All-terrain advancing and drainage pipe network intelligent detection robot

Abstract

The invention discloses an all-terrain advancing and drainage pipe network intelligent detection robot, and relates to the technical field of robots. In order to solve the problems that wheels of an existing robot slip during flying and are prone to overturning during obstacle crossing, the following technical scheme is provided that the robot comprises a robot body, a mechanical arm and a laser radar, the robot body is connected with spiral propelling wheels through a transmission assembly, and supporting rods are arranged on the spiral propelling wheels; a rack at the upper end of the supporting rod is matched with a gear connected to the robot body, and the spiral propelling wheels rotate and advance through motors arranged at the two ends of the spiral propelling wheels and move in the vertical direction through cooperation of a transmission assembly and the supporting rod. A telescopic supporting assembly is arranged at the bottom of the robot body and makes the robot pass through obstacles through telescopic supporting movement. The terrain adaptability and stability of the robot are remarkably enhanced, the data acquisition precision and efficiency are improved, and meanwhile, the safety and reliability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an all-terrain traveling and drainage network intelligent detection robot. Background Art

[0002] In scenarios involving special operating environments, such as internal inspections of narrow diameter or small pipelines, and safety inspections in high-risk areas such as flammable and explosive areas, traditional manual direct detection methods are inadequate due to their complexity and potential safety risks. For this reason, pipeline inspection robots and other intelligent detection equipment have emerged as the key technology to solve this problem. With their efficient and accurate detection capabilities, these intelligent devices can easily obtain detailed conditions inside the pipeline, effectively avoiding the limitations and safety hazards of manual detection.

[0003] However, there are many kinds of defects inside the drainage pipes, including but not limited to leakage, corrosion, siltation, cracking and other complex situations, which puts extremely high demands on the comprehensiveness and accuracy of pipeline detection. At the same time, in order to ensure the efficiency of detection, the detection robot must also be equipped with an efficient travel structure and precise detection equipment. However, in actual applications, the complex and changeable terrain environment inside the pipeline often becomes an important factor restricting the performance of the robot. For example, when encountering a pipeline section with a large slope, the traditional double-helix propulsion wheel design may slip due to the small contact area between the front and rear ends and the ground, making it difficult for the robot to move smoothly, and even trapped due to terrain restrictions. Especially in ridge terrain, the robot may quickly flip from one side of the ridge to the other due to unstable center of gravity, causing the risk of overturning the vehicle body.

[0004] In addition, existing technologies still have many deficiencies in pipeline defect detection, especially for minor defects on the internal surface of the pipeline, such as partial cracks, leakage, etc., which are often difficult to detect accurately. These problems not only affect the comprehensiveness and accuracy of pipeline detection, but also bring great challenges to subsequent maintenance and treatment work. Summary of the invention

[0005] The purpose of the present invention is to provide an all-terrain traveling and drainage network intelligent detection robot to solve the problems of the existing robots' wheels slipping when in the air and easily overturning when crossing obstacles.

[0006] The technical solution of the present invention to solve the above technical problems is as follows:

[0007] A robot for all-terrain travel and intelligent detection of drainage pipe networks comprises: a robot body, a mechanical arm is arranged on the top of the robot body, a laser radar is arranged at the end of the mechanical arm, the front and rear sides of the robot body are connected with spiral propulsion wheels through a transmission component, a support rod is arranged in the middle of the spiral propulsion wheel, the upper end rack of the support rod cooperates with a gear connected to the robot body, the spiral propulsion wheel is rotated and moved forward by motors arranged at both ends of the spiral propulsion wheel, and the spiral propulsion wheel is moved in a vertical direction through the cooperation of the transmission component and the support rod; a telescopic support component is arranged at the bottom of the robot body, and the telescopic support component enables the robot to pass obstacles through telescopic support movement.

[0008] Preferably, the telescopic support assembly comprises fixed blocks symmetrically arranged at the bottom of the robot body, a cross bar is arranged between the two fixed blocks, and a telescopic support leg is arranged on the cross bar.

