Wireless charging type pipeline detection robot device

Abstract

The invention provides a wireless charging type pipeline detection robot device which comprises a hexagonal prism-like main body connecting column, and a remote control mechanism and a high-energy density battery are arranged on the hexagonal prism-like main body connecting column. The moving mechanism is composed of three independent driving assemblies, is provided with a moving crawler device and an air source cushioning spring, and adapts to the complex environment in the pipeline. The wireless charging mechanism is composed of three charging panels and an internal magnetic induction coil, and the charging efficiency is improved. The monitoring probe and the lighting device are respectively used for observing and lighting the interior of the pipeline. And the self-cleaning system removes dirt to ensure stable operation of the robot. The invention optimizes the existing charging mode, solves the inconvenience of cable type charging, has the characteristics of high efficiency, automation, simple structure, low maintenance cost and the like, is suitable for various pipeline angles, and realizes intelligent, efficient, safe and pollution-free work.

Description

Technical Field

[0001] The present invention belongs to the technical field of wireless charging robots, and in particular relates to a wireless charging pipeline detection robot device. Background Art

[0002] Driven by globalization and technological progress, the energy, petrochemical, urban infrastructure and other fields are increasingly dependent on pipeline systems. These pipeline systems will inevitably suffer from wear, corrosion, leakage and other problems during long-term operation. In order to ensure the safety and stability of the pipeline system, it is essential to regularly inspect and maintain it. Due to the limited battery capacity of the robot, it needs to stop and charge after working for a period of time, which greatly reduces the continuous working time. The existing battery technology has bottlenecks in energy density and endurance, which leads to the need for more frequent charging of robots, further increasing the number and time of charging. Wired charging limits the movement speed of the robot because the robot needs to drag the cable to move, which not only reduces the movement efficiency, but also may cause damage to the robot or cable due to the dragging of the cable. The length of the cable limits the robot's range of activity, making it impossible for the robot to conduct in-depth detection of pipelines far away from the charging point, thus affecting the comprehensiveness and accuracy of the detection. Traditional wired charging methods usually require a long charging time. During this period, the robot cannot perform detection work, resulting in a waste of time and limiting the flexibility of the robot and the continuity of the detection operation.

[0003] Compared with traditional detection robots, wireless charging pipeline detection robots can eliminate the need for physical connection, so that the robot does not need human intervention when charging, which improves the convenience of operation. It is not limited by cable length and can detect in a wider pipeline network, including those areas that are difficult for traditional robots to reach, reducing safety hazards caused by cable wear, breakage or poor contact, especially in flammable and explosive environments.

[0004] Therefore, the present application aims to provide a wireless charging pipeline detection robot device to overcome the deficiencies of the prior art. Summary of the invention

[0005] In order to solve the above technical problems, the present invention proposes a wireless charging pipeline detection robot device, which can effectively detect submarine cable pipelines, oil and gas pipelines, etc. without contact charging, get rid of the constraints of cables, and can move more flexibly in the pipeline, thereby improving the accuracy and coverage of detection. In complex or dangerous environments, such as underwater and toxic gas environments, the wireless charging robot can better adapt to the environment and complete the detection task. Due to the support of wireless charging technology, the robot can perform long-term continuous operation, especially in situations where long-term monitoring is required, such as long-term monitoring of submarine oil and gas pipelines.

[0006] To achieve the above object, the present invention provides a wireless charging pipeline detection robot device, comprising:

[0007] A main body connecting column is provided with a remote control mechanism, and a high-density battery is installed inside the main body connecting column.

[0008] A mobile mechanism, wherein the mobile mechanism comprises three independent driving components; each driving component is provided with a mobile crawler device; the mobile crawler device comprises a plurality of crawler shoes, and the plurality of crawler shoes are connected end to end to form a ring;

[0009] The driving assembly is connected to the main body connecting column through a universal joint; the mobile crawler device is connected to the air source shock absorbing spring.

[0010] Preferably, the drive assembly adopts a high-efficiency motor and is electrically connected to the remote control mechanism; a shock absorbing device is provided between the drive assembly and the main connecting column; a speed sensor and a position sensor are integrated on the drive assembly; and these sensors are electrically connected to the remote control mechanism.

[0011] Preferably, the wireless charging mechanism is arranged on the spacing surface of the main body connecting column, and the wireless charging mechanism is composed of three wireless charging panels and the internal magnetic induction receiving coil; the internal magnetic induction receiving coil is located below the wireless charging panel, and an insulating layer is provided between the internal magnetic induction receiving coil and the main body connecting column; the wireless charging panel and the internal magnetic induction receiving coil are connected by a flexible wire; the wireless charging mechanism and the remote control mechanism are connected by a built-in cable; the wireless charging panel is electrically connected to the high energy density battery.

