Amphibious self-stabilizing inspection device in water delivery pipeline

Abstract

The invention discloses an amphibious self-stabilizing inspection device in a water delivery pipeline, and relates to the technical field of inspection devices, the amphibious self-stabilizing inspection device comprises a closed controller, the outer surfaces of the two sides of the closed controller are slidably connected with a first connecting ring and a second connecting ring respectively, and the side, away from the first connecting ring, of the second connecting ring is provided with a third connecting ring; a turbine driving device is arranged between the second connecting ring and the third connecting ring; the device further comprises a multifunctional linkage mechanism and a choked flow adjusting mechanism; according to the invention, the closed controller always slides between the second connecting ring and the first connecting ring to form a tumbler type design, so that the main body detector can quickly recover to a stable state when being interfered by external force, thereby reducing detection errors caused by inclination or overturning of equipment; by ensuring the stability of the main body detector under the condition of inclination or overturning, the reliability of the whole detection equipment is improved, so that the whole detection equipment can perform stable detection work in a more complex environment.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection devices, and particularly to an amphibious self-stabilizing inspection device in a water conveyance pipeline. Background Art

[0002] Underwater information transmission technologies mainly include several methods such as acoustic communication, electromagnetic wave communication, optical communication, and quantum communication. Among them, acoustic communication is widely used in the field of underwater wireless communication due to its long propagation distance and strong penetration ability. At the same time, optical communication uses light waves as information carriers and has advantages such as fast transmission speed and large capacity. However, limited by the scattering and absorption of underwater light, it usually needs to be used in clear waters. Optical communication devices generally include components such as light sources, photodetectors, and optical fibers.

[0003] However, when existing underwater acquisition devices are in use, since the overall acquisition device is fixedly installed on a mobile device, when the moving device collides, flips, or topples during movement, the detector will tilt synchronously, which may lead to deviations or failures in the detection results. Such tilting will not only cause deviations in the acquisition angle but may also affect the normal working state of the device. The tilted acquisition device often cannot accurately capture target information, resulting in deviations or distortions of data. Such deviations will not only reduce the accuracy of the data but may also mislead subsequent analysis and decision-making, thereby affecting the effectiveness of the entire underwater detection task. At the same time, frequent collisions and tilting may also cause damage to the acquisition device itself, shortening its service life. Moreover, in the long run, this will increase the maintenance cost and replacement frequency of the device, bringing unnecessary economic burdens to users.

[0004] In addition, existing underwater robots are usually designed to be specifically used for underwater detection or detection in non-water environments (such as land or air), and lack a detection device that can adapt to both of these environments. This limitation leads to the necessity of replacing different devices when multi-environment detection is required, which not only increases the detection cost but also reduces the detection efficiency.

[0005] Therefore, an amphibious self-stabilizing inspection device in a water conveyance pipeline is proposed to solve the above problems. Summary of the Invention

[0006] In view of this, the technical problem to be solved by the present invention is to provide an amphibious self-stabilizing inspection device in a water conveyance pipeline to solve the problems that the existing detection devices are easily affected by the collision of the body and the devices cannot adapt to different environment detections in the prior art.

[0007] To achieve the above object, the present invention provides the following technical solution: An amphibious self-stabilizing inspection device inside a water conveyance pipeline, including a closed controller. The outer surfaces on both sides of the closed controller are respectively slidably connected with a first connecting ring and a second connecting ring. A third connecting ring is arranged on the side of the second connecting ring away from the first connecting ring. A turbine driving device is arranged between the second connecting ring and the third connecting ring. It also includes a multi-functional linkage mechanism and a flow resistance adjusting mechanism; Multi-functional linkage mechanism; The multi-functional linkage mechanism is arranged on the first connecting ring, the second connecting ring and the third connecting ring, and the multi-functional linkage mechanism is used for preventing the closed controller from flipping; Flow resistance adjusting mechanism; The flow resistance adjusting mechanism is arranged on the third connecting ring, and the flow resistance adjusting mechanism is used for flow resistance adjustment of the transmission device.

