer, a plurality of grooves are provided inside the shedding tube, a pleated tube is connected inside the groove, a spring bar is connected inside the pleated tube, and an exhaust port is provided on the top of the shedding tube.

[0014] As another improved supplement of the present application, one end of the spring bar is fixedly connected to the surface of the water-absorbing layer, the other end of the spring bar is fixedly connected to the end of the pleated tube, and the end of the pleated tube close to the adhesive layer is designed to be sealed.

[0015] As another improved supplement of the present application, the corrugated tube is of telescopic design, and the initial length of the corrugated tube is less than one third of the length of the shedding tube itself.

[0016] In summary, the present application utilizes a combination of a self-collecting dust roll, an air supply folding tube, an air inlet and an air pump, so that when dust appears on the surface of the camera lens of the inspection robot, the air pump is started to generate an impact airflow through the air pipe into the air inlet and then clean the dust attached to the surface of the camera lens. At the same time, since a conical air outlet structure is installed at the end of the air supply folding tube, it plays an accelerating role, so that the self-collecting dust roll that was originally in a rolled-up and curled state can stretch out, so that the self-adhesive layer is flattened to face the airflow blown out of the air inlet, so that the dust on the surface of the camera lens can be collected and bonded. After the air pump stops outputting, the self-adhesive layer is affected by the memory effect of the elastic layer, and the self-adhesive layer rolls up autonomously to form a roll structure, thereby ensuring the cleaning effect while avoiding the problem of field of view obstruction caused by wiping cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall appearance structure of the first embodiment of the present application; Figure 2 This is a schematic diagram of the installation of a camera barrel and a camera lens according to the first embodiment of the present application; Figure 3 This is a schematic diagram of the working state of the first implementation mode of the present application; Figure 4 This is a schematic structural diagram of the self-collecting dust roll according to the first embodiment of the present application; Figure 5 This is a working schematic diagram of the conveying column of the first embodiment of the present application; Figure 6 This is a schematic diagram of the structure of the transmission column of the first embodiment of the present application; Figure 7 This is a cross-sectional schematic diagram of the self-collecting dust roll according to the first embodiment of the present application; Figure 8 This is a structural schematic diagram of the second implementation mode of the present application; Fig. 9This is a schematic diagram of the internal structure of the shedding tube according to the second embodiment of the present application; Fig.10 This is a schematic diagram of the working status of the second implementation mode of this application.

[0018] Description of the numbers in the figure: 1. Inspection robot body; 2. Tool box base; 3. Environmental data monitor; 4. Camera tube; 5. Camera lens; 6. Self-collecting dust roll; 61. Adhesive layer; 62. Water absorption layer; 63. Elastic layer; 64. Conveying column; 65. Drain pipe; 641. Isolation sleeve; 642. Water-conducting inner core; 66. Shedding pipe; 661. Exhaust port; 662. Pleated pipe; 663. Spring bar; 7. Air supply folding pipe; 8. Air inlet. DETAILED DESCRIPTION

[0019] The following describes two implementation modes of the present application in detail with reference to the accompanying drawings.

[0020] The first implementation method: Figure 1-3 and Figure 7 A shuttle inspection robot suitable for an underground integrated pipe gallery is shown, comprising an inspection robot body 1, a tool box seat 2 arranged diagonally is installed on the top of the inspection robot body 1, an air pump is installed inside the tool box seat 2, an environmental data monitor 3 is installed on the top of the tool box seat 2 through a vertical pole, a camera tube 4 is inlaid and installed on the surface of the tool box seat 2, a camera lens 5 is installed inside the camera tube 4, a plurality of air inlets 8 are opened on one side of the surface of the camera tube 4, and the air inlet 8 is connected to the output end of the air pump through an air pipe. The inner wall of the camera barrel 4 is installed with a self-collecting dust roll 6 arranged opposite to the air inlet 8, and the area where the self-collecting dust roll 6 is fixedly bonded to the inner wall of the camera barrel 4 does not exceed one tenth of the area of ​​the self-collecting dust roll 6 itself, and the self-collecting dust roll 6 includes an elastic layer 63, the elastic layer 63 is a spiral structure and is made of memory material, and the surface of the elastic layer 63 is connected with a self-adhesive layer 61, and the inner wall of the camera barrel 4 is penetrated by symmetrically arranged air supply folded tubes 7, and one end of the air supply folded tube 7 faces the surface of the self-collecting dust roll 6.