[0012] Preferably, the monitoring probe is installed on the driving assembly and is electrically connected to the remote control mechanism; the monitoring probe is fixed to the driving assembly by bolts or clamps; the fixing device is made of corrosion-resistant material; the probe is powered by the internal high-energy density battery; a communication interface is provided between the monitoring probe and the driving assembly; the communication interface adopts a standard communication protocol to facilitate data exchange with the remote control mechanism and other equipment.

[0013] Preferably, the lighting device is attached to the head of the main body connecting column and fixed to the head of the main body connecting column by bolts; the lighting device is connected to the high-density battery inside the main body connecting column by a flexible cable; a control interface is provided between the lighting device and the remote control mechanism.

[0014] Preferably, the self-cleaning system is installed on the bottom side of the main connecting column; the self-cleaning system includes a water spraying device and a blowing device; the self-cleaning system is electrically connected to the remote control mechanism; the remote control mechanism is provided with an independent self-cleaning control module; the self-cleaning system is connected to the high-energy-density battery inside the main connecting column through a flexible cable.

[0015] Compared with the prior art, the present invention has the following advantages and technical effects: the present invention discloses a wireless charging pipeline detection robot device, which adopts electromagnetic resonance wireless charging technology, completely eliminating the operational inconvenience and safety hazards brought by traditional wired charging cables. Wireless charging not only improves the robot's freedom of movement, but also reduces the safety risks caused by cable wear, breakage or poor contact; the resonant wireless power supply system can be integrated with the robot's intelligent control system to automatically adjust the energy transmission frequency and power to adapt to different working requirements and battery conditions; the high-energy density battery equipped with the robot device significantly improves the robot's endurance and reduces the charging frequency, thereby extending the robot's working time, and can be charged faster, reducing the downtime caused by charging, thereby improving the overall efficiency of the detection operation; the mobile mechanism of the present invention adopts a triangular structure, which has natural stability and can be used in complex environments inside pipelines. Maintain balance; the triangular structure helps to disperse the pressure and impact of the robot during movement, ensuring that the robot can operate stably in pipes with different angles and curvatures; the mobile crawler device is connected to the air source shock-absorbing spring. This design can absorb the unevenness inside the pipe during the movement of the robot, reduce vibration and impact, and protect the internal precision detection equipment; the air source shock-absorbing spring can adjust the air pressure as needed, and is designed with an adaptive pipe diameter adjustment mechanism, which can automatically adjust the tension and width of the drive bracket in pipes of different diameters to adapt to pipes of different hardness and conditions. This mechanism enables the robot to operate seamlessly in pipes of different sizes, increasing the applicability of the robot; the self-cleaning system adopts a modular design for easy maintenance and replacement; when the water spray device or the air blowing device needs to be replaced, the operator can replace it through simple operating steps without disassembling the entire robot; the design of the self-cleaning system takes into account the needs of different pipeline environments and has a wide range of adaptability. Whether it is underwater, in oil and gas pipelines or other special environments, it can effectively remove dirt and attachments on the surface of the robot to keep the robot clean and running efficiently; the monitoring probe adopts a modular design, which is easy to maintain and replace. It takes into account the needs of different types of pipeline detection robots and has good adaptability. Whether it is a detection robot used underwater, in oil and gas pipelines or other special environments, the probe can provide accurate and real-time monitoring data.

[0016] This device combines electromagnetic resonance wireless power supply technology with a pipeline detection robot to achieve efficient, safe and stable wireless energy supply in complex pipeline environments, improve the efficiency and stability of energy transmission, and enhance the adaptability and reliability of the robot in complex environments, bringing important technological progress to the field of pipeline detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0018] Figure 1 This is an axial view of the wireless charging pipeline detection robot device of the present invention;

[0019] Figure 2 A side view of the wireless charging pipeline detection robot device of the present invention;

[0020] Figure 3 It is a front view of the wireless charging pipeline detection robot device of the present invention;

[0021] Figure 4 This is a rear view of the wireless charging pipeline detection robot device of the present invention;

[0022] Figure 5 A bottom view of the wireless charging pipeline detection robot device of the present invention;

[0023] Figure 6 It is a side view of the remote control mechanism of the present invention;

[0024] Figure 7 It is a structural schematic diagram of the self-cleaning system of the present invention;

[0025] Figure 8 This is a schematic diagram of the structure of the lighting device of the present invention;

[0026] Fig. 9 It is a schematic diagram of the device of the present invention in a simulated pipeline;

