Rail robot, drainage pipeline detection system and drainage pipeline detection method

Abstract

The invention provides a rail robot, a drainage pipeline detection system and a drainage pipeline detection method, and relates to the field of drainage pipeline disease detection. The rail robot comprises a power module used for moving on the suspended transportation rail so that the rail robot can move in the drainage pipeline; the sensing module carries a camera, a sonar radar and a laser radar; the camera and the sonar radar are jointly used for collecting an inner wall image of the drainage pipeline; when a defect is recognized according to the inner wall image, the laser radar is used for collecting size information of the defect; the detection module is used for generating a health state index of the drainage pipeline according to the size information; the health state index is used for indicating whether the drainage pipeline is maintained or not. According to the rail robot, the problems that a traditional robot for drainage pipeline detection is limited in advancing and insufficient in environment sensing capacity, consequently, the defects of the drainage pipeline cannot be accurately detected, and then whether the drainage pipeline needs to be maintained or not cannot be accurately judged are solved.

Description

Technical Field

[0001] The present application relates to the field of drainage pipeline disease detection, and particularly to an orbital robot, a drainage pipeline detection system, and a drainage pipeline detection method. Background Art

[0002] Drainage pipe networks play a crucial role in the collection, purification, and discharge of domestic sewage, precipitation runoff, and other wastewater. However, due to the low construction quality of some drainage pipes in the drainage pipe network, these drainage pipes are prone to aging and various defects, which in turn lead to environmental problems such as rain-sewage mixing, ground collapse, and black and odorous water bodies.

[0003] With the rapid development of robots in the engineering field, the application of intelligent detection equipment in drainage pipeline detection is becoming increasingly widespread. These intelligent detection equipment significantly improve the efficiency and accuracy of drainage pipeline detection by means of technologies such as automation and remote control.

[0004] Nevertheless, due to the existence of curved or narrow pipe sections in the drainage pipeline and the accumulation of sediments in the drainage pipeline, the traditional robots currently used for drainage pipeline detection are limited in movement and insufficient in environmental perception ability, resulting in the inability to accurately detect the defects of the drainage pipeline, and thus the inability to accurately determine whether the drainage pipeline needs to be repaired. Summary of the Invention

[0005] The present application provides an orbital robot, a drainage pipeline detection system, and a drainage pipeline detection method to solve the problem that the traditional robots for drainage pipeline detection are limited in movement and insufficient in environmental perception ability, resulting in the inability to accurately detect the defects of the drainage pipeline, and thus the inability to accurately determine whether the drainage pipeline needs to be repaired.

[0006] The first aspect of the present application provides an orbital robot for detecting a drainage pipeline, and a suspension transportation track is arranged inside the drainage pipeline. The orbital robot includes:

[0007] A power module for moving on the suspension transportation track so that the orbital robot can move inside the drainage pipeline;

[0008] A sensing module equipped with a camera, a sonar radar, and a lidar; the camera and the sonar radar are jointly used to collect the inner wall image of the drainage pipeline; when a defect is recognized based on the inner wall image, the lidar is used to collect the size information of the defect;

[0009] A detection module for generating a health status index of the drainage pipeline according to the size information; wherein the health status index is used to indicate whether to repair the drainage pipeline.

[0010] In a possible design, the suspended transportation track includes at least two track lines. The at least two track lines extend to the top of the inspection well of the drainage pipe and are electrically connected to an external power supply. Then, the power module includes:

[0011] A moving unit, which includes a plurality of rolling feet arranged in a matrix; the number of columns of the plurality of rolling feet is the same as the number of at least two track lines; the rolling feet in the same column are all rolling-connected to a corresponding one of the track lines;

[0012] A control unit, which is used to control the rotation or inclination of the plurality of rolling feet and control the plurality of rolling feet to roll or stop on at least two track lines;

[0013] A power supply unit, which is used to draw power from at least two track lines.

[0014] In a possible design, the at least two track lines are both bendable tracks;

[0015] The at least two track lines are both suspended at the top inside the drainage pipe.

[0016] In a possible design, the control unit is further used to determine the real-time position of the track robot in the drainage pipe according to a preset detection path of the drainage pipe, and control the track robot to perform detection in the drainage pipe according to the real-time position.

[0017] In a possible design, the sensing module is also equipped with at least one of a variety of detachable sensing devices, and each detachable sensing device is used to collect environmental information of defects; the variety of detachable sensing devices include a thermometer, a hygrometer, and a gas detector;

[0018] The sensing module is specifically used to control a camera, a sonar radar, a lidar, and at least one detachable sensing device carried thereon to perform synchronous measurement.

[0019] The second aspect of the present application provides a drainage pipe detection system, and the drainage pipe detection system includes:

[0020] A drainage pipe, a suspended transportation track arranged inside the drainage pipe, and a track robot moving on the suspended transportation track as described in any item of the first aspect.

[0021] In a possible design, the drainage pipe detection system further includes: a data processing server;

[0022] The suspended transportation track includes at least two track lines. The at least two track lines extend to the top of the inspection well of the drainage pipe and are communicatively connected to the data processing server;

[0023] The track robot is communicatively connected to the data processing server through at least two track lines;

[0024] The data processing server is used to generate a detection report of the drainage pipeline according to the inner wall image and the health status index of the drainage pipeline collected by the track robot, as well as the size information, position information and environmental information of the defects of the drainage pipeline; wherein, the position information is determined according to the real-time position of the track robot in the drainage pipeline.