[0021] Specifically, the environmental data monitor 3 includes a gas detector and a noise sensor, which are used to detect the gas composition and noise level in the environment where the inspection robot body 1 is located, and is combined with the camera lens 5 inside the camera tube 4 to complete the corresponding underground pipe gallery inspection operation; When dust appears on the surface of the camera lens 5, the air pump is started to generate impact airflow that enters the air inlet 8 through the air pipe to clean the dust attached to the surface of the camera lens 5. At the same time, since the end of the air supply folding tube 7 is equipped with a conical air outlet structure, it plays an accelerating role, so that the self-collecting dust roll 6 that is originally in a rolled-up state is stretched, so that the self-adhesive layer 61 is flattened to face the airflow blown out of the air inlet 8, so that the dust on the surface of the camera lens 5 can be collected and bonded. After the air pump stops outputting, the self-adhesive layer 61 is affected by the memory effect of the elastic layer 63 and automatically rolls up to form a roll structure. The above operation can achieve the effect of impact dust removal with the cooperation of the air inlet 8, the self-collecting dust roll 6 and the air supply folded tube 7, which can not only ensure the dust removal and cleaning effect on the surface of the camera lens 5, but also avoid the interruption problem caused by the obstruction of the camera monitoring operation field of view caused by the traditional wiping cleaning mode.

[0022] Figure 5-6 It is shown that a water-absorbing layer 62 is connected between the elastic layer 63 and the self-adhesive layer 61. The water-absorbing layer 62 is made of a water-absorbing material, and the surface of the water-absorbing layer 62 is covered with a waterproof film. A transmission column 64 is connected through the surface of the water-absorbing layer 62, and the tail end of the transmission column 64 extends through one side of the self-adhesive layer 61.

[0023] Specifically, the conveying column 64 can be used to guide the water vapor on the surface of the self-adhesive layer 61 into the water absorbing layer 62 to absorb water, thereby preventing the water vapor in the air from diluting the self-adhesive on the surface of the self-adhesive layer 61, thereby protecting the long-term adhesion effect of the self-adhesive layer 61 against dust.

[0024] The surface of the elastic layer 63 close to the inner wall of the camera tube 4 is coated with an anti-stick coating, and when the dust collecting roll 6 is in the rolled-up state, the gap between the inner and outer layers is greater than the distance of the conveying column 64 protruding from the surface of the self-adhesive layer 61.

[0025] Specifically, the anti-stick coating and the size design of the self-collecting dust roll 6 when rolling up ensure that the inner self-adhesive layer 61 will not contact the surface of the elastic layer 63 when the self-collecting dust roll 6 is rolled up, and even if external force occurs and they do not stick together, ensuring that the self-collecting dust roll 6 can be smoothly unrolled during subsequent use.

[0026] The transmission column 64 includes an isolation sleeve 641 . The inner side of the isolation sleeve 641 is connected to a water-conducting inner core 642 whose tail end extends to the inside of the water-absorbing layer 62 . The isolation sleeve 641 is made of an anti-sticking material.

[0027] Specifically, the use of the isolation sleeve 641 can prevent the contact between the self-adhesive layer 61 surface and the water-conducting inner core 642 , thereby preventing the water-conducting inner core 642 from affecting the bonding effect of the self-adhesive layer 61 when conducting water and moisture.

[0028] A drainage pipe 65 is connected through the bottom of the water absorption layer 62 . The drainage pipe 65 is made of a hose and the tail end thereof extends to the bottom of the inspection robot body 1 .

[0029] Specifically, after the water absorbing layer 62 absorbs water, when the dust collecting roll 6 is in an expanded state, it is impacted by the airflow at the air inlet 8, and the water vapor absorbed in the water absorbing layer 62 is squeezed to form liquid, which is discharged from the inside of the water absorbing layer 62 through the drain pipe 65, ensuring the continuous water absorption treatment of the water absorbing layer 62.

