Old community underground pipe network detection device with self-walking function

Abstract

The invention relates to an old community underground pipe network detection device with a self-walking function, and relates to the technical field of underground pipe network detection.The old community underground pipe network detection device comprises a frame body, a detection center groove is formed in the center of the frame body, and a limiting frame is arranged at the top of the detection center groove; a two-way threaded rod is connected to the inner wall of one side of the limiting frame through a bearing, positioning seats are in threaded connection to the opposite thread positions of the two sides of the two-way threaded rod, a walking mechanism is arranged at the bottom of the frame body and comprises a driving wheel and a steering wheel, and an auxiliary mechanism is arranged on one side of the bottom end of the frame body. The auxiliary mechanism comprises a mounting frame, a limiting cylinder, a springback rod, a top piece, an extrusion spring, a rotating shaft, an auxiliary walking cylinder and a pressure sensor; the auxiliary mechanism can assist the detection device to walk, so that the detection device is more stable, meanwhile, the detection device can assist in detecting bumping and protruding conditions of a road surface so as to adjust the height of the detection probe, and the detection precision is improved.

Description

Technical Field

[0001] The present application relates to the technical field of underground pipe network detection, and in particular to an underground pipe network detection device for old residential areas with a self-propelled function. Background Art

[0002] With the rapid development of cities, many infrastructures in early built-up areas are gradually aging and damaged. Traditional manual excavation and exploration are not only time-consuming and labor-intensive but also prone to secondary damage. Although some non-invasive detection methods that have emerged in recent years can alleviate this problem to a certain extent, such as geological radar systems that can generate images to reflect the location outline of underground objects; the acoustic wave reflection method can determine the existence of interfaces between different materials based on echo characteristics, but these advanced instruments often rely on external energy supply and are bulky and difficult to carry to narrow streets and alleys. In addition, handheld metal detectors developed based on the principle of electromagnetic induction are also widely used to find shallow metal products, but they are powerless for small-diameter pipes made of plastic or other insulating materials.

[0003] Several common underground pipe network detection devices on the market currently have the following problems: being expensive and not suitable for large-scale deployment; the hardware configuration is not flexible enough to facilitate in-depth field surveys in residential areas; and the device has a slow response and poor sensitivity to non-conductive materials. These problems need to be improved urgently to improve performance indicators and meet the needs of actual engineering projects.

[0004] At present, underground pipe network detection devices often need to be pushed manually for detection work and do not have the function of self-propelled movement. At the same time, the detection probes are often set at a high position to prevent the detection probes from scratching against ground protrusions. The high position of the probes can easily affect the detection accuracy. Summary of the invention

[0005] The purpose of this application is to provide an underground pipe network detection device for old residential areas with a self-propelled function.

[0006] In the first aspect, the present application provides an old residential area underground pipe network detection device with a self-propelled function, which adopts the following technical solutions: A detection device for underground pipe networks in old residential areas with a self-propelled function comprises a frame body, a detection center groove is arranged at the center of the frame body, a limit frame is arranged at the top of the detection center groove, an inner wall of one side of the limit frame is connected with a bidirectional threaded rod through a bearing, and positioning seats are threadedly connected at opposite threads on both sides of the bidirectional threaded rod, a guide rod is penetrated and connected on the side of the positioning seat away from the bidirectional threaded rod, the guide rod is movably connected to the positioning seat, and both ends of the guide rod are connected to the inner wall of the limit frame, a servo motor is connected to the outer wall of one side of the limit frame, and the output end of the servo motor is connected to the bidirectional threaded rod, a clamping seat is arranged on the opposite side of two groups of the positioning seats, a supporting spring is connected to the bottom end of the clamping seat, and one end of the supporting spring away from the clamping seat is connected to the positioning seat, a sliding groove is arranged on the outer wall of one side of the positioning seat close to the clamping seat, and a damping slider is connected to the outer wall of the two groups of the clamping seats, and the damping slider is embedded in the sliding groove, and the limiting rod is connected at the center of the bottom end of the clamping seat.