[0025] The third aspect of the present application provides a method for detecting a drainage pipeline, which is used for the track robot according to any one of the first aspects. The track robot includes a power module, a sensing module and a detection module. The sensing module is equipped with a camera, a sonar radar and a lidar. Then the method includes:

[0026] The power module drives the track robot to move inside the drainage pipeline, and the sensing module controls the camera and the sonar radar to jointly collect the inner wall image of the drainage pipeline;

[0027] When a defect of the drainage pipeline is recognized according to the inner wall image, the sensing module collects the size information of the defect through the lidar;

[0028] The detection module calculates the health status index of the drainage pipeline according to the size information.

[0029] In a possible design, the detection module calculates the health status index of the drainage pipeline according to the size information, including:

[0030] Obtain the position information of the defect;

[0031] According to the preset detection specification, calculate the health status index according to the position information and the size information.

[0032] In a possible design, when no defect of the drainage pipeline is recognized according to the inner wall image, the method further includes:

[0033] Regularly clear the inner wall image jointly collected by the camera and the sonar radar.

[0034] An orbital robot, a drainage pipeline detection system and a drainage pipeline detection method provided by the present application. The orbital robot includes: a power module for moving on a suspension transportation track so that the orbital robot can move inside the drainage pipeline; a sensing module equipped with a camera, a sonar radar and a lidar; the camera and the sonar radar are jointly used to collect the inner wall image of the drainage pipeline; when the sensing module recognizes a defect based on the inner wall image, the lidar is used to collect the size information of the defect; a detection module for generating a health status index of the drainage pipeline according to the size information. The following technical effects are achieved: By arranging a suspension transportation track inside the drainage pipeline, the orbital robot can move inside the drainage pipeline, solving the problem that the movement of the robot is restricted in curved or narrow pipeline sections; by using the camera to capture high-definition images of the inner wall of the drainage pipeline and using the sonar radar to detect the underwater part and the pipeline under the sediment, the problem that the accumulation of sediment leads to insufficient environmental perception ability of the robot is solved; according to the size information of the defect, a health status index of the drainage pipeline is generated to facilitate judging whether it is necessary to repair the drainage pipeline according to the health status index. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to these drawings.

[0036] Figure 1 It is a schematic diagram of the scenario of the orbital robot provided by the embodiment of the present application;

[0037] Figure 2 It is a schematic structural diagram of the orbital robot provided by the embodiment of the present application;

[0038] Figure 3 It is a system architecture diagram of the orbital robot provided by the embodiment of the present application;

[0039] Figure 4 It is a schematic flow chart of the drainage pipeline detection method provided by the embodiment of the present application Figure 1 ;

[0040] Figure 5 It is a schematic flow chart of the drainage pipeline detection method provided by the embodiment of the present application Figure 2 。

[0041] Reference numerals:

[0042] 100 - soil layer;

[0043] 210 - drainage pipeline; 220 - inspection well; 230 - sediment;

[0044] 300 - Suspended transportation track; 310 - Track line;

[0045] 400 - Track robot; 410 - Power module; 411 - Mobile unit; 412 - Control unit; 413 - Power supply unit; 420 - Sensing module; 421 - Camera; 422 - Sonar radar; 423 - Lidar; 424 - Adjustable light source; 425 - Removable sensing device; 430 - Detection module; 431 - Identification unit; 432 - Analysis unit; 433 - Transmission unit;

[0046] 500 - Rolling foot; 510 - Upper base; 520 - Lower base; 530 - Roller;

[0047] 600 - Data processing server. Detailed implementation mode

[0048] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0049] In the present application, words such as "first" and "second" are used to distinguish the same items or similar items with basically the same functions and roles. Those skilled in the art can understand that the words "first" and "second" do not limit the quantity and execution order, and the words "first" and "second" do not necessarily limit being different. It should be noted that in the present application, words such as "exemplary" or "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Exactly speaking, using words such as "exemplary" or "for example" aims to present relevant concepts in a specific way. In the present application, "at least one" means one or more, and "a plurality" means two or more.

[0050] It should be noted that "when... " in the present application can be at the instant when a certain situation occurs or within a period of time after a certain situation occurs, and the present application does not make specific limitations on this. In addition, a track robot, a drainage pipeline detection system and a drainage pipeline detection method provided by the present application are only examples, and it may also include more or less content.

[0051] To facilitate a clear description of the technical solution of this application, the following briefly introduces some terms and technologies involved in this application:

[0052] Precipitation runoff: It refers to the water flow that moves along the ground or underground after rainfall. Specifically, when rainwater falls on the ground, a part of it is intercepted by plants, evaporated, or infiltrated into the ground, while the other part forms surface runoff, flowing along the ground slope, and finally flowing into water bodies such as rivers or lakes, or being discharged into the surface through the drainage pipe network.

[0053] Suspended transport track: It refers to a track system arranged inside the drainage pipe for supporting and guiding the movement of the track robot. The suspended transport track is usually fixed on the inner wall or top of the drainage pipe, providing a stable and continuous movement path for the track robot.

[0054] The following uses specific embodiments to elaborate in detail on the technical solution of this application. These several specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The following will describe this application in conjunction with the drawings.

[0055] To clearly understand the technical solution of this application, first, a detailed introduction to the prior art solution is provided.

[0056] The drainage pipe network plays a crucial role in the collection, purification, and discharge of domestic sewage, precipitation runoff, and other wastewater. However, due to low construction quality, some drainage pipes in the drainage pipe network are prone to aging and various defects, which in turn lead to environmental problems such as rain - sewage confluence, ground collapse, and black and odorous water bodies.