[0030] The thickness of the self-collecting dust roll 6 in the rolled-up state is smaller than the distance between the camera lens 5 and the inner wall of the camera barrel 4, and ventilation holes are provided inside the water-absorbing layer 62, the self-adhesive layer 61 and the elastic layer 63. The end of the air supply folded tube 7 is flush with the inner wall of the camera barrel 4 and is located in front of the camera lens 5.

[0031] Specifically, the self-collecting dust roll 6 in the retracted state will not block the camera lens 5, thereby ensuring that the camera lens 5 can continue to perform video monitoring operations. At the same time, the design of the ventilation holes can keep the self-collecting dust roll 6 ventilated. In this way, even when the self-collecting dust roll 6 is in the stretched and flattened state, it can also ensure that one end of the air supply folding tube 7 can still perform the corresponding wind receiving operation, thereby ensuring the continuous unfolding of the self-collecting dust roll 6.

[0032] Second implementation method: Figure 8-10 , wherein the components identical or corresponding to those in the first embodiment are marked with the corresponding reference numerals in the first embodiment. For the sake of simplicity, only the differences from the first embodiment are described below. The difference between the second embodiment and the first embodiment is that the top and bottom ends of the surface of the water-absorbing layer 62 are both connected to a shedding tube 66, and the shedding tube 66 is fixedly connected to the surface of the self-adhesive layer 61, a plurality of grooves are provided inside the shedding tube 66, a pleated tube 662 is connected inside the groove, a spring bar 663 is connected inside the pleated tube 662, and an exhaust port 661 is provided at the top of the shedding tube 66.

[0033] One end of the spring bar 663 is fixedly connected to the surface of the water absorbing layer 62 , and the other end of the spring bar 663 is fixedly connected to the end of the pleated tube 662 , and the end of the pleated tube 662 close to the adhesive layer 61 is designed to be sealed.

[0034] The corrugated tube 662 is of telescopic design, and the initial length of the corrugated tube 662 is less than one third of the length of the shedding tube 66 itself.

[0035] Specifically, as the dust removal operation continues, the amount of dust adhered to the surface of the self-adhesive layer 61 increases, gradually covering the self-adhesive surface, and losing the dust restraining effect. At this time, the self-adhesive layer 61 needs to be replaced; The interior of the exhaust port 661 is provided with a ventilated and breathable material, which only allows gas to pass through; When the dust is initially bonded and restrained, some dust enters the inside of the shedding tube 66, and the wind force is discharged through the exhaust port 661, and the squeezing effect on the end of the pleated tube 662 is not strong. At this time, one end of the spring bar 663 is connected to the surface of the water absorption layer 62, and the pleated tube 662 is also located inside the shedding tube 66 by means of the embedding effect, so that the self-adhesive layer 61 and the water absorption layer 62 are in a connected state; As the dust adhesion continues, the amount of dust accumulated inside the shedding tube 66 gradually increases, gradually blocking the exhaust port 661. At this time, the impact wind force will focus on impacting the blocking object inside the shedding tube 66, thereby increasing the impact and pushing the dust block and the pleated tube 662 to move synchronously. At this time, the pleated tube 662 is able to gradually approach the end of the shedding tube 66 and detach from the inside of the shedding tube 66. The design of the spring bar 663 can be used to assist the pleated tube 662 in having a certain impact resistance, so that in the initial dust adhesion stage, it can resist the impact after diversion and not be displaced and detached from the inside of the shedding tube 66. After the spring bar 663 is squeezed and detaches from the inside of the shedding tube 66 synchronously with the pleated tube 662, since both the spring bar 663 and the pleated tube 662 are strip-shaped designs, the gravity of the two will cause the end of the pleated tube 662 to be in a non-aligned state with the end of the shedding tube 66, thereby ensuring that the self-adhesive layer 61 in a saturated use state can be smoothly detached from the surface of the water-absorbing layer 62.