[0008] Preferably, the multi-functional linkage mechanism includes a sliding ring. The sliding ring is respectively symmetrically slidably connected to the first connecting ring, the second connecting ring and the third connecting ring. Arc-shaped sliders are fixedly connected to the outer surfaces on both sides of the sliding ring. U-shaped support plates are symmetrically and fixedly connected to both sides of the arc-shaped sliders. The ends of the U-shaped support plates away from the second connecting ring are respectively fixedly connected to the outer surfaces of the arc-shaped sliders on the first connecting ring and the second connecting ring.

[0009] Preferably, a guiding shaft is fixedly connected to the U-shaped support plate. A buffer block is slidably connected to the outer surface of the guiding shaft. An auxiliary plate is rotatably connected to the upper surface of the buffer block. A leg is rotatably connected to the end of the auxiliary plate away from the buffer block.

[0010] Preferably, one end of the leg is rotatably connected to the arc-shaped slider on the outer surface of the first connecting ring. The middle of the other end of the leg is respectively rotatably connected with a roller and a turbine tooth. The middle of the roller is fixedly connected to the middle of the turbine tooth through a fixed shaft.

[0011] Preferably, the multi-functional linkage mechanism further includes a transmission plate. The middle of the transmission plate is rotatably connected to the arc-shaped slider. Push plates are rotatably connected to both ends of the transmission plate. The end of the push plate away from the transmission plate is rotatably connected to the buffer block. A buffer spring is sleeved on the outer surface of the guiding shaft. One end of the buffer spring is fixedly connected to the arc-shaped slider, and the other end of the buffer spring is fixedly connected to the buffer block.

[0012] Preferably, the outer surface of the turbine driving device is fixedly connected to the bottom of the buffer block on the side close to the third connecting ring.

[0013] Preferably, the flow blocking and regulating mechanism includes a triangular support plate fixedly connected to the inner side of the third connecting ring. A flow meter is installed on one side of the triangular support plate close to the turbine driving device, and a driving motor is installed on the other side of the triangular support plate away from the turbine driving device. The driving shaft of the driving motor is fixedly connected to a driving plate, and connecting rods are fixedly connected to both ends of the driving plate. One end of the connecting rod away from the driving plate is fixedly connected to an adjusting wheel, and extrusion holes are evenly formed in the adjusting wheel.

[0014] Preferably, a fixing ring is fixedly connected to the side of the third connecting ring away from the turbine driving device. Guide grooves are evenly formed on the side of the fixing ring away from the third connecting ring. The fixing ring is arranged in the middle of the third connecting ring and the adjusting wheel.

[0015] Preferably, flow blocking blades are evenly arranged in the middle of the fixing ring and the adjusting wheel. Extrusion columns are fixedly connected to both sides of one end of each flow blocking blade. One extrusion column on one side of the flow blocking blade is slidably connected in the guide groove, and the other extrusion column on the other side of the flow blocking blade is rotatably connected in the extrusion hole.

[0016] Compared with the prior art, the present invention provides an amphibious self-stabilizing inspection device in a water conveyance pipeline, having the following beneficial effects: 1. In the prior art, the detection equipment is usually fixed on the main body of the mobile device. When the device collides, flips or topples during movement, the detector will tilt synchronously, which may lead to deviation or failure of the detection result. However, through a unique design in the present invention, when the main body detector tilts or flips, it can maintain a relatively stable position relying on the mechanical stability structure, that is, always located in the middle of the direction between the second connection ring point and the first connection ring point. Compared with the prior art, due to the fact that the main body detector can maintain a relatively stable position in the present invention, even in the case of tilting or flipping of the mobile main body, the accuracy of the detection result can be ensured, which is particularly important for application scenarios requiring high-precision detection.