[0027] In the figure: 1. Main lighting circuit of lighting device; 2. Sub-light circuit of lighting device; 3. Wireless charging panel; 4. Monitoring probe device; 5. Water spray device of self-cleaning system; 6. Blowing device of self-cleaning system; 7. Universal joint of driving component; 8. Structure of driving component; 9. Track device; 10. Infrared camera in monitoring probe; 11. Air source shock-absorbing spring; 12. Main connecting column; 13. Structure of lighting device; 14. High energy density battery; 15. Remote control mechanism; 16. Track piece of track device; 17. Self-cleaning system module; 18. Wireless charging control mechanism; 19. DSP control system; 20. Speed ​​sensor and position sensor; 21. Motor device of driving component; 22. Fixing device of monitoring probe; 23. Simulated pipeline; 24. Robot body; DETAILED DESCRIPTION

[0028] 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.

[0029] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] Reference Figure 1-9 As shown, this embodiment provides a wireless charging pipeline detection robot device, including:

[0031] A main body connecting column (12), which is designed to resemble a hexagonal prism and has a plurality of compartments inside for accommodating a high energy density battery (14) and a remote control mechanism (15);

[0032] The mobile mechanism includes three independent driving components (8), each of which is provided with a mobile crawler device (9). The driving component (8) is connected to the main connecting column (12) through a universal joint (7) to ensure flexible movement in the tortuous environment of the pipeline. The mobile crawler device (9) is connected to the air source shock-absorbing spring (11) to effectively absorb the impact caused by the uneven surface in the pipeline. The driving component (8) is integrated with a speed sensor and a position sensor (20) for real-time monitoring of the movement state of the robot. These sensors (20) are connected to the remote control mechanism (15) to provide accurate feedback information to the operator to ensure stable operation of the robot. The motor (21) uses a brushless DC motor with the characteristics of high efficiency, low noise and long life. The motor is installed at the center of the driving component to balance the center of gravity of the robot and improve stability;

[0033] The wireless charging module (18) includes a wireless charging panel (3) fixed on the spacing surface of the main body connection column by magnetic adsorption. This fixing method not only ensures the stability of the charging panel, but also facilitates disassembly and maintenance when necessary. The internal magnetic induction receiving coil is located below the wireless charging panel (3) and an insulating layer is provided between the main body connection column (12) to prevent current leakage. The coil is made of flexible material and can adapt to the tortuous environment in the pipeline;

[0034] According to a further optimization scheme, the wireless charging system (18) includes a transmitter and a receiver. The transmitter is composed of one or more wireless charging panels (3), which can be arranged on the outside of the pipeline; and the receiver includes an internal magnetic induction receiving coil. Energy is transmitted between the transmitter and the receiver through an electromagnetic field. Both the transmitter and the receiver are equipped with resonant coils, which are precisely tuned to achieve optimal energy transmission efficiency. The design of the coil takes into account the limitations of the pipeline environment, such as spatial dimensions and material properties, to ensure stable operation in complex environments. The resonant wireless power supply system can be integrated with the robot's intelligent control system to automatically adjust the energy transmission frequency and power.

[0035] To further optimize the solution, the resonant wireless power supply technology forms an efficient energy transmission channel between the transmitter and the receiver, which can concentrate the energy to the receiver and reduce the energy loss during the transmission process. The resonant wireless power supply technology has a high tolerance to environmental changes (such as temperature, humidity, distance, etc.) and can maintain stable energy transmission in a variety of complex environments.

[0036] The inductance calculation formula is as follows:

[0037]

[0038] In a further optimized solution, a high energy density battery (14) is located inside the main connecting column (12), adjacent to the remote control mechanism (15); it is electrically connected to the wireless charging device (18) to store electrical energy to power the entire device. The battery adopts a modular design to facilitate replacement and maintenance. The battery management system monitors the battery status in real time to ensure the stability and safety of the charging process;

[0039] According to a further optimized solution, the lighting device (13) is installed at the head of the main connecting column, and is distributedly installed, and is composed of a main light circuit (1) and eight sub-light circuits (2); the lighting device (13) is fixed to the head of the main connecting column by bolts; the lighting device (13) is connected to the high energy density battery (14) inside the main connecting column (12) by a flexible cable, and the power module is provided with an independent lighting power supply circuit to avoid damage caused by cable dragging during movement;

[0040] According to a further optimized solution, a control interface is provided between the lighting device (13) and the remote control mechanism (15), and an operator can adjust the lighting brightness or turn on / off the lighting device through the remote control mechanism.

