Pipeline blockage detection system and method based on robot front-end collision feedback

Abstract

The present invention belongs to the field of pipeline detection technology, specifically relating to a pipeline blockage detection system and method based on robot front-end collision feedback. The system comprises a pipeline robot having a control panel fixedly mounted at the front end of the robot, a camera fixedly mounted at the front end of the control panel, a steering assembly assembled in a circular array at the edge of the robot, and a drive mechanism for controlling the robot's rotational operation disposed at one end of the robot; and a front-end obstacle detection assembly having a ring plate integrally mounted on the side wall of the front-end circular frame. The front-end obstacle detection assembly is assembled to the ring plate via screws and is used to detect obstacles in the robot's forward direction. The present invention solves the problem of existing robots being unable to sense whether they are encountering insurmountable obstacles ahead and causing collisions when operating in full water, while also providing suitable obstacle avoidance features.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline detection, and in particular relates to a pipeline blockage detection system and method based on robot front-end collision feedback. Background Art

[0002] Pipeline blockage detection is an important part of ensuring the normal operation of the pipeline system. One of the common methods of pipeline blockage detection is to use pipeline robots for pipeline detection. By using equipment such as drones and cameras to automatically inspect the pipeline, the outer surface of the pipeline is checked for damage, leakage, holes and other abnormalities. If any abnormalities are found, maintenance measures are carried out in a timely manner.

[0003] Problems with existing technologies:

[0004] At present, the front-end detection devices of underwater pipeline robots on the market are generally implemented by sonar and camera observation. However, when the water is full of sewage, the camera light source cannot effectively penetrate the water body to detect the front-end situation. The sonar cannot effectively distinguish between obstacles and general suspended floating objects due to the large amount of suspended floating objects in the water body, and cannot effectively detect and perceive the front-end obstacle situation. In addition, for some obstacles, their location is very likely to only block the robot's moving wheel components. At this time, it is only necessary to control the robot to avoid the obstacle to cross the obstacle. However, for this obstacle avoidance situation, existing robots do not have corresponding obstacle avoidance facilities. Summary of the Invention

[0005] The purpose of the present invention is to provide a pipeline blockage detection system and method based on robot front-end collision feedback, which can solve the problem that existing robots are unable to sense whether they encounter insurmountable obstacles in front and collide when operating under full water conditions, and at the same time have appropriate obstacle avoidance settings.

[0006] The technical solutions adopted by the present invention are as follows:

[0007] The pipeline blockage detection system based on robot front-end collision feedback includes:

[0008] Pipeline Robot:

[0009] The outer frame of the pipeline robot consists of an end circular frame and a middle circular frame. The two end circular frames are symmetrically arranged and the middle circular frame is distributed between the two end circular frames. The outer walls of the end circular frames at both ends are rotatably mounted with wheel arms in a circular array, and the ends of the wheel arms are rotatably assembled with a machine wheel 1 for driving the robot to move;

[0010] A control panel is fixedly mounted on the front end of the pipeline robot, and a camera is fixedly mounted on the front end of the control panel. A steering assembly is assembled in a circular array on the edge of the pipeline robot, and the steering assembly is used to control the robot's rotation within the pipeline. A drive mechanism for controlling the robot's rotation is provided at one end of the pipeline robot.

[0011] Front-end obstacle detection component:

[0012] The side wall of the end circular frame at the front end is integrally provided with a ring plate, and the front end obstacle detection component is assembled with the ring plate by screws, and the front end obstacle detection component is used to detect obstacles in the forward direction of the robot.

[0013] The front-end obstacle detection component includes a main mounting plate, and the outer edge of the surface of the main mounting plate is embedded with a strain force sensor in a circular array, and the inner edge of the surface of the main mounting plate is provided with a seat groove in a circular array. Each seat groove is installed with a mounting seat plate by screws, and the surface of the mounting seat plate is assembled with a mounting cover plate by screws. A mounting hole is provided between the mounting seat plate and the corresponding mounting cover plate. The surface of the main mounting plate is assembled with a detection plate in a circular array, and a rotating rod is integrally provided on the inner side of the detection plate, and the rotating rod passes through the corresponding mounting hole.

[0014] The end round frames and the middle round frame are fixedly connected by guide rods and straight rail frames distributed in an array on the edge of the machine body, and the straight rail frames are arranged on the inner sides of the guide rods. The outer surfaces of the guide rods are slidably assembled with sliders, and the surfaces of the sliders are hinged with support arms, and the ends of the support arms are hinged with the middle parts of the wheel arms. The sliders simultaneously form a sliding assembly relationship with the corresponding straight rail frames, and springs are connected between the side walls of the sliders and the side walls of the middle round frame.