[0017] In the present invention, the closed controller always slides in the middle of the second connection ring and the first connection ring to form a tumbler-like design, so that the main body detector can quickly return to a stable state when being interfered by external forces, thereby reducing the detection error caused by tilting or flipping of the device. By ensuring the stability of the main body detector in the case of tilting or flipping, the present invention improves the reliability of the entire detection device, enabling it to perform stable detection work in a more complex environment.

[0018] 2. This solution enables the outriggers to lift and lower synchronously through the setting of the transmission plate, so that the equipment can flexibly adjust the contact between its rollers and the pipeline when adapting to different underground pipelines. This not only enhances the flexibility of the equipment, but also enables the equipment to quickly adjust the height of the outriggers in the face of underground pipelines with different heights and complex terrains, ensuring that the rollers are in close contact with the pipeline, thus guaranteeing the stability and accuracy of the detection process. This flexibility enables the equipment to be applicable to a wider range of detection scenarios and improves work efficiency.

[0019] 3. Through the unique setting of the flow resistance adjustment mechanism and the multi-functional linkage mechanism, this solution enables the detection device to freely switch between the water area and the land area inside the pipeline and achieve synchronous detection. This characteristic greatly expands the application range of the detection device and improves the comprehensiveness and accuracy of the detection.

[0020] This solution can also automatically adjust the setting of the multi-functional linkage mechanism and the support strength at the bottom according to the magnitude of the water flow velocity inside the pipeline, ensuring the stability of the detection device in a complex and changeable water flow environment. The intelligent adjustment mechanism of the present invention not only improves the safety of the detection process, but also helps to extend the service life of the detection device. Compared with the prior art, this solution significantly improves the flexibility of the detection device by integrating functions such as amphibious detection ability, intelligent support strength adjustment, and controllable moving speed, enabling the detection device to better adapt to complex and changeable pipeline environments and meet more diverse detection requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a three-dimensional structure schematic diagram of the present invention; Figure 2 is an auxiliary three-dimensional structure schematic diagram of the present invention; Figure 3 is a schematic diagram of the structural connection relationship of the multi-functional linkage mechanism of the present invention; Figure 4 is of the present invention Figure 3 enlarged view at A in; Figure 5 is a schematic diagram of the structural connection relationship of the flow resistance adjustment mechanism of the present invention; Figure 6 is of the present invention Figure 5 enlarged view at B in; Figure 7 is a disassembled schematic diagram of the structural connection relationship of the flow resistance adjustment mechanism of the present invention.

[0022] In the figure: 1. Closed controller; 11. First connecting ring; 12. Second connecting ring; 13. Third connecting ring; 14. Turbine drive device; 2. Multi-functional linkage mechanism; 21. Sliding ring; 22. Arc-shaped slider; 23. U-shaped support plate; 24. Guide shaft; 25. Buffer block; 26. Auxiliary plate; 27. Leg; 28. Roller; 29. Turbine tooth; 3. Flow resistance adjustment mechanism; 31. Triangular support plate; 32. Driving motor; 33. Driving plate; 34. Adjusting wheel; 35. Extrusion hole; 36. Fixed ring; 37. Guide groove; 38. Flow resistance blade; 41. Transmission plate; 42. Pushing plate; 43. Buffer spring. Specific embodiments

[0023] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0024] Next, the present invention will be further described in detail according to the drawings and embodiments.