[0009] Preferably, the gear comprises two symmetrically arranged transfer gears, and the two transfer gears are respectively matched with two sides of the rack at the upper end of the support rod.

[0010] Preferably, the transmission assembly includes a main power motor arranged inside the robot body, and the output end of the main power motor drives a transmission rod fixed on the robot body to rotate through a worm gear assembly, and both ends of the transmission rod are connected to the outer end of the spiral propulsion wheel through an arc rod.

[0011] Preferably, a high-definition camera is provided at the top front end of the robot body.

[0012] Preferably, a plurality of lighting lamps are provided at the front end of the robot body.

[0013] Preferably, a fixed bracket is provided at the bottom of the robot body, and a sonar is provided on the fixed bracket.

[0014] The present invention has the following beneficial effects:

[0015] 1. Improve the ability to climb and overcome obstacles: By setting up a four-wheel structure and articulating the front and rear wheels, the front end of the front wheel and the rear end of the rear wheel are both articulated with arc-shaped rods, so that the wheels can flexibly adjust their angles to adapt to different slopes and obstacles. The motor drives the arc-shaped rod to move, and then drives the spiral propulsion wheel to rotate. This design not only improves the driving force of the wheel, but also enhances the grip of the wheel on different terrains, effectively preventing the wheel from slipping and ensuring the stability of the vehicle body when climbing and overcoming obstacles.

[0016] 2. Enhanced passability on stepped terrain: When encountering stepped terrain, the support rod under the vehicle body can be rotated to vertical and extended to support and lift the vehicle body, so that the front wheels can be lifted and pass over the steps smoothly. This design enables the robot to easily cope with complex terrain, especially when it needs to cross high steps or obstacles, which has significant advantages.

[0017] 3. 3D modeling and defect detection: Through the extension and rotation of the vehicle-mounted mechanical arm, the laser radar can collect point cloud data close to the inner wall of the pipeline. After analysis and processing, these data can be used for 3D modeling to accurately detect defects on the pipeline wall, such as cracks, corrosion, deformation, etc. This high-precision data collection and analysis method not only improves detection efficiency, but also reduces the risk of missed detection and false detection.

[0018] 4. Intelligent detection and analysis: Combining cloud computing platforms, big data analysis systems and artificial intelligence algorithms, the collected data can be deeply mined and analyzed to further improve the intelligence level of detection tasks. Through real-time monitoring and early warning systems, potential safety hazards can be discovered in a timely manner, providing strong technical support for pipeline maintenance and repair.

[0019] 5. Reduce operational risks: The robot can complete the inspection task autonomously, reducing manual intervention and the workload of operators, and reducing the risk of operators entering dangerous areas. At the same time, through real-time communication and remote control devices, operators can remotely monitor and control the working status of the robot to ensure the safety of the task. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a structural schematic diagram of the all-terrain traveling and drainage network intelligent detection robot of the present invention;

[0021] Figure 2 It is an internal schematic diagram of the all-terrain traveling and drainage network intelligent detection robot of the present invention;

[0022] Figure 3 It is a side view of the all-terrain traveling and drainage network intelligent detection robot of the present invention;

[0023] Figure 4 This is a structural diagram of the telescopic support assembly of the all-terrain traveling and drainage network intelligent detection robot of the present invention;

[0024] Figures 1 to 4 The reference numerals shown in the figure respectively represent: robot body 1, robotic arm 2, laser radar 3, high-definition camera 4, lighting lamp 5, sonar 6, arc rod 7, spiral propulsion wheel 8, support rod 9, external shell 10, transmission rod 11, main power motor 12, gear 13, telescopic support assembly 14, fixed block 141, cross bar 142, telescopic support leg 143, fixed bracket 15. DETAILED DESCRIPTION

[0025] The technical solution of the present invention is described clearly and completely below in conjunction with the accompanying drawings. 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0026] Please refer to Figure 1-2 The present invention provides an all-terrain traveling and drainage network intelligent detection robot, which aims to solve the problems of the two-wheeled spiral propulsion structure in the prior art, such as insufficient stability in complex terrain, limited climbing and obstacle crossing ability, and low internal pipeline detection accuracy. The following is a detailed description of the specific implementation methods of the present invention.