[0015] The surface of the slider facing the axis of the body is integrally provided with an inner rod, and the edge of the pipeline robot is assembled with a double-threaded screw in a circular array, and the double-threaded screw is arranged on the inner side of the straight rail frame, and the two ends of the double-threaded screw are respectively rotatably connected to the two end circular frames, and the surfaces of the two ends of the double-threaded screw are screwed with threaded push blocks, the threaded push blocks form a sliding assembly relationship with the corresponding straight rail frames, and the threaded push blocks are used to push the inner rod and the slider to move at the same time.

[0016] The inner wall of the middle round frame is integrally provided with a swivel seat in a circular array, and the swivel seat is rotatably connected to the corresponding double-threaded screw. The middle part of the double-threaded screw is fixedly installed with a gear 1. The inner side of the middle round frame is assembled with a double gear ring through the rotation of the swivel seat, and the gear teeth of the double gear ring on the outer surface are engaged with all gears 1. The edge of the middle round frame is integrally provided with an extension frame in a circular array, and the interior of the end round frame away from the front obstacle detection component is integrally provided with a horizontal plate frame.

[0017] The steering assembly includes a steering shaft, all of which are distributed in a circular array on the edge of the pipeline robot, and the steering shaft is rotatably assembled with the end circular frame and the middle circular frame at the same time. The end of the steering shaft close to the machine wheel 1 is fixedly installed with a gear 2, and both ends of the steering shaft are fixedly installed with a steering arm, the end of the steering arm is assembled with an elastic telescopic part 1, and the end of the elastic telescopic part 1 is rotatably assembled with the machine wheel 2, the inner side of the middle part of the steering arm is rotatably assembled with a transmission shaft, and the middle part of the transmission shaft is fixedly installed with a gear 3, and the two ends of the transmission shaft are connected to the corresponding machine wheel 2 through a sleeved crawler track 1.

[0018] The inner side of the steering arm is assembled with an elastic telescopic part 2, and the end of the elastic telescopic part 2 is assembled with a tension wheel frame that maintains the tension of the track with the help of the elastic force of the elastic telescopic part 2. The inner sides of the two coaxial steering arms are assembled with a drive shaft that rotates together, and both ends of the drive shaft are fixedly installed with gear 4, which is engaged with the adjacent gear 3. Gear 5 is fixedly installed on the end of the drive shaft close to the wheel 1.

[0019] The driving mechanism includes a servo motor, a power shaft and a cylinder. The servo motor is fixedly installed on one side of the horizontal plate frame. The power shaft is distributed in a circular array on the edge of the pipeline robot. The cylinder is fixedly installed in the middle of the surface of the horizontal plate frame, and the cylinders are rotatably assembled on the inner side of the corresponding extension frame. The output end of the servo motor is fixedly connected to one of the power shafts. A sprocket is installed at one end of the three power shafts, and the three power shafts are connected through a sleeved chain transmission.

[0020] Both ends of the power shaft are respectively rotatably assembled with gear six and gear seven, and the outer surface of the middle part of the power shaft is slidably assembled with a double-bevel gear through a slider slot. The side close to gear six and gear seven is fixedly provided with a meshing tooth tube, and the double-bevel gear and the meshing tooth tube at both ends thereof are detachably meshed and connected, the end of the telescopic output end of the cylinder is fixedly connected to a connecting frame, and each branch end of the connecting frame is fixedly connected to a transmission housing.

[0021] The double bevel gears are simultaneously assembled and rotated on one end of the corresponding transmission housing, and the other end of the transmission housing is assembled and rotated with gear 8. The double bevel gears and the adjacent gear 8 are connected to each other through a sleeved crawler belt 2, and the crawler belt 2 is arranged inside the corresponding transmission housing. The gear teeth on the inner surface of the double gear ring are detachably meshed with all gears 8.

[0022] The gear six is ​​meshed with its adjacent gear two, the gear seven is meshed with its adjacent gear five, and when there is only one double bevel gear that is disconnected from the gear six and the gear seven at the same time, the gear eight is in meshing connection with the double gear ring.

[0023] The pipeline blockage detection method based on robot front-end collision feedback has the following specific steps:

[0024] Step 1: Assemble the front-end obstacle detection component at the front end of the pipeline robot, with the disc surface of the front-end obstacle detection component parallel to the flow cross-section of the pipeline;

[0025] Step 2: When the front end of the pipeline robot touches an obstacle, the robot's own forward thrust generates a relative force between the detection plate and the obstacle, causing the detection plate to generate pressure toward the strain sensor. The strain sensor then outputs an electrical signal after receiving the pressure.

[0026] Step 3: After reading the electrical signals actually output by the 14 strain sensors, the control board determines the position of the front obstacle on the circumferential scale of the pipe cross section based on the electrical signal values, and then controls the pipeline robot to perform obstacle avoidance or other operations;

[0027] Step 4: When the pipeline robot performs obstacle avoidance maneuvers, it first controls the meshing of the double-bevel gears with the corresponding gear six through a pneumatic cylinder. The servo motor then rotates the power shaft, which in turn drives the steering shafts. The steering arms then rotate and deploy from the body until wheel two is in close contact with the inner wall of the pipeline.