[0025] Please refer to Figures 1 to 7 as shown: To solve the problems mentioned in the technical solutions, the embodiment of the present application provides an amphibious self-stabilizing inspection device in a water conveyance pipeline, including a closed controller 1. The outer surfaces on both sides of the closed controller 1 are respectively slidably connected with a first connection ring 11 and a second connection ring 12. A third connection ring 13 is arranged on the side of the second connection ring 12 away from the first connection ring 11. A turbine drive device 14 is arranged between the second connection ring 12 and the third connection ring 13. It also includes a multi-functional linkage mechanism 2 and a flow resistance adjustment mechanism 3; Multi-functional linkage mechanism 2; The multi-functional linkage mechanism 2 is arranged on the first connection ring 1, the second connection ring 12 and the third connection ring 13. The multi-functional linkage mechanism 2 is used for anti-overturning of the closed controller 1; Flow resistance adjustment mechanism 3; The flow resistance adjustment mechanism 3 is arranged on the third connection ring 13. The flow resistance adjustment mechanism 3 is used for flow resistance adjustment of the transmission device; Specifically, as Figure 3 shown, the sliding rings 21 are respectively symmetrically slidably connected to the first connection ring, the second connection ring 12 and the third connection ring 13. The outer surfaces on both sides of the sliding rings 21 are fixedly connected with arc-shaped sliders 22. The arc-shaped sliders 22 are symmetrically and fixedly connected with U-shaped support plates 23 on both sides. The ends of the U-shaped support plates 23 away from the second connection ring 12 are respectively fixedly connected to the outer surfaces of the arc-shaped sliders 22 of the first connection ring 11 and the second connection ring 12; In this solution, arc-shaped sliders 22 that can slide are provided on the first connecting ring, the second connecting ring 12, and the third connecting ring 13. By sliding the arc-shaped sliders 22 on the first connecting ring, the second connecting ring, and the third connecting ring 13, the first connecting ring 11 can always keep the closed controller 1 horizontal and slide in the middle of the first connecting ring 11 and the second connecting ring 12.

[0026] A guide shaft 24 is fixedly connected to the U-shaped support plate 23. A buffer block 25 is slidably connected to the outer surface of the guide shaft 24. An auxiliary plate 26 is rotatably connected to the upper surface of the buffer block 25. One end of the auxiliary plate 26 away from the buffer block 25 is rotatably connected to a support leg 27; one end of the support leg 27 is rotatably connected to the arc-shaped slider 22 on the outer surface of the first connecting ring 11. The middle of the other end of the support leg 27 is rotatably connected to a roller 28 and a turbine tooth 29 respectively. The middle of the roller 28 is fixedly connected to the middle of the turbine tooth 29 through a fixed shaft. In this solution, a turbine tooth 29 is installed at the other shaft of the roller 28. By the synchronous rotation of the turbine tooth 29 and the roller 28, the slipping phenomenon generated when the roller 28 travels in water can be reduced.

[0027] Further, as Figure 4 shown, the middle of the transmission plate 41 is rotatably connected to the arc-shaped slider 22. The two ends of the transmission plate 41 are rotatably connected to push plates 42. One end of the push plate 42 away from the transmission plate 41 is rotatably connected to the buffer block 25. A buffer spring 43 is sleeved on the outer surface of the guide shaft 24. One end of the buffer spring 43 is fixedly connected to the arc-shaped slider 22, and the other end of the buffer spring 43 is fixedly connected to the buffer block 25. In this solution, by setting the transmission plate 41, the support legs 27 can be lifted and lowered synchronously, so that the equipment can flexibly adjust the contact between its rollers 28 and the pipeline when adapting to different underground pipelines. This not only enhances the flexibility of the equipment, but also enables the equipment to quickly adjust the height of the support legs 27 when facing underground pipelines of different heights and complex terrains, ensuring that the rollers 28 are in close contact with the pipeline, thus guaranteeing the stability and accuracy of the detection process. This flexibility enables the equipment to be applicable to a wider range of detection scenarios and improves work efficiency.

[0028] Secondly, this design helps to improve the detection quality. Stable contact is the key to ensuring the accuracy of detection results. By lifting and lowering the support legs 27 synchronously, the equipment can always keep close contact with the pipeline during the movement process, avoiding detection errors caused by shaking or unstable contact, thereby improving the reliability of the detection results.