[0057] With the rapid development of robots in the engineering field, the application of intelligent detection equipment in the detection of drainage pipes is becoming increasingly widespread. These intelligent detection equipment, relying on technical means such as automation and remote control, have significantly improved the efficiency and accuracy of drainage pipe detection. However, in the prior art, traditional robots used for drainage pipe detection are usually wheeled or tracked robots, and such robots have the following technical problems in drainage pipe detection:

[0058] First, there are curved or narrow pipe sections in the drainage pipe. Due to the flexibility and size limitations of the tires, wheeled robots may not be able to pass through the curved or narrow pipe sections smoothly; although tracked robots have a certain adaptability to the terrain, in extremely narrow or curved pipes, they may also be unable to move forward due to the width of the tracks or the turning radius.

[0059] Second, there are often deposits such as silt, sediment, and domestic waste in the drainage pipe. These deposits will occupy the internal space of the pipe, further restricting the movement ability of traditional robots.

[0060] Thirdly, the sediment accumulated in the drainage pipe will block the sight of traditional robots, which will cause traditional robots to be unable to accurately perceive defects such as obstacles and cracks ahead, restricting the environmental perception ability of traditional robots.

[0061] Thirdly, the number and types of sensors usually equipped on traditional robots are limited, and they may not be able to comprehensively perceive the internal environment of the drainage pipe, further restricting the environmental perception ability of traditional robots.

[0062] Finally, traditional drainage pipe detection mainly uses the Closed-Circuit Television (CCTV) method. Before detection, the pipe needs to be dredged. During detection, traditional robots need to connect power lines and communication lines, resulting in high detection costs, slow speeds, and a large amount of manpower is required to process CCTV videos later to identify defects.

[0063] In summary, the above-mentioned technical problems of traditional robots lead to the inability to accurately detect the defects of drainage pipes, and further lead to the inability to accurately judge whether the drainage pipes need to be repaired.

[0064] Therefore, in view of the above technical problems, it is found in the research that to solve this problem, rail transportation technology and rail robots matching the transportation rails can be introduced in the drainage pipe detection. Rail robots can overcome the limitations of traditional detection methods, adapt to pipe segments with different diameters and shapes, and have the ability to operate stably in complex environments. At the same time, by integrating at least one detachable sensing device, the rail robot can complete multiple tasks such as internal environment detection and defect identification of the pipe in a single operation, realizing real-time detection of the entire drainage pipe.

[0065] Based on the above creative discovery, the technical solution of this application is proposed.

[0066] Next, the application scenarios of the rail robot provided by this application will be introduced.

[0067] Figure 1 is a schematic diagram of the scenario of the rail robot provided by the embodiment of this application. It should be noted that Figure 1 The examples shown are only examples of scenarios where this application can be applied to help those skilled in the art understand the technical content of this application, but it does not mean that this application cannot be used in other devices, systems, environments or scenarios.

[0068] Such as Figure 1As shown, it is the application scenario of the track robot. The application scenario includes: a soil layer 100, a drainage pipe 210 buried in the soil layer 100, a suspended transportation track 300 arranged inside the drainage pipe 210, and a track robot 400 moving on the suspended transportation track 300. The application scenario also includes an inspection well 220 and sediment 230 in the drainage pipe 210. The bottom of the inspection well 220 is connected to the drainage pipe 210, and the top of the inspection well 220 is located outside the soil layer 100.

[0069] The suspended transportation track 300 enters the inspection well 220 from the top of the inspection well 220 and then enters the drainage pipe 210 from the bottom of the inspection well 220. The suspended transportation track 300 can be a pre-arranged permanent track or a temporary track arranged before inspection. The suspended transportation track 300 is suspended and fixed on the inner walls of the drainage pipe 210 and the inspection well 220 by means of brackets or other support structures to ensure the stability and reliability of track transportation.

[0070] The track robot 400 moves on the suspended transportation track 300 through driving mechanisms such as rollers, sliders, chains, lead screws, pneumatics, or magnetic levitation. While avoiding the sediment 230, the track robot 400 completes multiple tasks such as internal pipeline environment detection and defect identification, realizing all-round real-time detection of the drainage pipe 210.

[0071] The embodiments of the present application will be introduced below in conjunction with the accompanying drawings of the specification.

[0072] Figure 2 It is a schematic structural diagram of the track robot provided by the embodiment of the present application. As Figure 1 and Figure 2 shown, the track robot 400 is used to detect the drainage pipe 210, and the suspended transportation track 300 is arranged inside the drainage pipe 210. Then the track robot 400 includes:

[0073] A power module 410, which is used to move on the suspended transportation track 300 so that the track robot 400 can move inside the drainage pipe 210.

[0074] Specifically, the power module 410 is the driving component of the track robot 400, responsible for providing the power required for the track robot 400 to move on the suspended transportation track 300 and controlling the track robot 400 to move forward, backward, rotate, and tilt along the suspended transportation track 300 inside the drainage pipe 210, realizing all-round and dead-angle-free defect detection. The track robot 400 can include a motor, a transmission device, and a necessary control system to ensure that the track robot 400 can move smoothly and quickly along the suspended transportation track 300 and cover the entire length of the drainage pipe 210.

[0075] Meanwhile, the movement path of the rail robot 400 is strictly restricted to the suspended transportation rail 300, so that the rail robot 400 does not need to rely on its own moving mechanism to adapt to the shape and size of the drainage pipe 210 like a wheeled or tracked robot, which enables the rail robot 400 to pass through the curved or narrow pipe sections of the drainage pipe 210.