[0028] Step 5: The cylinder controls each double-bevel gear to simultaneously disconnect from the corresponding gear six and gear seven, and gear eight is meshed with the double gear ring. The servo motor then rotates gear eight, thereby driving the double gear ring to rotate. Each double-threaded screw then rotates, and the threaded push blocks at both ends move toward each other. The threaded push blocks drive each slider to move, thereby retracting each wheel one.

[0029] Step 6: The cylinder controls each double-bevel gear to engage with the corresponding gear seven, and then the servo motor rotates the power shaft to drive the drive shaft to rotate, and finally the crawler track drives the wheel two to rotate against the wall, thereby completing the task of the rotating pipeline robot to avoid obstacles.

[0030] The technical effects achieved by the present invention are:

[0031] The front-end obstacle detection component in the present invention can solve the problem that existing underwater pipeline robots are unable to sense whether the robot encounters an insurmountable obstacle and collides in the forward direction when operating under full water conditions. By detecting the front-end collision, the underwater pipeline robot can detect obstacles in the forward direction.

[0032] The steering assembly in the present invention can simultaneously control the rotation and deployment of each steering arm, and then control the second wheel to rotate against the wall, so that the robot can rotate around the axis of the body, and the deployed wheel arms can bypass obstacles to achieve the effect of obstacle avoidance.

[0033] The drive mechanism of the present invention can simultaneously complete the recovery and deployment of the first wheel, the recovery and deployment of the steering arm, and the rotation and obstacle avoidance of the pipeline robot, while optimizing the number of electrical equipment input as much as possible. Only two devices are needed to control the robot to complete multiple actions. The structure is compact and fully optimizes the internal space utilization of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a main structural diagram of a blockage detection system provided by an embodiment of the present invention;

[0035] Figure 2 is a side structural diagram of a blockage detection system provided by an embodiment of the present invention;

[0036] Figure 3 is a structural diagram of a front-end obstacle detection component provided by an embodiment of the present invention;

[0037] Figure 4 This is a diagram of the combined structure of the mounting base plate and the mounting cover plate provided in an embodiment of the present invention;

[0038] Figure 5 is an installation structure diagram of a single steering assembly provided by an embodiment of the present invention;

[0039] Figure 6 is an architectural diagram of a half-pipeline robot provided by an embodiment of the present invention;

[0040] Figure 7 is a disassembled diagram of a single steering assembly provided by an embodiment of the present invention;

[0041] Figure 8 is a structural diagram of a single steering assembly provided by an embodiment of the present invention;

[0042] Figure 9 is a structural diagram of a driving mechanism provided by an embodiment of the present invention;

[0043] Figure 10 This is a disassembled diagram of the power shaft and double bevel gear provided in an embodiment of the present invention.

[0044] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0045] 1. Pipeline robot; 101. End round frame; 102. Middle round frame; 103. Ring plate; 104. Guide rod; 105. Straight rail frame; 106. Wheel arm; 107. Machine wheel 1; 108. Slider; 109. Support arm; 110. Spring; 111. Inner rod; 112. Double-threaded screw; 113. Threaded push block; 114. Gear 1; 115. Rotating seat; 116. Double gear ring; 117. Extension frame; 118. Cross plate frame; 2. Front obstacle detection assembly; 201. Main mounting plate; 202. Seat groove; 203. Strain force sensor; 204. Mounting plate; 205. Mounting cover; 206. Mounting hole; 207. Detection plate; 208. Rotating center Rod; 3. Control panel; 4. Camera; 5. Steering assembly; 501. Steering shaft; 502. Steering arm; 503. Gear 2; 504. Elastic telescopic part 1; 505. Wheel 2; 506. Transmission shaft; 507. Track 1; 508. Gear 3; 509. Drive shaft; 510. Gear 4; 511. Gear 5; 512. Tension wheel frame; 513. Elastic telescopic part 2; 6. Driving mechanism; 601. Servo motor; 602. Power shaft; 603. Cylinder; 604. Chain; 605. Gear 6; 606. Gear 7; 607. Double bevel gear; 608. Connecting frame; 609. Transmission housing; 610. Gear 8; 611. Track 2. DETAILED DESCRIPTION

[0046] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is described in detail below with reference to the following examples. It should be understood that the following text is only used to describe one or more specific embodiments of the present invention and does not strictly limit the scope of protection of the present invention.

[0047] like Figures 1-10 As shown, the pipeline blockage detection system based on robot front-end collision feedback includes: a pipeline robot 1, a front-end obstacle detection component 2, a control board 3 is fixedly installed at the front end of the pipeline robot 1, and a camera 4 is fixedly installed at the front end of the control board 3, a steering component 5 is assembled in a ring array at the edge of the pipeline robot 1, and the steering component 5 is used to control the robot to rotate in the pipeline, and a driving mechanism 6 for controlling the rotation operation of the robot is provided at one end of the pipeline robot 1.