[0036] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. A shuttle inspection robot suitable for an underground integrated pipe gallery, comprising an inspection robot body (1), characterized in that: A tool box seat (2) arranged diagonally is installed on the top of the inspection robot body (1), an air pump is installed inside the tool box seat (2), an environmental data monitor (3) is installed on the top of the tool box seat (2) through a vertical pole, a camera barrel (4) is embedded on the surface of the tool box seat (2), a camera lens (5) is installed inside the camera barrel (4), a plurality of air inlets (8) are opened on one side of the surface of the camera barrel (4), and the air inlets (8) are connected to the output end of the air pump through an air pipe, and the inner wall of the camera barrel (4) is installed with a plurality of air inlets (8) connected to the output end of the air pump through an air pipe. A self-collecting dust roll (6) is arranged opposite to the air outlet (8), and the area where the self-collecting dust roll (6) is fixedly bonded to the inner wall of the camera barrel (4) does not exceed one tenth of the area of ​​the self-collecting dust roll (6) itself. The self-collecting dust roll (6) includes an elastic layer (63), the elastic layer (63) is a spiral structure and is made of a memory material, and the surface of the elastic layer (63) is connected to a self-adhesive layer (61). The inner wall of the camera barrel (4) is penetrated by symmetrically arranged air supply folded tubes (7), and one end of the air supply folded tubes (7) faces the surface of the self-collecting dust roll (6).

2. According to claim 1, a shuttle inspection robot suitable for underground comprehensive pipe gallery is characterized in that: A water-absorbing layer (62) is connected between the elastic layer (63) and the self-adhesive layer (61); the water-absorbing layer (62) is made of a water-absorbing material, and the surface of the water-absorbing layer (62) is covered with a waterproof film; a transmission column (64) is connected through the surface of the water-absorbing layer (62), and the tail end of the transmission column (64) extends through and extends to one side of the self-adhesive layer (61).

3. A shuttle inspection robot suitable for underground comprehensive pipe gallery according to claim 2, characterized in that: The surface of the elastic layer (63) close to the inner wall of the camera barrel (4) is coated with an anti-stick coating, and when the dust collecting roll (6) is in a rolled-up state, the gap between the inner and outer layers is greater than the distance between the conveying column (64) protruding from the surface of the self-adhesive layer (61).

4. The shuttle inspection robot suitable for underground comprehensive pipe gallery according to claim 2 is characterized in that: The conveying column (64) comprises an isolation sleeve (641), the inner side of which is connected to a water-conducting inner core (642) whose tail end extends into the interior of the water-absorbing layer (62), and the isolation sleeve (641) is made of an anti-sticking material.

5. The shuttle inspection robot suitable for underground comprehensive pipe gallery according to claim 2 is characterized in that: A drainage pipe (65) is connected through the bottom of the water absorption layer (62); the drainage pipe (65) is made of a hose and the tail end of the drainage pipe extends to the bottom of the inspection robot body (1).

6. The shuttle inspection robot suitable for underground comprehensive pipe gallery according to claim 1 is characterized in that: The thickness of the self-collecting dust roll (6) in the rolled-up state is smaller than the distance between the camera lens (5) and the inner wall of the camera barrel (4), and ventilation holes are provided inside the water-absorbing layer (62), the adhesive layer (61) and the elastic layer (63), and the end of the air supply folded tube (7) is flush with the inner wall of the camera barrel (4) and is located in front of the camera lens (5).

7. The shuttle inspection robot suitable for underground comprehensive pipe gallery according to claim 2 is characterized in that: The top and bottom ends of the surface of the water-absorbing layer (62) are both connected to a shedding tube (66), and the shedding tube (66) is fixedly connected to the surface of the self-adhesive layer (61), a plurality of grooves are provided inside the shedding tube (66), the inside of the grooves are connected to a pleated tube (662), the inside of the pleated tube (662) is connected to a spring bar (663), and an exhaust port (661) is provided at the top of the shedding tube (66).

8. The shuttle inspection robot suitable for underground comprehensive pipe gallery according to claim 7 is characterized in that: One end of the spring bar (663) is fixedly connected to the surface of the water-absorbing layer (62), and the other end of the spring bar (663) is fixedly connected to the end of the pleated tube (662), and the end of the pleated tube (662) close to the self-adhesive layer (61) is of a blocking design.

9. The shuttle inspection robot suitable for underground comprehensive pipe gallery according to claim 7 is characterized in that: The corrugated tube (662) is of telescopic design, and the initial length of the corrugated tube (662) is less than one third of the length of the shedding tube (66) itself.

Images