[0076] The sensing module 420 is equipped with a camera 421, a sonar radar 422, and a lidar 423; the camera 421 and the sonar radar 422 are jointly used to collect the inner wall images of the drainage pipe 210; when a defect is recognized based on the inner wall images, the lidar 423 is used to collect the size information of the defect.

[0077] Specifically, the camera 421 has functions of wide-angle, zoom, and enhanced shooting under low light conditions or infrared shooting function, and can capture high-definition images of the inner wall of the drainage pipe 210 in various complex environments, providing intuitive visual inspection, which is crucial for identifying defects such as cracks, corrosion, and sediments; further, the sensing module 420 is also configured with an adjustable light source 424 to meet the shooting requirements of the camera 421 under different light conditions. The sonar radar 422 measures the structural changes of the inner wall of the drainage pipe 210 by emitting sound waves and receiving the reflected signals. The sonar radar 422 is particularly suitable for detecting the underwater part and the pipe under sediments, and can penetrate the water body and draw the sonar image of the inner wall of the drainage pipe 210 to help identify potential defects.

[0078] Combining the high-definition image and the sonar image to obtain the inner wall image can improve the accuracy and comprehensiveness of the inner wall detection of the drainage pipe 210. Identifying defects based on the inner wall image can be executed by the processor carried on the detection module 430, or by the processor carried on the sensing module 420, or the rail robot 400 can first send the data to the data processing server outside the drainage pipe 210, and be executed by the data processing server or technicians.

[0079] Taking the execution by technicians as an example, technicians usually first conduct a preliminary visual inspection through high-definition images to identify obvious defects; then, technicians use sonar images to conduct more in-depth detection and analysis of suspected areas to confirm the existence and severity of the defects. The execution by the processor or the data processing server is similar, and will not be elaborated in the embodiments of the present application. This combined use method not only improves the detection accuracy, but also reduces the possibility of missed detection and misjudgment.

[0080] When a defect is recognized based on the inner wall image, the lidar 423 is activated, and the distance is calculated by emitting a laser beam and measuring its return time, providing high-precision three-dimensional space information to accurately collect the size information of the defect, such as length, width, and depth, etc.

[0081] A detection module 430 is configured to generate a health status index of the drainage pipe 210 according to the dimension information, wherein the health status index is used to indicate whether to repair the drainage pipe 210.

[0082] Specifically, the detection module 430 automatically calculates the health status index of the drainage pipe 210 according to the dimension information based on the method provided by the target evaluation specification. The health status index is a comprehensive evaluation index that takes into account the type, quantity, location of the defects, and their impact on the overall structural safety of the drainage pipe 210.

[0083] The health status index is usually represented in the form of a numerical value or a grade, which is used to visually display the health status of the drainage pipe 210. For example, a higher index indicates that the pipe condition is good and no immediate repair is required; while a lower index may mean that there are serious defects and measures need to be taken to repair or maintain it as soon as possible.

[0084] Furthermore, the detection module 430 transmits information such as the inner wall image of the drainage pipe 210, the dimension information of the defects, and the health status index to the above-mentioned data processing server, so that the data processing server can automatically generate a detection and evaluation report based on this. The detection and evaluation report is crucial for technicians, which helps them make scientific decisions and allocate resources reasonably to ensure the safe and efficient operation of the drainage pipe 210.

[0085] A track robot provided by an embodiment of the present application, the track robot includes: a power module for moving on a suspension transportation track so that the track robot can move inside the drainage pipe; a sensing module equipped with a camera, a sonar radar, and a lidar; the camera and the sonar radar are jointly used to collect the inner wall image of the drainage pipe; when the sensing module recognizes a defect according to the inner wall image, the lidar is used to collect the dimension information of the defect; a detection module for generating a health status index of the drainage pipe according to the dimension information. The following technical effects are achieved: by arranging a suspension transportation track inside the drainage pipe, the track robot can move inside the drainage pipe, solving the problem that the movement of the robot is restricted in curved or narrow pipe sections; by using the camera to capture high-definition images of the inner wall of the drainage pipe and using the sonar radar to detect the underwater part and the pipe under the sediment, solving the problem that the accumulation of sediment leads to insufficient environmental perception ability of the robot; generating a health status index of the drainage pipe according to the dimension information of the defect, so as to judge whether it is necessary to repair the drainage pipe according to the health status index.

[0086] In a possible design, the suspended transportation track 300 includes at least two track lines 310. The at least two track lines 310 extend to the top of the inspection well 220 of the drainage pipe 210 and are electrically connected to an external power supply. Then, the power module 410 includes:

[0087] A moving unit 411, where the moving unit 411 includes a plurality of rolling feet 500 arranged in a matrix; the number of columns of the plurality of rolling feet 500 is the same as the number of at least two track lines 310; the rolling feet 500 in the same column are all rolling-connected to a corresponding one of the track lines 310;

[0088] A control unit 412, configured to control the rotation or inclination of the plurality of rolling feet 500 and control the plurality of rolling feet 500 to roll or stop on the at least two track lines 310;

[0089] A power supply unit 413, configured to draw power from the at least two track lines 310.

[0090] Specifically, the suspended transportation track 300 includes at least two track lines 310. These track lines 310 are arranged along the extending direction of the drainage pipe 210 and provide sufficient supporting force to ensure that the track robot 400 can move stably and efficiently. At the same time, these track lines 310 extend to the top of the inspection well 220 and are electrically connected to an external power supply through a specific interface or connector. In addition, the track lines 310 are made of high-strength materials that are corrosion-resistant and wear-resistant, suitable for the complex and harsh environmental conditions inside the drainage pipe 210.