[0029] In addition, this design also takes into account the durability and safety of the device. In a complex underground pipeline environment, the device may encounter various challenges, such as uneven ground, narrow spaces, etc. By flexibly adjusting the height of the outriggers 27, the device can better adapt to these environments, reducing the risk of damage caused by collisions or friction, and at the same time ensuring the safety of the operators.

[0030] At the same time, in this solution, a multi-functional linkage mechanism 2 that can slide on the main bodies of the first connection ring 11, the second connection ring 12, and the third connection ring 13 is provided. When the multi-functional linkage mechanism 2 is moving, the tilt offset generated during the movement of the multi-functional linkage mechanism 2 can be reduced, so that the closed controller 1 can always slide relative to the first connection ring 11. This not only increases the flexibility of the device during underwater detection, but also improves its stability and controllability in complex environments. By adjusting the posture and angle of the climbing wheels, the device can better adapt to the changes in water flow and the undulations of the terrain, thus maintaining a stable motion state and accurately performing various operation tasks.

[0031] The advantage of the present invention is that even if the moving main body tilts or flips, its main body detector can always remain in the middle between the second connection ring 12 point and the first connection ring 11 point, similar to the effect of a tumbler, thereby significantly improving the accuracy and stability of detection.

[0032] Specifically, the detection devices in the prior art are usually fixed on the moving device main body. When the device collides, flips, or topples during movement, the detector will tilt synchronously, which may lead to deviations or failures in the detection results. However, through a unique design of the present invention, when the main body tilts or flips, the main body detector can rely on a mechanical stable structure to maintain a relatively stable position, that is, always located in the middle between the second connection ring 12 point and the first connection ring 11 point. Compared with the prior art, due to the fact that the main body detector can maintain a relatively stable position in the present invention, even in the case where the moving main body tilts or flips, the accuracy of the detection results can be ensured, which is particularly important for application scenarios that require high-precision detection.

[0033] In the present invention, the closed controller 1 always slides in the middle between the second connection ring 12 and the first connection ring 11 to form a tumbler-like design, enabling the main body detector to quickly return to a stable state when affected by external forces, thereby reducing the detection errors caused by the tilt or flip of the device. By ensuring the stability of the main body detector in the case of tilt or flip, the present invention improves the reliability of the entire detection device, enabling it to perform stable detection work in more complex environments.

[0034] Among them, the outer surface of the turbine drive device 14 is fixedly connected to the bottom of the buffer block 25 on the side close to the third connection ring 13; Specifically, as Figure 5 shown, the triangular support plate 31 is fixedly connected to the inner side of the third connection ring 13. A flow meter is installed on the side of the triangular support plate 31 close to the turbine drive device 14, and a drive motor 32 is installed on the side of the triangular support plate 31 far from the turbine drive device 14. The drive shaft of the drive motor 32 is fixedly connected to a drive plate 33. Connecting rods are fixedly connected to both ends of the drive plate 33, and an adjusting wheel 34 is fixedly connected to the end of the connecting rod far from the drive plate 33. Extrusion holes 35 are evenly opened in the adjusting wheel 34; A fixing ring 36 is fixedly connected to the side of the third connection ring 13 far from the turbine drive device 14. Guide grooves 37 are evenly opened on the side of the fixing ring 36 far from the third connection ring 13. The fixing ring 36 is arranged in the middle of the third connection ring 13 and the adjusting wheel 34; Choking vanes 38 are evenly arranged between the fixing ring 36 and the middle of the adjusting wheel 34. Extrusion columns are fixedly connected to both sides of one end of each choking vane 38. One extrusion column on one side of the choking vane 38 is slidably connected in the guide groove 37, and the other extrusion column on the other side of the choking vane 38 is rotatably connected in the extrusion hole 35; Through the unique choking adjustment mechanism 3 and the multifunctional linkage mechanism 2 in this solution, the detection device can freely switch between the water area and the land area environments inside the pipeline, realizing synchronous detection. This characteristic greatly expands the application range of the detection device and improves the comprehensiveness and accuracy of detection.