[0007] By adopting the above technical scheme, the frame body plays a supporting role, and the detection center groove is the detection area. When the frame body is moving, the detection probe can pass through the detection center groove to detect the underground pipeline network, and at the same time, the servo motor can drive the two-way threaded rod to rotate, and the rotation of the two-way threaded rod drives the positioning seats on both sides to move in relative directions, thereby driving the clamping seat to move in a translational manner, thereby realizing the clamping and fixing of the detector. At the same time, a soft pad is provided on the surface of the clamping seat to avoid damage to the detector. While the clamping seat clamps the detector, it can buffer the detector to a certain extent during the process of passing through bumpy sections. When the frame body shakes due to bumps, it drives the limit frame and the positioning seat to shake back and forth up and down. The clamping seat has a support spring between it and the positioning seat, so as to buffer the shaking to a certain extent. At the same time, the damping slider is embedded in the slide groove to play a certain damping effect, which offsets part of the impact force of the support spring rebound, thereby realizing the buffering effect of the clamping seat, and avoiding excessive impact on the detector due to bumps.

[0008] A through slot is arranged at the bottom end of the positioning seat, the bottom end of the limiting rod passes through the through slot and is threadedly connected to a limiting nut, an electric push rod is arranged at the edge of the detection center slot, and the output end of the electric push rod is connected to the limiting frame.

[0009] By adopting the above technical solution, the outer wall of the limit rod is provided with a thread, and the position of the limit nut on the limit rod can be adjusted by twisting the limit nut. When the limit nut abuts against the surface of the positioning seat, continuing to twist the limit rod can drive the limit rod to move, thereby driving the clamping seat to translate downward, thereby squeezing the mechanical energy of the support spring to a certain extent, thereby realizing the adjustment of the squeezing load of the support spring to facilitate the adjustment of the softness and hardness of the buffer, so as to facilitate different adjustments in response to different road conditions. The limit frame can be pushed to move up and down by the electric push rod, and the movement of the limit frame drives the clamping seat and the detector to move up and down, thereby facilitating the adjustment of the height of the detection probe from the ground, so that the detection probe can always be maintained at a certain position above the ground.

[0010] The middle parts of the two groups of clamping seats are clamped and connected with detectors, and the center of the bottom end of the detector is provided with a detection probe, and the detection probe passes through the detection center groove and extends to the bottom end of the frame body.

[0011] By adopting the above technical solution, the detector is a radar detector, which uses the principle of mobile high-frequency electromagnetic wave reflection. The detection probe transmits high-frequency signals to the underground. When the signal encounters the interface of different media (such as the interface between pipelines and soil), reflection will occur. The receiver receives the reflected signal and processes it to determine the location and depth of the underground pipeline, thereby realizing the detection of the underground pipeline network.

[0012] A running mechanism is arranged at the bottom of the frame body, and the running mechanism comprises a driving wheel and a steering wheel, and a steering wheel is arranged on one side of the driving wheel.

[0013] By adopting the above technical solution, the steering wheel is connected to the frame body through the drive shaft and driven to rotate by the motor to realize the driving effect on the frame body. At the same time, the steering wheel can be rotated by the electric steering gear. The driving wheel and the steering wheel are driven and steered by electronic control. They are all existing technologies and will not be described in detail here. The self-driving function of the device is realized by the driving wheel and the steering wheel.

[0014] An auxiliary mechanism is arranged on one side of the middle part of the bottom end of the frame body, and the auxiliary mechanism includes a mounting frame, a limiting cylinder, a rebound rod, a top plate, an extrusion spring, a rotating shaft, an auxiliary walking cylinder and a pressure sensor. Both ends of the bottom of the mounting frame are connected to the limiting cylinder, the bottom end of the limiting cylinder is embedded with a rebound rod, the top of the rebound rod is connected to the top plate, and the top plate is embedded in the limiting cylinder.

[0015] By adopting the above technical solution, the auxiliary mechanism can assist the detection device in walking, making it more stable. At the same time, it can assist in detecting bumps and protrusions on the road surface so as to facilitate timely adjustment of the height of the detection probe. The rebound rod can move up and down in the limit cylinder, and the top plate plays a limiting and squeezing role to prevent the rebound rod from moving out of the limit cylinder.

[0016] The top of the top plate is connected to an extrusion spring, the top inner wall of the limiting cylinder is provided with a pressure sensor, the end of the extrusion spring away from the top plate is in contact with the pressure sensor, the bottom ends of the two groups of rebound rods are connected by a rotating shaft, the rotating shaft and the rebound rod are connected by a bearing, and the outer wall of the rotating shaft is provided with an auxiliary walking cylinder.

[0017] By adopting the above technical solution, the auxiliary walking cylinder plays an auxiliary stabilizing role when the frame body is performing walking detection. At the same time, when the device moves to a bumpy road surface with a protrusion, the auxiliary walking cylinder will be pressed and pushed upward after passing through the protrusion, thereby driving the rebound rod to move upward. The rebound rod translates upward and pushes the top plate upward, thereby squeezing the extrusion spring. The bottom end of the extrusion spring is compressed and contracts upward, causing the extrusion force on one end of the pressure sensor to change. The pressure sensor detects the current pressure change and transmits the signal to the PLC controller to make timely adjustments.