[0091] Figure 3 This is the system architecture diagram of the track robot provided by the embodiment of the present application. As Figures 1 to 3 shown, the power module 410 includes a moving unit 411, a control unit 412, and a power supply unit 413.

[0092] The multiple rolling feet 500 of the moving unit 411 are arranged in a matrix. The number and arrangement of the rolling feet 500 are determined according to the number and arrangement of the track lines 310, so that the track robot 400 can move stably on the suspended transportation track 300. Among them, the rolling feet 500 in the same column are all rolling-connected to a corresponding one of the track lines 310, so that the track robot 400 can maintain balance and stable movement on two or more track lines 310.

[0093] Furthermore, each rolling foot 500 includes an upper base 510, a lower base 520, and a plurality of rollers 530 rotatably connected to the upper base 510 or the lower base 520. In addition, each rolling foot 500 further includes a driving motor. For any one of the rolling feet 500, the plurality of rollers 530 clamp the track line 310, and the driving motor controls the plurality of rollers 530 to roll on the track line 310.

[0094] The control unit 412 is used to control the movement of the multiple rolling feet 500, specifically by means of the above-mentioned drive motors to control the movement of the multiple rolling feet 500. The design of the control unit 412 takes into account the possible inclination and tortuosity in the drainage pipe 210. On the basis of controlling the multiple rolling feet 500 to roll or stop on at least two track lines 310, it can also control the rotation or inclination of the multiple rolling feet 500. The technical effects of the moving unit 411 and the control unit 412 are: ensuring that the track robot 400 can move stably on the suspended transportation track 300 under different lateral and vertical deflection angle conditions.

[0095] The power supply unit 413 is electrically connected to the track lines 310, responsible for taking power from at least two track lines 310 and providing continuous power supply for the track robot 400. This design ensures that the track robot 400 can continuously obtain power supply during the movement process without worrying about the problem of power exhaustion. The technical effect of the power supply unit 413 is: enabling the track robot 400 not to carry a battery, thereby reducing the weight and improving the movement flexibility.

[0096] In a possible design, at least two track lines 310 are both flexible tracks;

[0097] At least two track lines 310 are both suspended at the top inside the drainage pipe 210.

[0098] Specifically, at least two track lines 310 are both flexible tracks, enabling the track lines 310 to adapt to the possible inclination and tortuosity in the drainage pipe 210; at least two track lines 310 are suspended from the top inside the drainage pipe 210 all the way to the top of the inspection well 220, realizing the synchronous detection of the drainage pipe 210 and the inspection well 220 by the track robot 400; at least two track lines 310 are both suspended at the top inside the drainage pipe 210, enabling the track robot 400 to avoid direct contact with the sediment 230 and improving the traveling ability of the track robot 400.

[0099] In a possible design, the control unit 412 is also used to determine the real-time position of the track robot 400 in the drainage pipe 210 according to the preset detection path of the drainage pipe 210, and control the track robot 400 to perform detection in the drainage pipe 210 according to the real-time position.

[0100] Specifically, the control unit 412 uses sensors such as an integrated encoder, gyroscope, and odometer to track the position of the track robot 400 in real time. These sensors can accurately measure key parameters such as the moving distance and rotation angle of the track robot 400 on the detection path, so as to accurately calculate the real-time position of the track robot 400 in the drainage pipe 210. Then, according to the real-time position, the control unit 412 controls the track robot 400 to move in the drainage pipe 210, so that the track robot 400 can perform detection in the drainage pipe 210. After completing the detection task of the drainage pipe 210, the control unit 412 controls the track robot 400 to return automatically.

[0101] In a possible design, the detection module 430 is further configured to determine the position of the defect in the drainage pipe 210 according to the real-time position.

[0102] In a possible design, the sensing module 420 is further equipped with at least one of a variety of detachable sensing devices 425, and each detachable sensing device 425 is used to collect environmental information of the defect; the variety of detachable sensing devices 425 includes a thermometer, a hygrometer, and a gas detector;

[0103] The sensing module 420 is specifically configured to control the camera 421, sonar radar 422, lidar 423, and at least one detachable sensing device 425 carried thereon to perform synchronous measurement.

[0104] Specifically, the variety of detachable sensing devices 425 includes, but is not limited to, a thermometer, a hygrometer, and a gas detector, etc., then the environmental information of the defect includes, but is not limited to, temperature, humidity, flow rate, and hydrogen sulfide concentration, etc. The variety of detachable sensing devices 425 can be freely combined and disassembled. If it is necessary to detect the environmental information of other drainage pipes, another suitable detachable sensing device 425 can be assembled.

[0105] The sensing module 420 can be assembled with at least one detachable sensing device 425 at one time to realize multi-parameter synchronous measurement of inner wall images, dimension information, and environmental information, thereby improving the detection efficiency.

[0106] The technical effect of the embodiment of the present application is that through the detachable sensing devices that can be freely combined and disassembled, the environment inside the drainage pipe is comprehensively sensed, and the environmental sensing ability of the track robot is improved.

[0107] In a possible design, the camera 421, sonar radar 422, lidar 423, adjustable light source 424, and a variety of detachable sensing devices 425 are all treated with waterproof, dustproof, and corrosion protection, and can operate stably in the drainage pipe 210 with high humidity and strong corrosiveness for a long time.

[0108] In a possible design, the rail robot 400 is a portable design. It is only carried to the site when detection is required, and a detachable sensing device 425 is assembled according to the detection requirements. Then, the rolling feet 500 are clamped on the rail line 310, and the rail robot 400 can carry out detection work along the suspended transportation rail 300.