[0035] This solution can also automatically adjust the support strength of the multifunctional linkage mechanism at the bottom according to the magnitude of the water flow velocity inside the pipeline, ensuring the stability of the detection device in the complex and changeable water flow environment. The intelligent adjustment mechanism of the present invention not only improves the safety of the detection process, but also helps to extend the service life of the detection device. Compared with the prior art, this solution significantly improves the flexibility of the detection device by integrating functions such as amphibious detection ability, intelligent support strength adjustment, and controllable moving speed. This enables the detection device to better adapt to the complex and changeable pipeline environment and meet more diverse detection requirements; At the same time, by intelligently adjusting the support strength and the controllable moving speed, this solution ensures the stability of the detection device in the water flow environment inside the pipeline. This stability is crucial for improving the accuracy and reliability of the detection results.

[0036] The specific implementation steps of the above embodiments are as follows: First, due to the closed - type controller 1, which emits sound waves through the built - in sonar device and light - wave emission devices such as laser emitters, the light - wave emission device can emit light waves of specific wavelengths for more precise underwater detection and positioning. The light waves are used to obtain more accurate information about the target object and perform high - precision positioning. By comprehensively applying sound - wave and light - wave acquisition and feedback technologies, the underwater information inter - transmission detection and acquisition device can more comprehensively understand the underwater environment, providing strong support for fields such as scientific research and marine resource development; First, the preparation stage Collect data and conduct on - site surveys: Use conventional measurement equipment to collect detailed data of the pipeline system, such as ground elevation, inspection well coordinates, pipeline burial depth, pipe diameter, etc., and conduct on - site surveys to understand the topography, traffic conditions, and potential risk points around the pipeline.

[0037] Prepare the acquisition equipment: Conduct a comprehensive inspection of the acquisition equipment to ensure that key components such as its battery, camera, lighting equipment, and sensors are in good working condition.

[0038] Second, formulate the detection plan Based on the collected data and on - site survey results, compile a detailed detection plan, including the planning of the detection path, the traveling speed of the acquisition equipment, the shooting frequency, lighting conditions, etc.

[0039] Third, cleaning and drainage Before inspection, thoroughly clean the pipeline to remove impurities such as silt, garbage, and grease inside the pipeline to ensure that the pipeline is unobstructed.

[0040] Use drainage equipment to drain the accumulated water in the pipeline to the minimum level to ensure clear visibility during the detection process.

[0041] Fourth, the acquisition equipment enters the pipeline and conducts detection Put the acquisition equipment into the pipeline, and use a telescopic mechanism or auxiliary rope to make it enter the pipeline, and control the forward speed of the acquisition equipment to avoid damaging the pipeline.

[0042] At this time, the acquisition device is adjusted by starting from the preliminary information of the pipeline. At this time, the electric telescopic shaft fixedly connected to the middle of the turbine drive device 14 is started. After the electric telescopic shaft is started, it drives the turbine drive device 14 to slide at the bottom of the U-shaped support plate 23. At this time, since the turbine drive device 14 is installed at the bottom of the buffer block 25, moving the turbine drive device 14 will drive the buffer block 25 to slide synchronously in the guide shaft 24. At this time, the buffer block 25 sliding on the guide shaft 24 will drive the auxiliary plate 26 to drive the support leg 27 to start rotating on the first connection ring 11 and the third connection ring 13. By rotating the support leg 27, the fitting control of the roller 28 with the inner wall of the pipeline can be realized. In this solution, the transmission plate 41 is arranged so that the support leg 27 can be lifted and lowered synchronously, so that the equipment can flexibly adjust the contact between its roller 28 and the pipeline when adapting to different underground pipelines. This not only enhances the flexibility of the equipment, but also enables the equipment to quickly adjust the height of the support leg 27 when facing underground pipelines of different heights and complex terrains, ensuring that the roller 28 is in close contact with the pipeline, thus ensuring the stability and accuracy of the detection process. This flexibility enables the equipment to be applicable to a wider range of detection scenarios and improves work efficiency.