[0018] A PLC controller is arranged on the inner wall of the middle part of the mounting frame, and the PLC controller is connected with the pressure sensor and the electric push rod through electric wires.

[0019] By adopting the above technical solution, when the road surface encounters a bump, the pressure sensor detects the current pressure change and transmits the signal to the PLC controller. The PLC controller controls the start of the electric push rod to make adjustments. The electric push rod pushes the limit frame to rise, thereby driving the clamping seat and the detector to move up and down, thereby raising the ground clearance of the detection probe to avoid the detection probe colliding with the ground bumps and causing damage. When facing a flat road surface, it descends again to keep a low ground clearance, so that the detection probe can maintain a low ground clearance while ensuring the safety of the detection probe, thereby improving the detection effect.

[0020] Auxiliary detectors are arranged at the four ends of the bottom of the frame body, a high-definition camera is arranged on one side of the frame body, a laser radar is arranged on one side of the high-definition camera, and a mobile power supply is arranged on one side of the top of the frame body.

[0021] By adopting the above technical solution, the auxiliary detector is an electromagnetic induction detector, which determines the position and depth of the pipeline by emitting an electromagnetic field and detecting the secondary electromagnetic field generated by the underground metal pipeline. The auxiliary detector plays the function of auxiliary detection and cooperates with the detector to transmit the signal to the control box. The data fusion algorithm is performed through the AI ​​chip to fuse the data obtained by various detection technologies to improve the recognition and positioning accuracy of the underground pipeline network. The high-definition camera can detect the road condition of the device and cooperate with the laser radar to detect and avoid surrounding objects in time during walking, so as to avoid collision incidents during the self-walking detection process. The mobile power supply provides power to the device so that it can perform detection work outdoors without wires.

[0022] A control box is provided on one side of the mobile power supply, a receiving module is provided on one side of the control box, a data processor is provided on one side of the receiving module, an AI chip is provided on one side of the data processor, a GPS positioning module is provided on one side of the control box, a display screen is provided on one outer wall of the control box, and a communication module is provided on the bottom side of the GPS positioning module.

[0023] By adopting the above technical scheme, the auxiliary detector and the detector can transmit the detected data to the control box for receiving through the receiving module, and then integrate and process the data through the data processing module and the AI ​​chip, so as to facilitate the export of the detected data to the display screen, thereby realizing the detection of the underground pipeline network. At the same time, the GPS positioning module is used for positioning so as to facilitate the integration of the underground pipeline network distribution and the ground position. At the same time, the GPS positioning module can preset the walking route of the device, so as to transmit the signal to the PLC controller, and the PLC controller controls the driving wheel and the steering driver to drive, so as to realize the function of self-walking. At the same time, the high-definition camera is used to detect the road condition of the device, and the laser radar is used to detect the surrounding objects during the walking process and avoid them in time, so as to avoid collision incidents of the device during the self-walking detection process and improve the detection efficiency.

[0024] A support frame is arranged on the top of the frame body, a top plate is arranged on the top of the support frame, a photovoltaic panel is connected to the top of the top plate, the photovoltaic panel is connected to the mobile power source through an inverter, and an auxiliary handrail is arranged on one side of the frame body.

[0025] By adopting the above technical solution, the photovoltaic panels can convert solar energy into electrical energy and then transmit the electrical energy to the mobile power supply for storage through the inverter, thereby improving the battery life of the device. At the same time, the photovoltaic panels can be set to shelter from rain on rainy days to prevent the device from being damaged by water during the detection process. The auxiliary handrails can enable the frame body to be propelled with mechanical energy.