[0109] In a possible design, the detection module 430 includes an identification unit 431, an analysis unit 432, and a transmission unit 433. Among them, the identification unit 431 is used to identify defects based on the inner wall image. Once identified as a disease, the lidar 423 is activated to collect the size information of the defect. The analysis unit 432 is used to generate a health status index of the drainage pipe 210 according to the size information. The transmission unit 433 is used to transmit the inner wall image and health status index of the drainage pipe 210, as well as information such as the size information, location information, and environmental information of the defect, to the data processing server 600.

[0110] The embodiment of the present application also provides a drainage pipe detection system, as Figures 1 to 3 shown, the drainage pipe detection system includes:

[0111] The drainage pipe 210, the suspended transportation rail 300 arranged inside the drainage pipe 210, and the rail robot 400 as described in the above embodiment that moves on the suspended transportation rail 300.

[0112] For the drainage pipe detection system provided by the embodiment of the present application, its implementation principle and technical effects are similar to those of the Figures 1 to 3 rail robot shown, and will not be elaborated in the embodiment of the present application.

[0113] In a possible design, the drainage pipe detection system further includes: a data processing server 600;

[0114] The suspended transportation rail 300 includes at least two rail lines 310. At least two rail lines 310 extend to the top of the inspection well 220 of the drainage pipe 210 and are communicatively connected to the data processing server 600;

[0115] The rail robot 400 is communicatively connected to the data processing server 600 through at least two rail lines 310;

[0116] The data processing server 600 is used to generate a detection report of the drainage pipe 210 according to the inner wall image and health status index of the drainage pipe 210 collected by the rail robot 400, as well as the size information, location information, and environmental information of the defect of the drainage pipe 210. Among them, the location information is determined according to the real-time position of the rail robot 400 in the drainage pipe 210.

[0117] Specifically, the data processing server 600 generates a detection report for the drainage pipeline 210 based on the information transmitted by the transmission unit 433 of the rail robot 400, providing data support for the maintenance and repair of the drainage pipeline 210.

[0118] The technical effect of the embodiment of the present application is as follows: The information collected by the rail robot is transmitted through the rail line, and the data processing server generates a detection report for the drainage pipeline, avoiding manual processing of CCTV videos, reducing the detection cost and increasing the detection speed; at the same time, the detection is quickly completed under the normal working conditions of the drainage pipeline, improving the efficiency of perceiving the service state of the pipeline.

[0119] In a possible design, the moving unit 411 further includes at least two sludge scraping pipes, and the number of at least two sludge scraping pipes is the same as the number of columns of the plurality of rolling feet 500. Specifically, one sludge scraping pipe is installed on the side of each rolling foot 500 in the first row starting from the sensing module 420 through a bracket or a connecting member. The sludge scraping pipe is in the shape of a cone with a small top and a large bottom, which is convenient for more effectively scraping the sediment on the rail line 310 to improve the stability of the electrical connection and the communication connection.

[0120] In a possible design, before the rail robot 400 detects the drainage pipeline 210, the valve of the drainage pipeline 210 is temporarily closed through a corresponding control mechanism (or the water flow is cut off in other ways), and the water body in the drainage pipeline 210 is pumped out by a pumping device. This measure aims to reduce the influence of the water body on the stability of the electrical connection and the communication connection and ensure the accuracy of the detection result.

[0121] Figure 4 Schematic flow of the drainage pipeline detection method provided by the embodiment of the present application Figure 1 As Figure 4 shown, the embodiment of the present application further provides a drainage pipeline detection method, which is used for Figures 1 to 3 the rail robot of the embodiment. The rail robot includes a power module, a sensing module and a detection module. The sensing module is equipped with a camera, a sonar radar and a lidar. Then the method includes:

[0122] S401. The power module drives the rail robot to move inside the drainage pipeline, and the sensing module controls the camera and the sonar radar to jointly collect the inner wall image of the drainage pipeline;

[0123] S402. When a defect of the drainage pipeline is recognized according to the inner wall image, the sensing module collects the size information of the defect through the lidar;

[0124] S403. The detection module calculates the health state index of the drainage pipeline according to the size information.

[0125] The drainage pipe detection method provided by the embodiments of the present application has the same implementation principle and technical effects as Figures 1 to 3 the orbital robot shown, which will not be elaborated in the embodiments of the present application.

[0126] In a possible design, S403 includes:

[0127] S4031. Obtain the location information of the defect;

[0128] S4032. Calculate the health status index according to the location information and size information through the preset detection specifications.

[0129] Specifically, the analysis unit of the detection module introduces mainstream detection specifications, such as the Technical Specification for Inspection and Assessment of Urban Drainage Pipelines (CJJ181), WRc, or the Pipeline Assessment and Certification Program (PACP), etc. For the defects identified by the detection module, determine the categories and defect levels of the defects existing in the drainage pipeline, and finally determine the health status index of the drainage pipeline through the detection specifications to judge whether the drainage pipeline needs to be repaired.

[0130] Taking CJJ181 as an example, the health status index is determined through the pipe section repair index RI and the pipe section maintenance index MI in CJJ181. In the judgment, the higher of the two indexes is taken as the standard, and the judgment criteria are as follows: when RI≤1 and MI≤1, the pipeline health level is 4, and it is judged that the drainage pipeline does not need to be repaired; when 1<RI≤4 or 1<MI≤4, the pipeline health level is 3, and it is judged that the drainage pipeline needs to make a repair plan; when 4<RI≤7 or 4<MI≤7, the pipeline health level is 2, and it is judged that the drainage pipeline needs to be repaired as soon as possible; when RI>7 or MI>7, the pipeline health level is 1, and it is judged that the drainage pipeline needs to be repaired immediately.