[0048] Refer to the attached Figure 2 、 Figure 5-Figure 6 The outer frame of the pipeline robot 1 consists of an end frame 101 and a middle frame 102. The two end frames 101 are symmetrically arranged and the middle frame 102 is distributed between the two end frames 101. The outer walls of the end frames 101 at both ends are rotatably mounted with wheel arms 106 in a circular array, and the ends of the wheel arms 106 are rotatably assembled with a wheel 107 for driving the robot to move.

[0049] Refer to the attached Figure 5-Figure 6 The end circular frame 101 and the middle circular frame 102 are fixedly connected by guide rods 104 and straight rail frames 105 distributed in an array on the edge of the body, and the straight rail frames 105 are arranged on the inner side of the guide rods 104. The outer surface of the guide rods 104 is slidably assembled with sliders 108. The surface of the sliders 108 is hinged with support arms 109, and the end of the support arms 109 is hinged to the middle part of the wheel arm 106. The sliders 108 also form a sliding assembly relationship with the corresponding straight rail frames 105, and springs 110 are connected between the side walls of the sliders 108 and the side walls of the middle circular frame 102.

[0050] According to the above structure, after the pipeline robot 1 is placed in the pipeline, each wheel arm 106 is unfolded, and the elastic force of the spring 110 pushes the slider 108 to drive each wheel arm 106 to fully unfold, ensuring that the wheel 107 is close to the inner wall of the pipeline. This structure is a prior art and will not be described in detail here.

[0051] Refer to the attached Figure 5-Figure 6 , the surface of the slider 108 facing the axis of the body is integrally provided with an inner rod 111, and the edge of the pipeline robot 1 is rotatably assembled with a double-threaded screw 112 in a circular array, and the double-threaded screw 112 is arranged on the inner side of the straight rail frame 105, and the two ends of the double-threaded screw 112 are respectively rotatably connected to the two end round frames 101, and the surfaces of the two ends of the double-threaded screw 112 are screwed with threaded push blocks 113, and the threaded push blocks 113 form a sliding assembly relationship with the corresponding straight rail frame 105, and the threaded push blocks 113 are used to push the inner rod 111 and the slider 108 to move;

[0052] Refer to the attached Figure 5-Figure 6 The inner wall of the middle frame 102 is integrally provided with a swivel seat 115 in a circular array, and the swivel seat 115 is rotatably connected to the corresponding double-threaded screw 112. A gear 114 is fixedly installed in the middle of the double-threaded screw 112. The inner side of the middle frame 102 is rotatably assembled with a double gear ring 116 through the swivel seat 115, and the gear teeth of the double gear ring 116 on the outer surface are engaged with all gears 114. The edge of the middle frame 102 is integrally provided with an extension frame 117 in a circular array, and the interior of the end frame 101 away from the front obstacle detection component 2 is integrally provided with a horizontal plate frame 118.

[0053] According to the above structure, after the double gear ring 116 is driven to rotate, the gear 114 meshing with the gear teeth on its outer surface will rotate together with the corresponding double-threaded screw 112, and the threaded push blocks 113 located at both ends of the double-threaded screw 112 will move towards each other. When the threaded push block 113 approaches the corresponding slider 108, the inner rod 111 is immediately placed on the inner side of the surface of the threaded push block 113, and the slider 108 will eventually follow the movement, and then the work of recovering the wheel arm 106 and the machine wheel 1 107 can be achieved by the involvement of the support arm 109.

[0054] Example 1:

[0055] Refer to the attached Figure 3-Figure 4 , the side wall of the end circular frame 101 at the front end is integrally provided with a ring plate 103, the front end obstacle detection component 2 is assembled with the ring plate 103 by screws, and the front end obstacle detection component 2 is used to detect obstacles in the forward direction of the robot, and the front end obstacle detection component 2 includes a main mounting plate 201, and the outer edge of the surface of the main mounting plate 201 is embedded with a strain force sensor 203 in a ring array, and the inner edge of the surface of the main mounting plate 201 is provided with a seat groove 202 in a ring array, each seat groove 202 is fixed with a mounting seat plate 204 by screws, and the surface of the mounting seat plate 204 is assembled with a mounting cover plate 205 by screws, and a mounting hole 206 is provided between the mounting seat plate 204 and the corresponding mounting cover plate 205, and the surface of the main mounting plate 201 is assembled with a detection plate 207 in a ring array, and the inner side of the detection plate 207 is integrally provided with a rotating rod 208, and the rotating rod 208 passes through the corresponding mounting hole 206.