[0026] In summary, the present application includes at least one of the following beneficial technical effects: 1. When the device moves to a bumpy road surface with a protrusion, the auxiliary walking cylinder will be pressed and pushed upward after passing the protrusion on the road surface, thereby driving the rebound rod to move upward. The rebound rod moves upward and pushes the top plate upward to squeeze the extrusion spring. The bottom end of the extrusion spring is compressed and contracts upward, causing the extrusion force on one end of the pressure sensor to change. The pressure sensor detects the current pressure change and transmits the signal to the PLC controller. The PLC controller controls the start of the electric push rod to make adjustments. The electric push rod pushes the limit frame to rise, thereby driving the clamping seat and the detector to move up and down, thereby raising the ground height of the detection probe to avoid the detection probe from colliding with the protrusion on the ground and causing damage. When facing a flat road, it descends again so that the detection probe descends to maintain a low ground clearance, so that the detection probe can maintain a low ground clearance while ensuring the safety of the detection probe, thereby improving the detection effect; 2. Positioning is performed through the GPS positioning module to facilitate the integration of underground pipe network distribution and ground position. At the same time, the GPS positioning module can preset the walking route of the device, so as to transmit the signal to the PLC controller, and the PLC controller controls the driving wheel and steering wheel driver to drive, so as to realize the function of self-walking. At the same time, the high-definition camera is used to detect the road condition of the device, and the laser radar is used to detect surrounding objects during walking and avoid them in time, so as to avoid collision incidents during the self-walking detection process and improve the detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application; Figure 2 is a schematic diagram of the internal structure of the limit frame of an embodiment of the present application; Figure 3 This is a schematic diagram of the connection structure between the positioning seat and the clamping seat of an embodiment of the present application; Figure 4 is a schematic diagram of the auxiliary mechanism structure of an embodiment of the present application; Figure 5 It is a schematic diagram of the internal structure of the control box of an embodiment of the present application; Figure 6 It is a schematic diagram of the detection process structure of an embodiment of the present application; Explanation of the reference numerals: 1. frame body; 2. detection center groove; 3. limit frame; 4. bidirectional threaded rod; 5. positioning seat; 6. guide rod; 7. servo motor; 8. clamping seat; 9. support spring; 10. slide groove; 11. damping slider; 12. through groove; 13. limit rod; 14. limit nut; 15. electric push rod; 16. detector; 17. detection probe; 18. walking mechanism; 181. driving wheel; 182. steering wheel; 19. auxiliary mechanism; 191. mounting frame; 192. PLC controller; 20. limit Position cylinder; 21. Rebound rod; 22. Top plate; 23. Extrusion spring; 24. Rotating axis; 25. Auxiliary walking cylinder; 26. Pressure sensor; 27. Auxiliary detector; 28. Camera; 281. LiDAR; 29. ​​Mobile power supply; 30. Control box; 301. Receiving module; 302. Data processor; 303. AI chip; 304. GPS positioning module; 305. Display screen; 306. Communication module; 31. Support frame; 32. Top plate; 33. Photovoltaic panel; 34. Inverter; 35. Auxiliary handrail. DETAILED DESCRIPTION

[0028] The following is combined with Figure 1 - Attachment Figure 6 , further details of this application are given.

[0029] Embodiment: An underground pipe network detection device for an old residential area with a self-propelled function comprises a frame body 1, a detection center groove 2 is arranged at the center of the frame body 1, a limit frame 3 is arranged on the top of the detection center groove 2, an inner wall of one side of the limit frame 3 is connected with a bidirectional threaded rod 4 through a bearing, and both sides of the bidirectional threaded rod 4 are threadedly connected with a positioning seat 5 at opposite threads, and a guide rod 6 is penetrated and connected to the side of the positioning seat 5 away from the bidirectional threaded rod 4, the guide rod 6 is movably connected to the positioning seat 5, and the two ends of the guide rod 6 are connected to the inner wall of the limit frame 3, and the limit frame A servo motor 7 is connected to the outer wall of one side of the two-way threaded rod 4, and the output end of the servo motor 7 is connected to the bidirectional threaded rod 4. A clamping seat 8 is provided on the opposite side of the two sets of positioning seats 5. A supporting spring 9 is connected to the bottom end of the clamping seat 8. The end of the supporting spring 9 away from the clamping seat 8 is connected to the positioning seat 5. A slide groove 10 is provided on the outer wall of the positioning seat 5 close to the clamping seat 8. A damping slider 11 is connected to the outer wall of the two sets of clamping seats 8. The damping slider 11 is embedded in the slide groove 10. A limit rod 13 is connected to the center of the bottom end of the clamping seat 8. The frame body 1 plays a role in Supporting role, the detection center groove 2 is the detection area. When the frame body 1 is walking, the detection probe 17 can pass through the detection center groove 2 to detect the underground pipeline network. At the same time, the servo motor 7 can drive the two-way threaded rod 4 to rotate. The rotation of the two-way threaded rod 4 drives the positioning seats 5 on both sides to move in relative directions, thereby driving the clamping seat 8 to move in a translational manner, thereby realizing the clamping and fixing of the detector 16. At the same time, a cushion is provided on the surface of the clamping seat 8 to avoid damage to the detector 16. While the clamping seat 8 clamps the detector 16, it can buffer the detector 16 to a certain extent during the process of passing through the bumpy road section. When the frame body 1 shakes due to the bump, it drives the limit frame 3 and the positioning seat 5 to reciprocate up and down. The clamping seat 8 has a support spring 9 between it and the positioning seat 5, so as to buffer the shaking to a certain extent. At the same time, the damping slider 11 is embedded in the slide groove 10 to play a certain damping effect to offset part of the impact force of the rebound of the support spring 9, thereby realizing the buffering effect of the clamping seat 8, and avoiding excessive impact on the detector 16 due to the bump.