[0131] In a possible design, the pipe section repair index RI is expressed as:

[0132]

[0133] Among them, refers to the structural defect parameter, refers to the regional importance parameter, refers to the pipeline importance parameter, refers to the soil quality influence parameter.

[0134] is expressed as:

[0135]

[0136]

[0137] Among them, It refers to the parameter of the damaged condition of the pipe section - the score at the most severely damaged part of the structural defects of the pipe section; It refers to the parameter of the damaged condition of the pipe section - the average score calculated according to the number of defects.

[0138] It is expressed as:

[0139]

[0140] It is expressed as:

[0141]

[0142] Among them, It refers to the number of defects with a longitudinal net distance greater than 1.5m, It refers to the number of defects with a longitudinal net distance greater than 1.0m and not greater than 1.5m. It should be noted that when the size of the defect along the longitudinal direction of the pipeline is not greater than 1m, the length should be calculated as 1m; It refers to the score of defects with a longitudinal net distance greater than 1.5m, It refers to the score of defects with a longitudinal net distance greater than 1.0m and not greater than 1.5m; It refers to the structural defect influence coefficient, which is related to the defect spacing.

[0143] In a possible design, the pipe section maintenance index MI is expressed as:

[0144]

[0145] Among them, It refers to the functional defect parameter.

[0146] It is expressed as:

[0147]

[0148]

[0149] Among them, It refers to the parameter of the operating condition of the pipe section - the score at the most severely damaged part of the functional defects; It refers to the parameter of the operating condition of the pipe section - the average score of the functional defects calculated according to the number of defects.

[0150] It is expressed as:

[0151]

[0152] It is expressed as:

[0153]

[0154] Among them, refers to the number of defects with a longitudinal net distance greater than 1.5 m; refers to the number of defects with a longitudinal net distance greater than 1.0 m and not greater than 1.5 m. It should be noted that when the size of the defect along the longitudinal direction of the pipeline is not greater than 1 m, the length should be calculated as 1 m; refers to the defect score with a longitudinal net distance greater than 1.5 m; refers to the defect score with a longitudinal net distance greater than 1.0 m and not greater than 1.5 m; refers to the functional defect influence coefficient, which is related to the defect spacing.

[0155] Includes: , that is, the central business area and the area with Class A civil building projects nearby; , that is, the traffic artery and the area with Class B civil building projects nearby; , that is, other driving roads and the area with Class C civil building projects nearby; and , that is, all other areas or .

[0156] Includes: , that is, the pipe diameter ; , that is, the pipe diameter ; , that is, the pipe diameter ; and , that is, the pipe diameter or .

[0157] Includes: , that is, general soil layer, or ; , that is, collapsible loess of Grade I and Grade II, or slightly expansive soil; , that is, collapsible loess of Grade III, medium expansive soil, silt soil, or red clay; , that is, silty sand, collapsible loess of Grade IV, highly expansive soil, or silt.

[0158] In a possible design, when no defects of the drainage pipeline are recognized based on the inner wall image, the method further includes:

[0159] Regularly clear the inner wall images jointly collected by the camera and the sonar radar.

[0160] Specifically, when the perception module identifies a defect in the drainage pipe based on the inner wall image, the perception module collects the size information of the defect through lidar; when the perception module does not identify a defect in the drainage pipe based on the inner wall image, the inner wall image is not stored or transmitted and is returned to the perception module for continued detection.

[0161] The technical effect of the embodiment of the present application is that by only saving and transmitting the information of the defect, the data transmission volume of the track robot is reduced, and the data transmission speed and detection efficiency are improved.

[0162] Figure 5 Schematic flow of the drainage pipe detection method provided by the embodiment of the present application Figure 2 As Figure 5 shown, the embodiment of the present application also provides a specific case of a drainage pipe detection method, and the method includes:

[0163] S501. Detection preparation. Among them, S501 specifically includes:

[0164] S5011. Install the suspension transportation track on the top inside the drainage pipe for the track robot to move on the suspension transportation track.

[0165] S5012. According to the detection requirements, mount at least one detachable perception device on the track robot and fix the mounted track robot on the suspension transportation track.

[0166] S5013. Start the power module to make the track robot enter the starting position of the detection area in the drainage pipe. The control unit of the power module can accurately control the moving speed and direction of the track robot inside the drainage pipe to ensure that the track robot can smoothly complete the detection task.

[0167] S502. Take high-definition images. Take high-definition images of the inner wall of the drainage pipe through the camera of the perception module.

[0168] S503. Take sonar images. Take sonar images of the inner wall of the drainage pipe through the sonar radar of the perception module.

[0169] S504. Determine whether a defect is detected. The detection module determines whether there is a defect in the inner wall of the drainage pipe based on the high-definition image and the sonar image. If so, it means a defect is detected, and S505 is continued; if not, it means no defect is detected, and S507 is continued.

[0170] S505. Construct the size information of the defect. Take the three-dimensional space information of the defect through the lidar of the perception module to construct the size information of the defect.

[0171] S506. Collect environmental information of the defect. Collect the environmental information of the detected defect through at least one detachable sensing device of the sensing module. After executing S506, continue to execute S507.

[0172] S507. Continue the detection.

[0173] S508. Determine whether the detection is completed. The completion of the detection means reaching the detection end position of the detection area of the detection pipeline. If not, continue to execute S502 and S503; if so, continue to execute S509 and S510.