[0056] According to the above structure, the front-end obstacle detection component 2 is assembled at the front end of the pipeline robot 1, and the disc surface of the front-end obstacle detection component 2 is parallel to the flow cross-section of the pipeline. When the pipeline robot 1 moves in the pipeline, when its front end contacts an obstacle, the robot itself pushes forward, and a relative force occurs between the detection plate 207 and the obstacle, causing the detection plate 207 to generate pressure in the direction of the strain force sensor 203. After receiving the pressure, the strain force sensor 203 outputs an electrical signal. After reading the electrical signals actually output by the 14 strain force sensors 203, the control board 3 determines the position of the front-end obstacle in the circular division of the pipeline cross-section according to the electrical signal value, and then controls the pipeline robot 1 to perform obstacle avoidance or other operations. The above process solves the problem that the existing underwater pipeline robot 1 cannot sense whether the robot encounters an insurmountable obstacle and collides in the forward direction under full water operation conditions. By detecting the front-end collision, the underwater pipeline robot can detect obstacles in the forward direction.

[0057] Example 2:

[0058] Refer to the attached Figure 7-Figure 8The steering assembly 5 includes a steering shaft 501. All steering shafts 501 are distributed in a circular array on the edge of the pipeline robot 1, and the steering shaft 501 is rotatably assembled with the end frame 101 and the middle frame 102. A gear 2 503 is fixedly installed at one end of the steering shaft 501 close to the wheel 1 107. Steering arms 502 are fixedly installed at both ends of the steering shaft 501. The ends of the steering arms 502 are assembled with elastic telescopic parts 1 504, and the ends of the elastic telescopic parts 1 504 are rotatably assembled with wheel 2 505. A transmission shaft 506 is rotatably assembled on the inner side of the middle part of the steering arm 502, and a gear 3 508 is fixedly installed on the middle part of the transmission shaft 506. The two ends of the transmission shaft 506 are connected to the corresponding wheel 2 505 through a sleeved crawler track 1 507.

[0059] Refer to the attached Figure 7-Figure 8 The inner side of the steering arm 502 is assembled with an elastic telescopic part 2 513, and the end of the elastic telescopic part 2 513 is assembled with a tension wheel frame 512 which maintains the tension of the track 1 507 with the help of the elastic force of the elastic telescopic part 2 513. The inner sides of the two coaxial steering arms 502 are assembled with a drive shaft 509 that rotates together, and both ends of the drive shaft 509 are fixedly installed with a gear 4 510, which is engaged with its adjacent gear 3 508, and the end of the drive shaft 509 close to the wheel 107 is fixedly installed with a gear 511.

[0060] According to the above structure, when the steering shaft 501 is driven to rotate, each steering arm 502 is immediately rotated and unfolded from the body until the wheel 2 505 is close to the inner wall of the pipe. At this time, the setting of the elastic telescopic member 1 504 is used to ensure that the wheel 2 505 is close to the inner wall of the pipe; when the elastic telescopic member 1 504 undergoes telescopic movement, the elastic telescopic member 2 513 adaptively undergoes telescopic movement to ensure the tension of the track 1 507; when the drive shaft 509 is driven to rotate, the corresponding transmission shaft 506 is driven to rotate through the engagement of gear 4 510 and gear 3 508, and then the track 1 507 drives the wheel 2 505 to rotate against the wall, and finally the pipeline robot 1 will rotate around the axis of the body. The above process, by simultaneously controlling the rotation and unfolding of each steering arm 502, and then controlling the wheel 2 505 to rotate against the wall, can enable the robot to rotate around the axis of the body, and can enable the unfolded wheel arm 106 to bypass obstacles and achieve the effect of obstacle avoidance.

[0061] Example 3:

[0062] Refer to the attached Figure 9-10The driving mechanism 6 includes a servo motor 601, a power shaft 602 and a cylinder 603. The servo motor 601 is fixedly installed on one side of the horizontal plate frame 118. The power shaft 602 is distributed in a ring array on the edge of the inside of the pipeline robot 1. The cylinder 603 is fixedly installed in the middle of the surface of the horizontal plate frame 118, and the cylinders 603 are respectively rotatably assembled on the inner side of the corresponding extension frame 117. The output end of the servo motor 601 is fixedly connected to one of the power shafts 602. A sprocket is installed at one end of the three power shafts 602, and the three power shafts 602 are connected through a sleeve chain 604.

[0063] Refer to the attached Figure 9-10 , both ends of the power shaft 602 are respectively assembled with gear six 605 and gear seven 606, and the outer surface of the middle part of the power shaft 602 is slidably assembled with a double-bevel gear 607 through a slider groove. The side close to gear six 605 and gear seven 606 is fixedly provided with a meshing tooth tube, and the double-bevel gear 607 and the meshing tooth tubes at both ends thereof are detachably meshed and connected. The end of the telescopic output end of the cylinder 603 is fixedly connected to a connecting frame 608, and each branch end of the connecting frame 608 is fixedly connected to a transmission housing 609.

[0064] Refer to the attached Figure 9-10 The double-bevel gear 607 is simultaneously assembled and rotated on one end of the corresponding transmission housing 609. The other end of the transmission housing 609 is assembled and rotated with the gear eight 610. The double-bevel gear 607 and its adjacent gear eight 610 are connected by a sleeved track two 611, and the track two 611 is set inside the corresponding transmission housing 609. The gear teeth on the inner surface of the double gear ring 116 are detachably meshed with all the gear eights 610.