[0027] First, the all-terrain traveling and drainage network intelligent detection robot provided by the present invention mainly includes a robot body 1. As the bearing body of the entire robot, the robot body 1 is designed to be sturdy and durable and can adapt to various complex environments. The material of the robot body 1 is preferably a high-strength alloy to ensure its stability and durability under harsh conditions. Various electronic components and control modules are also arranged inside the robot body 1 to realize the intelligent control and operation of the robot.

[0028] A robotic arm 2 is provided on the top of the robot body 1. The robotic arm 2 is a key component for realizing accurate detection inside the pipeline. The robotic arm 2 can be folded, stretched, and swung around an axis. By controlling the extension and rotation of the robotic arm 2, the laser radar 3 connected to the end of the robotic arm 2 can be brought close to the inner wall of the pipeline, thereby accurately collecting point cloud data. The laser radar 3 can generate a three-dimensional image of the inside of the pipeline by emitting lasers and receiving reflected signals, providing data support for subsequent defect analysis and three-dimensional modeling.

[0029] In order to ensure the stability and accuracy of the robot arm 2, the joints of the robot arm 2 are driven by high-precision servo motors, and position feedback is performed through precision sensors to achieve precise position control. In addition, the material of the robot arm 2 is also preferably a lightweight and high-strength material to reduce the overall weight and improve movement flexibility.

[0030] A high-definition camera 4 is also provided at the top front end of the robot body 1. The high-definition camera 4 is used to capture images inside the pipeline in real time and provide intuitive visual feedback to the operator. The resolution of the high-definition camera 4 is preferably 1080P or higher to ensure the clarity and details of the image. At the same time, the high-definition camera 4 also has night vision and waterproof functions to adapt to various complex environments.

[0031] In order to illuminate the inside of the pipeline and ensure that the high-definition camera 4 and the laser radar 3 can work normally, a plurality of lighting lamps 5 are also provided at the front end of the robot body 1. The lighting lamps 5 use high-brightness LED light sources to provide sufficient light to ensure that every corner inside the pipeline can be illuminated. The number and layout of the lighting lamps 5 are optimized according to the size and shape of the pipeline to achieve the best lighting effect.

[0032] Reference Figure 4 At the bottom of the robot body 1, a telescopic support assembly 14 is provided. The telescopic support assembly 14 is a key component for realizing the robot climbing and overcoming obstacles. The telescopic support assembly 14 includes fixed blocks 141 symmetrically arranged at the bottom of the robot body 1, and a crossbar 142 is arranged between the two fixed blocks 141. The crossbar 142 is provided with a telescopic support leg 143, and the telescopic support leg 143 is driven by a motor to achieve telescopic movement. When the robot encounters a large slope or obstacle, the telescopic support assembly 14 can extend and support the ground, thereby increasing the stability and climbing ability of the robot.

[0033] In order to further improve the stability and climbing ability of the robot, the crossbar 142 of the telescopic support assembly 14 can also be driven by the motor inside the fixed block 141 to rotate. By rotating the crossbar 142, the direction and angle of the telescopic support leg 143 can be adjusted to better adapt to complex terrain. At the same time, the telescopic length of the telescopic support leg 143 can also be adjusted as needed to ensure the stability and passability of the robot in different terrains.