[0030] The bottom end of the positioning seat 5 is provided with a through slot 12, and the bottom end of the limit rod 13 passes through the through slot 12 and is threadedly connected to the limit nut 14. An electric push rod 15 is arranged at the edge of the detection center slot 2, and the output end of the electric push rod 15 is connected to the limit frame 3. The outer wall of the limit rod 13 is provided with a thread. The position of the limit nut 14 on the limit rod 13 can be adjusted by twisting the limit nut 14. When the limit nut 14 abuts against the surface of the positioning seat 5, continuing to twist can drive the limit rod 13 to move, thereby driving the clamping seat 8 to translate downward, thereby squeezing the support spring 9 mechanical energy to a certain extent, thereby realizing the adjustment of the squeezing load of the support spring 9 so as to adjust the softness and hardness of the buffer, so as to make different adjustments in response to different road conditions. The limit frame 3 can be pushed to move up and down by the electric push rod 15, and the movement of the limit frame 3 drives the clamping seat 8 and the detector 16 to move up and down, thereby facilitating the adjustment of the height of the detection probe 17 from the ground, so that the detection probe 17 can always be maintained at a certain position above the ground.

[0031] The middle of the two groups of clamping seats 8 are clamped and connected with a detector 16, and a detection probe 17 is set at the center of the bottom end of the detector 16. The detection probe 17 passes through the detection center groove 2 and extends to the bottom end of the frame body 1. The detector 16 is a radar detector. It uses the principle of mobile high-frequency electromagnetic wave reflection. The high-frequency signal is transmitted to the underground through the detection probe 17. When the signal encounters the interface of different media (such as the interface between the pipeline and the soil), it will be reflected. The receiver receives and processes the reflected signal to determine the position and depth of the underground pipeline, thereby realizing the detection of the underground pipeline network.

[0032] A walking mechanism 18 is provided at the bottom of the frame body 1, and the walking mechanism 18 includes a driving wheel 181 and a steering wheel 182. A steering wheel 182 is provided on one side of the driving wheel 181. The frame body 1 can be moved by the walking mechanism 18. The steering wheel 182 is connected to the frame body 1 through a driving shaft and is driven to rotate by a motor to realize the driving effect on the frame body 1. At the same time, the steering wheel 182 can be rotated by an electric steering gear. The driving wheel 181 and the steering wheel 182 are both driven and steered by electronic control. They are all existing technologies and will not be described in detail here. The self-driving function of the device is realized by the driving wheel 181 and the steering wheel 182.

[0033] An auxiliary mechanism 19 is arranged on one side of the middle part of the bottom end of the frame body 1, and the auxiliary mechanism 19 includes a mounting frame 191, a limiting cylinder 20, a rebound rod 21, a top plate 22, an extrusion spring 23, a rotating shaft 24, an auxiliary walking cylinder 25 and a pressure sensor 26. Both ends of the bottom of the mounting frame 191 are connected to the limiting cylinder 20, and the bottom end of the limiting cylinder 20 is embedded with a rebound rod 21, and the top of the rebound rod 21 is connected with a top plate 22, and the top plate 22 is embedded in the limiting cylinder 20. The auxiliary mechanism 19 can assist the detection device in walking to make it more stable, and at the same time can assist in detecting bumps and bulges on the road surface so as to facilitate timely adjustment of the height of the detection probe 17. The rebound rod 21 can be lifted and lowered in the limiting cylinder 20, and the top plate 22 plays a role of limiting and squeezing to prevent the rebound rod 21 from moving out of the limiting cylinder 20.