[0041] Furthermore, the lighting device (13) is designed to be modular, which is convenient for maintenance and replacement. When the LED lamp beads need to be replaced or repaired, the operator can replace them through simple operation steps without disassembling the entire robot.

[0042] In a further optimized solution, the monitoring probe (4) is installed on the side of the driving assembly (8) and fixed to the track clip (22) of the driving assembly by bolts to ensure stability and reliability during movement in the pipeline; the probe adopts an adjustable design, and the angle and direction can be adjusted as needed to adapt to pipelines of different diameters and shapes. The adjustment mechanism adopts gear or screw drive, which is convenient for operators to remotely control.

[0043] In a further optimized solution, the monitoring probe (4) is electrically connected to the remote control mechanism (15) and is provided with a communication interface for real-time transmission of monitoring data. The interface adopts a standard communication protocol to facilitate data exchange with the remote control mechanism and other equipment.

[0044] Furthermore, the probe (4) adopts a modular design, which is convenient for maintenance and replacement; when the probe needs to be replaced or repaired, the operator can replace it through simple operating steps without disassembling the entire robot.

[0045] Furthermore, the monitoring probe (4) of the present application is a high-definition camera with a low-light function, an infrared camera (10) and an ultrasonic sensor, which can transmit images and data inside the pipeline in real time.

[0046] According to a further optimized solution, the self-cleaning system includes a water spray device (5) and a blower device (6); the water spray device (5) and the blower device (6) are installed on the side of the bottom of the main body connection column (12); the self-cleaning system is electrically connected to the remote control mechanism (15), and the operator can start or stop the self-cleaning process through the remote control mechanism (15); the control mechanism (15) is provided with an independent self-cleaning control module (17) for adjusting the working state of the water spray device (5) and the blower device (6); the water spray device (5) has a total of 24 spray nozzles, which are cross-faced and spray desalted water to clean the robot body; the blower device is installed on the side of the main body connection column and is used to dry the surface of the robot to prevent water stains from remaining. The design of the blower device takes into account the uniformity of wind force and wind direction to ensure the dryness of the robot surface.

[0047] To further optimize the solution, the self-cleaning system adopts a modular design, which is easy to maintain and replace. When the water spray device (5) or the air blowing device (6) needs to be replaced, the operator can replace it through simple operation steps without disassembling the entire robot. The self-cleaning system is controlled by a solenoid valve and a motor to achieve automatic cleaning of the robot.

[0048] According to a further optimized solution, the remote control mechanism (15) includes an electrically connected wireless communication system module, a DSP control system (19), a monitoring probe module (4) and a wireless charging control mechanism (18); the control system module (15) is electrically connected to the driving component (8). The DSP control system (19) is the core of the device, and its functions include receiving, processing and feedback signals. The wireless communication system module, the monitoring probe module (4) and the wireless charging mechanism (18) are all electrically connected to the DSP control system (19). The monitoring probe module (4) collects external signals and transmits them to the DSP control system module (19), and then transmits the signals to the outside world by the wireless communication system module. The external operation instructions are again transmitted to the DSP control system (19) through the wireless communication system module and control the driving mechanism (8) components, the self-cleaning system and the wireless charging mechanism, thereby realizing the control of the robot's walking drive and wireless charging when the power is insufficient. At the same time, the real-time data observed by the monitoring probe module (4) inside the pipeline can be transmitted to the outside world through the wireless communication system module, so that the staff can intuitively understand the situation inside the pipeline. In addition, the remote control system module (15) controls the first motor, the second motor and the third motor (21) in the driving component (8), thereby realizing the control of the operation of the device.

[0049] Furthermore, the control mechanism (15) also includes a gyroscope sensor module for ensuring the stability of the robot's movement. This is a common stabilization module and will not be described in detail.

[0050] Directions:

[0051] When the robot starts to work, the high-density battery module (14) provides stable power supply to the remote control system module (15). The remote control system module (15) controls the rotation speed and direction of the first motor, the second motor and the third motor (21) of the driving assembly (8) to enable the robot to move forward and backward flexibly and accurately. The monitoring probe module (4) detects the internal conditions of the pipeline and transmits signals through the wireless communication system module. Then, the remote control system module (15) controls the robot to start walking. The gyroscope module is used to determine the direction and angle of the robot. Once the robot deviates from the predetermined path, the control system module (16) will send instructions to the drive component (8) to adjust the pressure of the gas source spring (11) of the first motor, the second motor and the third motor (21), so that the robot adapts to the internal environment of the pipeline and continues to move along the predetermined route. The wireless communication system module plays a role of manual control in the machine mechanism. By holding the remote control device, the operator can control the operation of the robot, thereby achieving stable operation of the robot and working according to the system planned route. When the robot battery is insufficient, the automatic system of the wireless charging module (18) will start to ensure that the robot can automatically charge during the uninterrupted working process and maintain the continuity of the operation. This module adopts advanced wireless charging technology. Through the principle of electromagnetic induction or magnetic resonance, a wireless energy transmission channel is established between the charging coil of the robot and the charging base station on the outer wall of the pipeline. This design allows the robot to charge without stopping, greatly improving work efficiency. During the charging process, the robot will automatically navigate to the preset charging area to ensure that the relative position of its charging coil (3) and the charging base station is accurate. The user interface module will display the charging progress, and at the same time, the remote control system module (15) will monitor the charging status to ensure that the current is stable during the entire charging process and avoid overcharging.