[0174] S509. Calculate the pipe section repair index. According to the detection specifications such as CJJ181, WRc or PACP, calculate the pipe section repair index RI based on the position information and dimension information.

[0175] S510. Calculate the pipe section maintenance index. According to the detection specifications such as CJJ181, WRc or PACP, calculate the pipe section maintenance index MI based on the position information and dimension information.

[0176] S511. Determine the health status index. Determine the health status index according to the pipe section repair index and the pipe section maintenance index. In the detection specification CJJ181, when RI≤1 and MI≤1, the pipeline health grade is 4; when 1<RI≤4 or 1<MI≤4, the pipeline health grade is 3; when 4<RI≤7 or 4<MI≤7, the pipeline health grade is 2; when RI>7 or MI>7, the pipeline health grade is 1.

[0177] S512. Determine whether to repair the drainage pipeline. When the pipeline health grade is 4, it is judged that the drainage pipeline does not need to be repaired; when the pipeline health grade is 3, it is judged that the drainage pipeline needs to make a repair plan; when the pipeline health grade is 2, it is judged that the drainage pipeline needs to be repaired as soon as possible; when the pipeline health grade is 1, it is judged that the drainage pipeline needs to be repaired immediately.

[0178] S513. The detection is completed.

[0179] S514. Transmit data. Through the transmission unit, transmit the inner wall image and health status index of the drainage pipeline, as well as the dimension information, position information and environmental information of the defect of the drainage pipeline to the data processing server, so that the data processing server can generate a detection report based on this.

[0180] So far, the technical solutions of the present application have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, those skilled in the art can easily understand that the protection scope of the present application is obviously not limited to these specific embodiments. The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A rail robot, characterized in that: The track robot is used to detect a drainage pipe, wherein a suspended transport track is arranged inside the drainage pipe. The track robot comprises: A power module, used for moving on the suspended transport track, so that the track robot can move inside the drainage pipe; A perception module is equipped with a camera, a sonar radar and a laser radar; the camera and the sonar radar are used together to collect an image of the inner wall of the drainage pipe; when a defect is identified according to the inner wall image, the laser radar is used to collect size information of the defect; The detection module is used to generate a health status index of the drainage pipe according to the size information; wherein the health status index is used to indicate whether to repair the drainage pipe.

2. The rail robot according to claim 1, characterized in that: The suspended transport track includes at least two track lines, and the at least two track lines extend to the top of the inspection well of the drainage pipe and are electrically connected to an external power supply. The power module includes: A mobile unit, the mobile unit comprising a plurality of rolling feet arranged in a matrix; the number of columns of the plurality of rolling feet is the same as the number of the at least two track lines; the rolling feet in the same column are all rollingly connected to a corresponding one of the track lines; A control unit, used for controlling the rotation or tilt of the plurality of rolling feet, and controlling the plurality of rolling feet to roll or stop on the at least two track lines; A power supply unit is used to draw power from the at least two track lines.

3. The rail robot according to claim 2, characterized in that: The at least two track lines are both bendable tracks; The at least two rail lines are both suspended from the top of the interior of the drainage pipe.

4. The rail robot according to claim 2 or 3, characterized in that: The control unit is also used to determine the real-time position of the track robot in the drainage pipe according to a preset detection path of the drainage pipe, and control the track robot to perform detection in the drainage pipe according to the real-time position.

5. The rail robot according to claim 4, characterized in that: The sensing module is also equipped with at least one of a plurality of detachable sensing devices, each of which is used to collect environmental information of the defect; the plurality of detachable sensing devices include a thermometer, a hygrometer and a gas detector; The perception module is specifically used to control the camera, the sonar radar, the laser radar, and at least one of the detachable perception devices carried thereon to perform synchronous measurement.

6. A drainage pipe detection system, characterized in that: The drainage pipe detection system includes: A drainage pipe, a suspended transport track arranged inside the drainage pipe, and a track robot as described in any one of claims 1 to 5 that moves on the suspended transport track.

7. The drainage pipe detection system according to claim 6, characterized in that: The drainage pipe detection system also includes: a data processing server; The suspended transport track includes at least two track lines, and the at least two track lines extend to the top of the inspection well of the drainage pipe and are communicatively connected with the data processing server; The track robot is communicatively connected with the data processing server via the at least two track lines; The data processing server is used to generate an inspection report of the drainage pipe based on the inner wall image and health status index of the drainage pipe collected by the track robot, as well as the size information, location information and environmental information of the defects of the drainage pipe; wherein the location information is determined based on the real-time position of the track robot in the drainage pipe.

8. A drainage pipe detection method, characterized in that: The method is used for the rail robot according to any one of claims 1 to 5, wherein the rail robot comprises a power module, a perception module and a detection module, and the perception module is equipped with a camera, a sonar radar and a laser radar, and the method comprises: The power module drives the track robot to move inside the drainage pipe, and the perception module controls the camera and the sonar radar to jointly collect the inner wall image of the drainage pipe; When a defect of the drainage pipe is identified according to the inner wall image, the perception module collects size information of the defect through the laser radar; The detection module calculates a health status index of the drainage pipe according to the size information.

9. The method according to claim 8, characterized in that The detection module calculates the health status index of the drainage pipe according to the size information, including: Obtaining location information of the defect; The health status index is calculated according to the position information and the size information through a preset detection specification.

10. The method according to claim 8, characterized in that When no defect of the drainage pipe is identified according to the inner wall image, the method further includes: The inner wall image collected by the camera and the sonar radar is cleared at regular intervals.

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