[0034] A squeezing spring 23 is connected to the top of the top plate 22, and a pressure sensor 26 is provided on the top inner wall of the limiting cylinder 20. The end of the squeezing spring 23 away from the top plate 22 abuts against the pressure sensor 26. The bottom ends of the two sets of rebound rods 21 are connected by a rotating shaft 24. The rotating shaft 24 and the rebound rod 21 are connected by a bearing. The outer wall of the rotating shaft 24 is sleeved with an auxiliary walking cylinder 25. When the frame body 1 is performing walking detection, the auxiliary walking cylinder 25 plays an auxiliary stabilizing role. At the same time, when the device moves to a bumpy road surface with a protrusion, the auxiliary walking cylinder 25 will be pressed and lifted up after passing through the protrusion, thereby driving the rebound rod 21 to move upward. The rebound rod 21 translates upward and pushes the top plate 22 upward, thereby squeezing the squeezing spring 23. The bottom end of the squeezing spring 23 is compressed and contracts upward, causing the squeezing force on one end of the pressure sensor 26 to change. The pressure sensor 26 detects the current pressure change and transmits the signal to the PLC controller 192 so as to make timely adjustments.

[0035] A PLC controller 192 is provided on the inner wall of the middle part of the mounting frame 191. The PLC controller 192 is connected to the pressure sensor 26 and the electric push rod 15 through wires. When the road surface encounters a bump, the pressure sensor 26 detects the current pressure change and transmits the signal to the PLC controller 192. The PLC controller 192 controls the start of the electric push rod 15 to make adjustments. The electric push rod 15 pushes the limit frame 3 to rise, thereby driving the clamping seat 8 and the detector 16 to move up and down, thereby raising the height of the detection probe 17 from the ground to avoid the detection probe 17 colliding with the bumps on the ground and causing damage. When facing a flat road surface, the detection probe 17 is lowered again to maintain a low ground clearance, so that the detection probe 17 can maintain a low ground clearance while ensuring the safety of the detection probe 17, thereby improving the detection effect.

[0036] Auxiliary detectors 27 are provided at the four ends of the bottom of the frame body 1, a high-definition camera 28 is provided on one side of the frame body 1, a laser radar 281 is provided on one side of the high-definition camera 28, and a mobile power supply 29 is provided on the top side of the frame body 1. The auxiliary detector 27 is an electromagnetic induction detector, which determines the position and depth of the pipeline by emitting an electromagnetic field and detecting the secondary electromagnetic field generated by the underground metal pipeline. The auxiliary detector 27 plays the function of auxiliary detection and cooperates with the detector 16 to transmit the signal to the control box 30. The data fusion algorithm is performed through the AI ​​chip 303 to fuse the data obtained by various detection technologies to improve the recognition and positioning accuracy of the underground pipeline network. The high-definition camera 28 can detect the road condition of the device and cooperate with the laser radar 281 to detect and avoid surrounding objects in time during walking to avoid collision incidents during the self-walking detection process. The mobile power supply 29 provides power for the device so that it can perform detection work outdoors without wires.

[0037] A control box 30 is provided on one side of the mobile power supply 29, a receiving module 301 is provided on one side of the control box 30, a data processor 302 is provided on one side of the receiving module 301, an AI chip 303 is provided on one side of the data processor 302, a GPS positioning module 304 is provided on one side of the control box 30, a display screen 305 is provided on one side of the outer wall of the control box 30, and a communication module 306 is provided on the bottom side of the GPS positioning module 304. The control box 30 plays a control role, and the auxiliary detector 27 and the detector 16 can transmit the detected data to the control box 30 for reception through the receiving module 301, and then the data is integrated and processed through the data processing module 302 and the AI ​​chip 303. The detection data can be exported to the display screen 305 to realize the detection of the underground pipe network. At the same time, the GPS positioning module 304 is used to locate the underground pipe network so as to integrate the distribution of the underground pipe network with the ground position. At the same time, the GPS positioning module 304 can preset the walking route of the device, so as to transmit the signal to the PLC controller 192. The PLC controller 192 controls the drivers of the driving wheel 181 and the steering wheel 182 to drive, so as to realize the function of self-walking. At the same time, the high-definition camera 28 is used to detect the road condition of the device, and the laser radar 281 is used to detect the surrounding objects during the walking process and avoid them in time, so as to avoid collision incidents of the device during the self-walking detection process and improve the detection efficiency.