[0034] On both the front and rear sides of the robot body 1, spiral propulsion wheels 8 are connected through transmission components. A motor is arranged inside the spiral propulsion wheel 8, which can independently drive the rotation and forward movement of the wheel. This design enables the robot to keep the wheel in contact with the ground and prevent slipping when climbing a slope or crossing an obstacle. The spiral propulsion wheel 8 is a key component for the robot to achieve all-terrain travel. A support rod 9 is arranged in the middle of the spiral propulsion wheel 8, and the upper end rack of the support rod 9 cooperates with the gear 13 connected to the robot body 1. By controlling the rotation of the gear 13, the support rod 9 and the spiral propulsion wheel 8 can be driven to move in the vertical direction. This design enables the robot to lift the front or rear wheels when encountering steps or vertical obstacles, so as to smoothly cross the obstacles.

[0035] The specific structure of the gear 13 includes two symmetrically arranged transfer gears, which are respectively matched with the two sides of the rack at the upper end of the support rod 9. This design can ensure the stable movement of the support rod 9 in the vertical direction and prevent the deflection caused by unilateral force. At the same time, the two transfer gears are fixed to the robot body 1 through a rod to ensure its stability and reliability.

[0036] The specific structure of the transmission assembly includes a main power motor 12 arranged inside the robot body 1. The output end of the main power motor 12 drives the transmission rod 11 fixed to the robot body 1 to rotate through the worm gear assembly. The two ends of the transmission rod 11 are connected to the outer ends of the spiral propulsion wheel 8 through the arc rod 7. When the main power motor 12 is started, the worm gear assembly converts the rotational motion of the motor into the rotational motion of the transmission rod 11. The movement of the transmission rod 11 is then converted into the up and down movement of the spiral propulsion wheel 8 through the arc rod 7. This design enables the robot to move forward stably on a horizontal ground and has a certain ability to climb slopes and overcome obstacles.

[0037] Reference Figure 3 At the bottom of the robot body 1, a fixed bracket 15 is also provided. A sonar 6 is provided on the fixed bracket 15. The sonar 6 is used to detect obstacles and terrain changes around the robot, and provide the robot with real-time environmental information. Through the detection data of the sonar 6, the robot can intelligently plan the route and avoid collisions. At the same time, the sonar 6 can also be used to detect the accumulation of water and silt inside the pipeline, providing important reference information for the operator.

[0038] In order to ensure the stability and safety of the robot in a complex environment, the present invention also provides multiple protection measures. First, a solid outer shell 10 is provided outside the robot body 1 to protect the internal electronic components and control module from damage by the external environment. The material of the outer shell 10 is preferably a high-strength alloy or composite material to ensure its impact resistance and durability.

[0039] Secondly, a battery pack and a power management system are provided inside the robot body 1. The battery pack provides a continuous power supply for the robot, while the power management system is used to monitor the power and status of the battery pack and promptly remind the operator to replace the battery when the power is low. In addition, the power management system can also intelligently adjust the output power of the battery according to the robot's workload and travel speed to extend the battery life.

[0040] Finally, the robot is also equipped with a wireless communication module and a remote control device. The wireless communication module is used to achieve real-time communication and data transmission between the robot and the operator. The remote control device is used to remotely control the movement and operation of the robot. Through the combined use of the wireless communication module and the remote control device, the operator can understand the working status and environmental information of the robot in real time, and accurately control and operate it.

[0041] In practical applications, the all-terrain traveling and drainage network intelligent inspection robot provided by the present invention can be widely used in inspection and maintenance work in complex environments such as various drainage networks, underground pipelines and tunnels. By carrying high-definition cameras, laser radars, sonars and other sensor equipment, the robot can achieve comprehensive monitoring and analysis of the inside and surrounding environment of the pipeline. At the same time, through the coordinated work of moving parts such as mechanical arms and spiral propulsion wheels, the robot can flexibly adapt to various complex terrains and obstacles, and achieve efficient, accurate and safe inspection tasks.

[0042] During the specific operation, the operator can use the remote control device to send the robot into the pipeline to be inspected. Then, the inside of the pipeline is monitored and scanned in real time through high-definition cameras and laser radars. When encountering obstacles or complex terrain, the operator can adjust the robot's route and posture to bypass obstacles or overcome terrain restrictions. At the same time, the operator can also use sonar and other equipment to detect water accumulation and silt inside the pipeline, and clean and repair it as needed.