[0043] Secondly, this design helps to improve the detection quality. Stable contact is the key to ensuring the accuracy of detection results. By lifting and lowering the support legs 27 synchronously, the equipment can always maintain close contact with the pipeline during movement, avoiding detection errors caused by shaking or unstable contact, thus improving the reliability of detection results.

[0044] In addition, this design also takes into account the durability and safety of the equipment. In a complex underground pipeline environment, the equipment may encounter various challenges, such as uneven ground, narrow spaces, etc. By flexibly adjusting the height of the support legs 27, the equipment can better adapt to these environments, reducing the risk of damage caused by collision or friction, and at the same time ensuring the safety of the operators.

[0045] When the equipment collides, flips or topples during movement, the detector will tilt synchronously, which may lead to deviation or invalidation of the detection results. However, through a unique design of the present invention, when the main body detector tilts or flips during the movement of the main body, it can rely on the mechanical stability structure to maintain a relatively stable position, that is, it is always located in the middle of the direction between the second connection ring 12 point and the first connection ring 11 point; Compared with the prior art, due to the setting of the present invention, the main body detector can maintain a relatively stable position. Therefore, even in the case of tilting or flipping of the moving main body, the accuracy of the detection results can be ensured, which is particularly important for application scenarios that require high-precision detection.

[0046] In the present invention, the closed controller 1 always slides in the middle of the second connecting ring 12 and the first connecting ring 11 to form a tumbler-like design, enabling the main detector to quickly return to a stable state when subjected to external interference, thereby reducing the detection errors caused by the tilting or overturning of the device. By ensuring the stability of the main detector in the case of tilting or overturning, the present invention improves the reliability of the entire detection device, enabling it to perform stable detection work in more complex environments.

[0047] The high-definition camera system carried by the acquisition device captures the images inside the pipeline in real time and transmits them to the ground console by wired or wireless means. The operator observes the conditions inside the pipeline in real time through the monitor and stores the detection results in two ways: video recording and picture taking.

[0048] Fifth. Data analysis and processing Transmit the image data captured by the acquisition device to the control center, and analyze the image data through computer software to identify problems such as defects and sediments inside the pipeline.

[0049] According to the detection results, formulate targeted repair plans, including measures such as dredging, replacing pipe materials, and cleaning.

[0050] Sixth, report generation and acceptance Based on the collected data and analysis results, compile a detailed detection report, including the current situation assessment of the pipeline, defect classification, repair suggestions, etc.

[0051] Please refer to the above working process Figures 1 to 7 .

[0052] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0053] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made therein without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An amphibious self-stabilizing inspection device in a water pipeline, comprising a closed controller (1), wherein a first connecting ring (11) and a second connecting ring (12) are respectively slidably connected to the outer surfaces of both sides of the closed controller (1), a third connecting ring (13) is arranged on the side of the second connecting ring (12) away from the first connecting ring (11), and a turbine driving device (14) is arranged between the second connecting ring (12) and the third connecting ring (13), characterized in that: It also includes a multifunctional linkage mechanism (2) and a flow resistance adjustment mechanism (3); Multifunctional linkage mechanism (2); The multifunctional linkage mechanism (2) is arranged on the first connecting ring (11), the second connecting ring (12) and the third connecting ring (13), and the multifunctional linkage mechanism (2) is used to prevent the closed controller (1) from turning over; Flow resistance adjustment mechanism (3); The flow resistance adjustment mechanism (3) is arranged on the third connecting ring (13), and the flow resistance adjustment mechanism (3) is used for adjusting the flow resistance of the transmission device.