[0065] Refer to the attached Figure 9-10 , gear six 605 is meshed with its adjacent gear two 503, gear seven 606 is meshed with its adjacent gear five 511, and when only the double-bevel gear 607 is disconnected from both gear six 605 and gear seven 606, gear eight 610 is in meshed connection with the double gear ring 116.

[0066] According to the above structure, the control cylinder 603 is extended and retracted, and all the transmission housings 609, double-bevel gears 607 and gear eight 610 are driven to move together through the connecting frame 608. When the double-bevel gear 607 is meshed and connected with the corresponding gear six 605, the servo motor 601 is started to rotate all the power shafts 602 together. Since the gear six 605 is meshed with the corresponding gear two 503, each steering shaft 501 rotates at the same time, and each steering arm 502 is then rotated and unfolded from the body until the wheel two 505 is close to the inner wall of the pipe; when the double-bevel gear 607 is disconnected from the corresponding gear six 605 and gear seven 606 at the same time, but the gear eight 610 is meshed and connected with the double gear ring 116, the servo motor 601 is used to make the power shaft 602, the double-bevel gear Wheel 607 drives gear eight 610 to rotate through track two 611, eventually causing the double gear ring 116 to rotate, thereby controlling the recovery or deployment of wheel one 107; when the double-bevel gear 607 is meshed and connected with the corresponding gear seven 606, the servo motor 601 is used to rotate the power shaft 602. Since gear seven 606 is meshed with the corresponding gear five 511, the rotation of wheel two 505 is controlled. In the above process, the drive mechanism 6 can simultaneously complete the recovery and deployment of wheel one 107, the recovery and deployment of the steering arm 502, and the rotation and obstacle avoidance of the pipeline robot 1, thereby optimizing the number of electrical equipment input as much as possible. Only two devices are needed to control the robot to complete multiple actions. The structure is compact and the internal space utilization of the robot is fully optimized.

[0067] The working principle of the present invention is as follows: For the specific process, refer to the blockage detection method below.

[0068] The pipeline blockage detection method based on robot front-end collision feedback has the following specific steps:

[0069] Step 1: Assemble the front-end obstacle detection component 2 at the front end of the pipeline robot 1, with the disc surface of the front-end obstacle detection component 2 parallel to the flow cross-section of the pipeline;

[0070] Step 2: When the front end of the pipeline robot 1 contacts an obstacle, the robot's own forward thrust generates a relative force between the detection plate 207 and the obstacle, causing the detection plate 207 to exert pressure toward the strain sensor 203. The strain sensor 203 outputs an electrical signal after receiving the pressure.

[0071] Step 3: After reading the electrical signals actually output by the 14 strain sensors 203, the control board 3 determines the position of the front obstacle on the circumferential scale of the pipeline cross section based on the electrical signal values, and then controls the pipeline robot 1 to perform obstacle avoidance or other operations;

[0072] Step 4: When the pipeline robot 1 performs an obstacle avoidance maneuver, the cylinder 603 first controls each double-bevel gear 607 to mesh with the corresponding gear six 605. The servo motor 601 then rotates the power shaft 602, which in turn drives the steering shafts 501 to rotate. The steering arms 502 then rotate and deploy from the body until the second wheel 505 is in close contact with the inner wall of the pipeline.

[0073] Step 5: The cylinder 603 controls each of the double-bevel gears 607 to simultaneously disconnect from the corresponding gear six 605 and gear seven 606. The gear eight 610 engages with the double gear ring 116. The servo motor 601 then rotates the gear eight 610, thereby driving the double gear ring 116 to rotate. The double-threaded screws 112 then rotate, and the threaded push blocks 113 at both ends move toward each other. The threaded push blocks 113 drive the sliders 108 to move, thereby retracting the wheels 107.

[0074] Step 6: The cylinder 603 controls each double-bevel gear 607 to engage with the corresponding gear seven 606, and then the servo motor 601 rotates the power shaft 602 to drive the drive shaft 509 to rotate, and finally the crawler track 1 507 drives the wheel 2 505 to rotate against the wall, thereby completing the obstacle avoidance work of the rotating pipeline robot 1.

[0075] The foregoing is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art may make various improvements and modifications without departing from the principles of the present invention, and such improvements and modifications are also within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described or explained herein shall, unless otherwise specified or limited, be implemented in accordance with conventional means in the art.