[0052] The water spraying device (5) in the self-cleaning system sprays demineralized water, and the rotating fan of the blowing device (6) is made of a soft silicone material to ensure that the fan can work normally in a specific environment and maintain a long service life and will not damage the robot body connecting column under extreme circumstances.

[0053] In the description of the present invention, it is necessary to understand that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc. indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0054] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A wireless charging pipeline detection robot device, characterized in that: include: A main body connecting column, wherein a remote control mechanism (15) is provided on the main body connecting column, and a high-density battery (14) is installed inside the main body connecting column; A moving mechanism, the moving mechanism comprising three mutually independent drive assemblies (8); each of the drive assemblies is provided with a moving crawler device (9); the moving crawler device comprises a plurality of crawler shoes (16), and the plurality of crawler shoes (16) are connected end to end to form a ring; The driving assembly (8) is connected to the main body connecting column (12) via a universal joint (7); the moving crawler device (9) is connected to the air source shock absorbing spring (11).

2. The wireless charging pipeline detection robot device according to claim 1, characterized in that: The drive assembly (8) adopts a high-efficiency motor (21) and is electrically connected to the remote control mechanism (15); an air source shock-absorbing spring (11) is provided between the drive assembly (8) and the main body connecting column (12); a speed sensor and a position sensor (20) are integrated on the drive assembly (8); and these sensors (20) are electrically connected to the remote control mechanism (15).

3. The wireless charging pipeline detection robot device according to claim 2, characterized in that: The wireless charging mechanism (18) is arranged on the spacing surface of the main body connecting column (12), and the wireless charging mechanism (3) is composed of three wireless charging panels (3) and the internal magnetic induction receiving coil; the internal magnetic induction receiving coil is located below the wireless charging panel (3), and an insulating layer is provided between the internal magnetic induction receiving coil and the main body connecting column; the wireless charging panel (3) and the internal magnetic induction receiving coil are connected by a flexible wire; the wireless charging mechanism (18) and the remote control mechanism (15) are connected by a built-in cable; the wireless charging panel is electrically connected to the high energy density battery (14).

4. The wireless charging pipeline detection robot device according to claim 2, characterized in that: The monitoring probe (4) is mounted on the driving assembly (8) and is electrically connected to the remote control mechanism (15); the monitoring probe (4) is fixed to the driving assembly (8) by bolts or clamps (22); the fixing device (22) is made of corrosion-resistant material; the probe (4) is powered by the internal high-energy density battery (14); a communication interface is provided between the monitoring probe (4) and the driving assembly (8); the communication interface adopts a standard communication protocol to facilitate data exchange with the remote control mechanism (15) and other devices; the monitoring probe (4) is a high-definition camera with a low-light function, an infrared camera (10).

5. The wireless charging pipeline detection robot device according to claim 1, characterized in that: The lighting device (13) is attached to the head of the main connecting column (12) and fixed to the head of the main connecting column (12) by bolts; the lighting device (13) is connected to the high-density battery (14) inside the main connecting column by a flexible cable; a control interface is provided between the lighting device (13) and the remote control mechanism (15); the lighting device adopts a distributed installation and is composed of one main light circuit (1) and eight branch light circuits (2).

6. The wireless charging pipeline detection robot device according to claim 5, characterized in that: The self-cleaning system (5, 6) is installed on the bottom side of the main body connecting column; the self-cleaning system includes a water spray device (5) and a blowing device (6); the self-cleaning system (5, 6) is electrically connected to the remote control mechanism (15); the remote control mechanism (15) is provided with an independent self-cleaning control module (17); the self-cleaning system (5, 6) is connected to the high energy density battery (14) inside the main body connecting column (12) through a flexible cable; the blowing device (6) is installed on the side of the main body connecting column (12); the water spray device (5) has a total of 24 spray nozzles, and the spray nozzles are cross-faced.

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