2. The amphibious self-stabilizing inspection device for water pipelines according to claim 1 is characterized by: The multifunctional linkage mechanism (2) comprises a sliding ring (21), wherein the sliding ring (21) is symmetrically slidably connected to a first connecting ring (11), a second connecting ring (12) and a third connecting ring (13), respectively; curved sliding blocks (22) are fixedly connected to the outer surfaces of both sides of the sliding ring (21); U-shaped support plates (23) are symmetrically fixedly connected to both sides of the curved sliding blocks (22); and the ends of the U-shaped support plates (23) away from the second connecting ring (12) are fixedly connected to the outer surfaces of the curved sliding blocks (22) of the first connecting ring (11) and the second connecting ring (12), respectively.

3. The amphibious self-stabilizing inspection device for water pipelines according to claim 2 is characterized by: A guide shaft (24) is fixedly connected to the U-shaped support plate (23); a buffer block (25) is slidably connected to the outer surface of the guide shaft (24); an auxiliary plate (26) is rotatably connected to the upper surface of the buffer block (25); and a support leg (27) is rotatably connected to one end of the auxiliary plate (26) away from the buffer block (25).

4. The amphibious self-stabilizing inspection device for water pipelines according to claim 3 is characterized by: One end of the support leg (27) is rotatably connected to the arcuate slider (22) on the outer surface of the first connecting ring (11), and the middle part of the other end of the support leg (27) is rotatably connected to the roller (28) and the turbine gear (29), respectively, and the middle part of the roller (28) is fixedly connected to the middle part of the turbine gear (29) via a fixed shaft.

5. The amphibious self-stabilizing inspection device for water pipelines according to claim 4 is characterized in that: The multifunctional linkage mechanism (2) further comprises a transmission plate (41), wherein a middle portion of the transmission plate (41) is rotatably connected to the arc-surface slider (22), and push plates (42) are rotatably connected to both ends of the transmission plate (41), and one end of the push plate (42) away from the transmission plate (41) is rotatably connected to the buffer block (25), and a buffer spring (43) is sleeved on the outer surface of the guide shaft (24), and one end of the buffer spring (43) is fixedly connected to the arc-surface slider (22), and the other end of the buffer spring (43) is fixedly connected to the buffer block (25).

6. The amphibious self-stabilizing inspection device for water pipelines according to claim 3 is characterized by: The outer surface of the turbine drive device (14) is fixedly connected to the bottom of the buffer block (25) on one side close to the third connecting ring (13).

7. The amphibious self-stabilizing inspection device for water pipelines according to claim 1 is characterized by: The flow resistance adjustment mechanism (3) comprises a triangular support plate (31), the triangular support plate (31) being fixedly connected to the inner side of the third connection ring (13), a flow meter being installed on a side of the triangular support plate (31) close to the turbine drive device (14), a drive motor (32) being installed on a side of the triangular support plate (31) away from the turbine drive device (14), a drive shaft of the drive motor (32) being fixedly connected to a drive plate (33), connecting rods being fixedly connected at both ends of the drive plate (33), and an adjustment wheel (34) being fixedly connected at one end of the connecting rod away from the drive plate (33), and extrusion holes (35) being evenly arranged in the adjustment wheel (34).

8. The amphibious self-stabilizing inspection device for water pipelines according to claim 7, characterized in that: A fixing ring (36) is fixedly connected to the side of the third connecting ring (13) away from the turbine drive device (14); a guide groove (37) is evenly formed on the side of the fixing ring (36) away from the third connecting ring (13); and the fixing ring (36) is arranged in the middle of the third connecting ring (13) and the adjusting wheel (34).

9. The amphibious self-stabilizing inspection device for water pipelines according to claim 8, characterized in that: The fixing ring (36) and the regulating wheel (34) are evenly provided with flow-blocking blades (38) in the middle, and both sides of one end of the flow-blocking blade (38) are fixedly connected to extrusion columns, the extrusion column on one side of the flow-blocking blade (38) is slidably connected to the guide groove (37), and the extrusion column on the other side of the flow-blocking blade (38) is rotatably connected to the extrusion hole (35).

Images