[0043] During the inspection process, the robot can also accurately measure and analyze the defects inside the pipeline as needed. Through the point cloud data collected by the laser radar, a three-dimensional image and model of the inside of the pipeline can be generated. Then, using professional software to process and analyze the three-dimensional image and model, the size and location of the defects inside the pipeline can be accurately measured. This information can provide important reference for subsequent maintenance and renovation work.

[0044] In addition, the all-terrain traveling and drainage network intelligent detection robot provided by the present invention can also be integrated and linked with other intelligent devices and systems. For example, the robot can be combined with cloud computing platforms, big data analysis systems, artificial intelligence algorithms, etc. to achieve intelligent monitoring and analysis of the inside and surrounding environment of the pipeline. Through intelligent means and methods, the efficiency and accuracy of the detection task can be further improved, and the labor intensity and risk of operators can be reduced.

[0045] In summary, the all-terrain traveling and drainage network intelligent detection robot provided by the present invention has the advantages of simple structure, comprehensive functions, strong adaptability and high intelligence. By carrying a variety of sensor devices and moving parts, the robot can realize comprehensive, accurate and safe detection and maintenance of pipelines in complex environments. At the same time, through integration and linkage with other intelligent equipment and systems, the efficiency and accuracy of detection tasks can be further improved. Therefore, the present invention has broad application prospects and market value.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An all-terrain traveling and drainage network intelligent detection robot, characterized in that: include: A robot body (1), wherein a mechanical arm (2) is arranged at the top of the robot body (1), a laser radar (3) is arranged at the end of the mechanical arm (2), the front and rear sides of the robot body (1) are connected to a spiral propulsion wheel (8) through a transmission component, a support rod (9) is arranged in the middle of the spiral propulsion wheel (8), the upper end rack of the support rod (9) cooperates with a gear (13) connected to the robot body (1), the spiral propulsion wheel (8) is rotated forward by the motors arranged at both ends thereof, and the spiral propulsion wheel (8) is moved in the vertical direction through the cooperation of the transmission component and the support rod (9); a telescopic support component (14) is arranged at the bottom of the robot body (1), and the telescopic support component (14) enables the robot to pass through obstacles through telescopic support movement.

2. The all-terrain traveling and drainage network intelligent detection robot according to claim 1 is characterized in that: The telescopic support assembly (14) comprises fixed blocks (141) symmetrically arranged at the bottom of the robot body (1), a crossbar (142) is arranged between the two fixed blocks (141), and a telescopic support leg (143) is arranged on the crossbar (142).

3. The all-terrain traveling and drainage network intelligent detection robot according to claim 1 is characterized in that: The gear (13) comprises two symmetrically arranged transfer gears, and the two transfer gears are respectively matched with two sides of the rack at the upper end of the support rod (9).

4. The all-terrain traveling and drainage network intelligent detection robot according to claim 1, characterized in that: The transmission assembly comprises a main power motor (12) arranged inside the robot body (1), the output end of the main power motor (12) drives a transmission rod (11) fixed to the robot body (1) to rotate through a worm gear assembly, and both ends of the transmission rod (11) are connected to the outer end of a spiral propulsion wheel (8) through an arc rod (7).

5. The all-terrain traveling and drainage network intelligent detection robot according to claim 1, characterized in that: A high-definition camera (4) is provided at the top front end of the robot body (1).

6. The all-terrain traveling and drainage network intelligent detection robot according to claim 1, characterized in that: A plurality of lighting lamps (5) are provided at the front end of the robot body (1).

7. The all-terrain traveling and drainage network intelligent detection robot according to claim 1, characterized in that: A fixed bracket (15) is provided at the bottom of the robot body (1), and a sonar (6) is provided on the fixed bracket (15).

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