[0038] A support frame 31 is provided on the top of the frame body 1, and a top plate 32 is provided on the top of the support frame 31. A photovoltaic panel 33 is connected to the top of the top plate 32. The photovoltaic panel 33 is connected to the mobile power supply 29 through an inverter 34. An auxiliary handrail 35 is provided on one side of the frame body 1. The support frame 31 and the top plate 32 play a supporting role. At the same time, one side of the support frame 31 is connected to the top plate 32 through a hinge, so that the top plate 32 can be opened to facilitate the removal of the detector 16. The photovoltaic panel 33 can convert solar energy into electrical energy and then transmit the electrical energy to the mobile power supply 29 for storage through the inverter 34, thereby improving the battery life of the device. At the same time, the setting of the photovoltaic panel 33 can play a role of sheltering from rain on rainy days to avoid water damage to the device caused by rain during the detection process. The auxiliary handrail 35 can enable the frame body 1 to be mechanically assisted in pushing.

[0039] The implementation principle of the embodiment of the present application is as follows: first, the detector 16 is placed in the middle of the clamping seat 8, and the bidirectional threaded rod 4 can be driven to rotate by the servo motor 7. The rotation of the bidirectional threaded rod 4 drives the positioning seats 5 on both sides to perform translational movement in relative directions, thereby driving the clamping seat 8 to translate, thereby achieving the clamping and fixing of the detector 16. At the same time, a soft pad is provided on the surface of the clamping seat 8 to avoid damage to the detector 16. While the clamping seat 8 clamps the detector 16, it can provide a certain buffer for the detector 16 during the process of passing through a bumpy road section. When the frame body 1 is shaken due to the bump, it drives the limit frame 3 and the positioning seat 5 to reciprocate up and down. The clamping seat 8 has a support spring 9 between it and the positioning seat 5, so as to buffer the shaking to a certain extent. At the same time, the damping slider 11 is embedded in the slide groove 10 to play a certain damping effect to offset part of the impact force of the rebound of the support spring 9, thereby achieving the buffering effect of the clamping seat 8, and avoiding excessive impact on the detector 16 due to the bump. During the detection process, the detection probe 17 transmits a high-frequency signal to the underground. When the signal encounters the interface of different media (such as the interface between the pipeline and the soil), it will be reflected. The receiver receives and processes the reflected signal to determine the position and depth of the underground pipeline, thereby realizing the detection of the underground pipeline network. The auxiliary detector 27 and the detector 16 can transmit the detected data to the control box 30 and receive it through the receiving module 301. The data is then integrated and processed through the data processing module 302 and the AI ​​chip 303 to facilitate the export of the detected data to the display screen 305, thereby realizing the detection of the underground pipeline network. Detection, and positioning is performed through the GPS positioning module 304 to facilitate the integration of the underground pipe network distribution and the ground position. At the same time, the GPS positioning module 304 can preset the device walking route, so as to transmit the signal to the PLC controller 192, and the PLC controller 192 controls the driver of the driving wheel 181 and the steering wheel 182 to drive, so as to realize the self-walking function, and at the same time cooperate with the high-definition camera 28 to detect the road condition of the device and cooperate with the laser radar 281 to detect and avoid surrounding objects in time during walking, so as to avoid collision incidents of the device during the self-walking detection process and improve the detection efficiency; When the road surface encounters a bump, the pressure sensor 26 detects the current pressure change and transmits the signal to the PLC controller 192. The PLC controller 192 controls the start of the electric push rod 15 to make adjustments. The electric push rod 15 pushes the limit frame 3 to rise, thereby driving the clamping seat 8 and the detector 16 to move up and down, thereby raising the height of the detection probe 17 from the ground to avoid the detection probe 17 colliding with the bumps on the ground and causing damage. When facing a flat road surface, it descends again to keep a low ground clearance, so that the detection probe 17 can maintain a low ground clearance while ensuring the safety of the detection probe 17, thereby improving the detection effect.

[0040] The embodiments of this specific implementation are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. The same components are represented by the same figure marks. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A self-propelled underground pipe network detection device for old residential areas, comprising a frame body (1), characterized in that: A detection center groove (2) is provided at the center of the frame body (1), a limit frame (3) is provided at the top of the detection center groove (2), an inner wall of one side of the limit frame (3) is connected to a bidirectional threaded rod (4) via a bearing, and positioning seats (5) are threadedly connected to opposite threads on both sides of the bidirectional threaded rod (4), a guide rod (6) is penetrated and connected to the side of the positioning seat (5) away from the bidirectional threaded rod (4), the guide rod (6) is movably connected to the positioning seat (5), and both ends of the guide rod (6) are connected to the inner wall of the limit frame (3), and a servo motor (7) is connected to the outer wall of one side of the limit frame (3). The output end of the servo motor (7) is connected to the bidirectional threaded rod (4); a clamping seat (8) is provided on one side opposite to the two groups of positioning seats (5); a supporting spring (9) is connected to the bottom end of the clamping seat (8); an end of the supporting spring (9) away from the clamping seat (8) is connected to the positioning seat (5); a sliding groove (10) is provided on the outer wall of the positioning seat (5) on the side close to the clamping seat (8); a damping slider (11) is connected to the outer walls of the two groups of clamping seats (8); the damping slider (11) is embedded in the sliding groove (10); and a limiting rod (13) is connected to the center of the bottom end of the clamping seat (8).