Claims

1. The pipeline blockage detection system based on robot front-end collision feedback is characterized by: include: Pipeline Robot (1): The outer frame of the pipeline robot (1) is composed of an end circular frame (101) and a middle circular frame (102), the two end circular frames (101) are symmetrically arranged and the middle circular frame (102) is distributed between the two end circular frames (101), and the outer walls of the end circular frames (101) at both ends are rotatably mounted with wheel arms (106) in a circular array, and the ends of the wheel arms (106) are rotatably assembled with a machine wheel (107) for driving the robot to move; A control panel (3) is fixedly mounted on the front end of the pipeline robot (1), and a camera (4) is fixedly mounted on the front end of the control panel (3). A steering assembly (5) is assembled in a circular array at the edge of the pipeline robot (1), and the steering assembly (5) is used to control the robot to rotate in the pipeline. A driving mechanism (6) for controlling the rotation of the robot is provided at one end of the pipeline robot (1). Front-end obstacle detection component (2): A ring plate (103) is integrally provided on the side wall of the end circular frame (101) at the front end, the front end obstacle detection component (2) is assembled with the ring plate (103) by screws, and the front end obstacle detection component (2) is used to detect obstacles in the forward direction of the robot; The steering assembly (5) includes a steering shaft (501), all of the steering shafts (501) are distributed in a circular array at the edge of the pipeline robot (1), and the steering shafts (501) are rotatably assembled with the end frame (101) and the middle frame (102), one end of the steering shaft (501) close to the machine wheel one (107) is fixedly installed with a gear two (503), both ends of the steering shaft (501) are fixedly installed with a steering arm (502), the ends of the steering arms (502) are assembled with an elastic telescopic member one (504), and the ends of the elastic telescopic member one (504) are rotatably assembled with the machine wheel two (505), the inner side of the middle part of the steering arm (502) is rotatably assembled with a transmission shaft (506), and the middle part of the transmission shaft (506) is fixedly installed with a gear three (508), and the two ends of the transmission shaft (506) are connected to the corresponding machine wheel two (505) through a sleeved crawler track one (507); The inner side of the steering arm (502) is assembled with an elastic telescopic part 2 (513), and the end of the elastic telescopic part 2 (513) is assembled with a tension wheel frame (512) for maintaining the tension of the track 1 (507) by means of the elastic force of the elastic telescopic part 2 (513). The inner sides of the two coaxial steering arms (502) are assembled with a drive shaft (509) for common rotation, and both ends of the drive shaft (509) are fixedly installed with a gear 4 (510), and the gear 4 (510) is meshed with its adjacent gear 3 (508). The end of the drive shaft (509) close to the wheel 1 (107) is fixedly installed with a gear 5 (511).

2. The pipeline blockage detection system based on robot front-end collision feedback according to claim 1 is characterized in that: The front-end obstacle detection component (2) comprises a main mounting plate (201), a strain force sensor (203) is embedded and installed in a circular array on the outer edge of the surface of the main mounting plate (201), a seat groove (202) is provided in a circular array on the inner edge of the surface of the main mounting plate (201), each seat groove (202) is installed with a mounting seat plate (204) by screws, and a mounting cover plate (205) is assembled on the surface of the mounting seat plate (204) by screws, a mounting hole (206) is provided between the mounting seat plate (204) and the corresponding mounting cover plate (205), a detection plate (207) is assembled in a circular array on the surface of the main mounting plate (201), a rotating rod (208) is integrally provided on the inner side of the detection plate (207), and the rotating rod (208) passes through the corresponding mounting hole (206).

3. The pipeline blockage detection system based on robot front-end collision feedback according to claim 2 is characterized in that: The end round frame (101) and the middle round frame (102) are fixedly connected by guide rods (104) and straight rail frames (105) distributed in an array on the edge of the machine body, and the straight rail frames (105) are arranged on the inner side of the guide rods (104). The outer surface of the guide rods (104) is slidably assembled with sliders (108), the surface of the sliders (108) is hinged with support arms (109), and the ends of the support arms (109) are hinged with the middle part of the wheel arms (106). The sliders (108) simultaneously form a sliding assembly relationship with the corresponding straight rail frames (105), and springs (110) are connected between the side walls of the sliders (108) and the side walls of the middle round frame (102); The surface of the slider (108) facing the axis of the machine body is integrally provided with an inner rod (111), and the edge of the pipeline robot (1) is rotatably assembled with a double-threaded screw (112) in a circular array, and the double-threaded screw (112) is arranged on the inner side of the straight rail frame (105), and the two ends of the double-threaded screw (112) are respectively rotatably connected to the two end circular frames (101), and the surfaces of the two ends of the double-threaded screw (112) are both screwed with threaded push blocks (113), and the threaded push blocks (113) form a sliding assembly relationship with the corresponding straight rail frame (105), and the threaded push blocks (113) are used to push the inner rod (111) and the slider (108) to move.

4. The pipeline blockage detection system based on robot front-end collision feedback according to claim 3 is characterized in that: The inner wall of the middle frame (102) is integrally provided with a rotating seat (115) in an annular array, and the rotating seat (115) is rotatably connected to the corresponding double-threaded screw (112), and the middle of the double-threaded screw (112) is fixedly installed with a gear one (114), and the inner side of the middle frame (102) is rotatably assembled with a double gear ring (116) through the rotating seat (115), and the gear teeth of the double gear ring (116) on the outer surface are meshed with all gear ones (114), and the edge of the middle frame (102) is integrally provided with an extension frame (117) in an annular array, and the interior of the end frame (101) away from the front obstacle detection component (2) is integrally provided with a horizontal plate frame (118).

5. The pipeline blockage detection system based on robot front-end collision feedback according to claim 4 is characterized in that: The driving mechanism (6) includes a servo motor (601), a power shaft (602) and a cylinder (603), wherein the servo motor (601) is fixedly mounted on one side of the transverse frame (118), and the power shaft (602) is distributed in a circular array on the edge of the interior of the pipeline robot (1), and the cylinder (603) is fixedly mounted on the middle part of the surface of the transverse frame (118), and the cylinder (603) is respectively rotatably assembled on the inner side of the corresponding extension frame (117), and the output end of the servo motor (601) is fixedly connected to one of the power shafts (602), and one end of each of the three power shafts (602) is equipped with a sprocket, and the three power shafts (602) are connected by a sleeve chain (604).

6. The pipeline blockage detection system based on robot front-end collision feedback according to claim 5 is characterized in that: Both ends of the power shaft (602) are respectively rotatably assembled with gear six (605) and gear seven (606), and the outer surface of the middle part of the power shaft (602) is slidably assembled with a double-bevel gear (607) by means of a slider slot. The sides of the gear six (605) and the gear seven (606) close to each other are fixedly provided with meshing tooth tubes, and the double-bevel gear (607) and the meshing tooth tubes located at both ends thereof are detachably meshed and connected. The end of the telescopic output end of the cylinder (603) is fixedly connected with a connecting frame (608), and each branch end of the connecting frame (608) is fixedly connected with a transmission housing (609).

7. The pipeline blockage detection system based on robot front-end collision feedback according to claim 6 is characterized in that: The double bevel gear (607) is simultaneously assembled and rotated on one end of the corresponding transmission housing (609), and the other end of the transmission housing (609) is assembled and rotated with a gear eight (610). The double bevel gear (607) and its adjacent gear eight (610) are connected to each other through a sleeved track two (611), and the track two (611) is arranged inside the corresponding transmission housing (609). The gear teeth on the inner surface of the double gear ring (116) are detachably meshed with all the gear eights (610); The gear six (605) is meshed with its adjacent gear two (503), the gear seven (606) is meshed with its adjacent gear five (511), and when only the double-bevel gear (607) is disconnected from the gear six (605) and the gear seven (606) at the same time, the gear eight (610) is in a meshed connection state with the double gear ring (116).

8. A pipeline blockage detection method based on robot front end collision feedback, for use with the pipeline blockage detection system based on robot front end collision feedback as claimed in claim 7, characterized in that: The specific steps are as follows: Step 1: The front-end obstacle detection component (2) is assembled at the front end of the pipeline robot (1), and the disc surface of the front-end obstacle detection component (2) is parallel to the flow cross section of the pipeline; Step 2: When the front end of the pipeline robot (1) contacts an obstacle, due to the forward thrust of the robot itself, a relative force occurs between the detection plate (207) and the obstacle, causing the detection plate (207) to generate pressure in the direction of the strain sensor (203). The strain sensor (203) outputs an electrical signal after receiving the pressure. Step 3: After reading the electrical signals actually output by the 14 strain sensors (203), the control board (3) determines the position of the front obstacle on the circumferential scale of the pipe cross section based on the electrical signal value, and then controls the pipe robot (1) to perform obstacle avoidance or other operations; Step 4: When the pipeline robot (1) performs the obstacle avoidance action, it first controls each double-bevel gear (607) to engage with the corresponding gear six (605) through the cylinder (603), and then drives the power shaft (602) to rotate through the servo motor (601) to drive each steering shaft (501) to rotate, and each steering arm (502) is then rotated and unfolded from the body until the second wheel (505) is in close contact with the inner wall of the pipeline; Step 5: The cylinder (603) controls each double bevel gear (607) to be disconnected from the corresponding gear six (605) and gear seven (606) at the same time, and the gear eight (610) is meshed and connected with the double gear ring (116). Then, the servo motor (601) is used to rotate the gear eight (610) and drive the double gear ring (116) to rotate. Each double-threaded screw (112) then rotates and the threaded push blocks (113) at both ends thereof move toward each other. The threaded push blocks (113) drive each slider (108) to move and thus recycle each wheel one (107); Step 6: The cylinder (603) is used to control each double-bevel gear (607) to mesh with the corresponding gear seven (606), and then the servo motor (601) is used to rotate the power shaft (602) to drive the drive shaft (509) to rotate, and finally the crawler track (507) is used to drive the wheel two (505) to rotate against the wall, thereby completing the task of the rotating pipeline robot (1) to avoid obstacles.

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