2. According to claim 1, the underground pipe network detection device for old residential areas with self-propelled function is characterized by: A through slot (12) is provided at the bottom end of the positioning seat (5), the bottom end of the limiting rod (13) passes through the through slot (12) and is threadedly connected to a limiting nut (14), and an electric push rod (15) is arranged at the edge of the detection center slot (2), and the output end of the electric push rod (15) is connected to the limiting frame (3).

3. According to claim 1, the underground pipe network detection device for old residential areas with self-propelled function is characterized by: The middle parts of the two groups of clamping seats (8) are clamped and connected with detectors (16), and a detection probe (17) is arranged at the center of the bottom end of the detector (16). The detection probe (17) passes through the detection center groove (2) and extends to the bottom end of the frame body (1).

4. According to claim 1, the underground pipe network detection device for old residential areas with self-propelled function is characterized by: A running mechanism (18) is provided at the bottom of the vehicle frame body (1); the running mechanism (18) comprises a driving wheel (181) and a steering wheel (182); and a steering wheel (182) is provided on one side of the driving wheel (181).

5. The self-propelled underground pipe network detection device for old residential areas according to claim 1 is characterized in that: An auxiliary mechanism (19) is arranged on one side of the middle part of the bottom end of the frame body (1), and the auxiliary mechanism (19) comprises a mounting frame (191), a limiting cylinder (20), a rebound rod (21), a top plate (22), a compression spring (23), a rotating shaft (24), an auxiliary walking cylinder (25) and a pressure sensor (26). Both ends of the bottom of the mounting frame (191) are connected to the limiting cylinder (20), the bottom end of the limiting cylinder (20) is embedded with a rebound rod (21), the top of the rebound rod (21) is connected to the top plate (22), and the top plate (22) is embedded in the limiting cylinder (20).

6. The self-propelled underground pipe network detection device for old residential areas according to claim 5 is characterized in that: The top of the top plate (22) is connected to a compression spring (23), the top inner wall of the limiting cylinder (20) is provided with a pressure sensor (26), one end of the compression spring (23) away from the top plate (22) is in contact with the pressure sensor (26), the bottom ends of the two groups of rebound rods (21) are connected via a rotating shaft (24), the rotating shaft (24) and the rebound rod (21) are connected via a bearing, and the outer wall of the rotating shaft (24) is sleeved with an auxiliary walking cylinder (25).

7. The self-propelled underground pipe network detection device for old residential areas according to claim 6 is characterized in that: A PLC controller (192) is provided on the inner wall of the middle portion of the mounting frame (191), and the PLC controller (192) is connected to the pressure sensor (26) and the electric push rod (15) via electric wires.

8. The self-propelled underground pipe network detection device for old residential areas according to claim 1 is characterized in that: Auxiliary detectors (27) are arranged at the four ends of the bottom of the frame body (1), a high-definition camera (28) is arranged on one side of the frame body (1), a laser radar (281) is arranged on one side of the high-definition camera (28), and a mobile power supply (29) is arranged on one side of the top of the frame body (1).

9. The device for detecting underground pipe networks in old residential areas with a self-propelled function according to claim 8 is characterized in that: A control box (30) is provided on one side of the mobile power source (29); a receiving module (301) is provided on one side of the control box (30); a data processor (302) is provided on one side of the receiving module (301); an AI chip (303) is provided on one side of the data processor (302); a GPS positioning module (304) is provided on one side of the control box (30); a display screen (305) is provided on one side of the outer wall of the control box (30); and a communication module (306) is provided on one side of the bottom of the GPS positioning module (304).

10. The old residential area underground pipe network detection device with self-propelled function according to claim 8, characterized in that: A support frame (31) is provided on the top of the frame body (1), a top plate (32) is provided on the top of the support frame (31), a photovoltaic panel (33) is connected to the top of the top plate (32), the photovoltaic panel (33) is connected to the mobile power source (29) via an inverter (34), and an auxiliary handrail (35) is provided on one side of the frame body (1).

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