Tap water pipeline detection robot

Abstract

The invention discloses a tap water pipeline detection robot, belongs to the technical field of detection robots, and aims to solve the problems that existing detection equipment is not flexible enough in a pipeline, low in detection precision, poor in stability and low in working efficiency, the detection robot provided by the invention comprises a camera module, a direction control mechanism, a zero-buoyancy cabin and a driving mechanism, the camera module, the direction control mechanism, the zero-buoyancy cabin and the driving mechanism are sequentially arranged from head to tail in the axis extending direction of the detection robot, the camera module is installed at one end of the direction control mechanism, the direction control mechanism is installed at one end of the zero-buoyancy cabin, and the zero-buoyancy cabin is installed at one end of the driving mechanism. The detection robot is mainly used for detection in the tap water pipeline.

Description

Technical Field

[0001] The present invention belongs to the technical field of inspection robots, and particularly relates to a tap water pipeline inspection robot. Background Art

[0002] Due to the improvement of people's living conditions, the water demand in each area is increasing, bringing a great load to the urban water supply pipelines. At present, the water supply system and drainage pipe system in our country can operate normally, and the water supply pipelines undertake the important task of water supply. However, after being used for many years, the water supply pipelines are prone to leakage. Pipeline leakage will cause waste of resources, property losses, seriously affect the water conveyance efficiency, and even endanger the water use safety of residents.

[0003] However, the urban water supply pipelines are generally buried underground. In view of the above situation, it is necessary to regularly detect and maintain the water supply pipelines. However, due to the limitations of the pipe orifice diameter size and the environment where the pipe body is located, it is very difficult for people to enter the pipeline for maintenance. At present, for the detection of pipeline network leakage under various working conditions, the traditional water supply pipeline detection methods mainly include manual inspection method, hand-held leak detection rod detection method, electronic amplification leak detection method, correlation analysis method, ground penetrating radar leak detection method, fiber optic sensing technology method, transient flow detection method and other technologies. The existing detection equipment is not flexible enough in the pipeline, with low detection accuracy, poor stability and low working efficiency. Summary of the Invention

[0004] The present invention aims to solve the problems of the existing detection equipment being not flexible enough in the pipeline, with low detection accuracy, poor stability and low working efficiency, and further provides a tap water pipeline inspection robot;

[0005] A tap water pipeline inspection robot, the inspection robot includes a camera module, a direction control mechanism, a zero-buoyancy cabin and a driving mechanism. The camera module, the direction control mechanism, the zero-buoyancy cabin and the driving mechanism are arranged in sequence from the head to the tail along the axial extension direction of the inspection robot. The camera module is installed at one end of the direction control mechanism, the direction control mechanism is installed at one end of the zero-buoyancy cabin, and the zero-buoyancy cabin is installed at one end of the driving mechanism;

[0006] Further, the camera module includes a camera and a camera connection seat. The camera is installed at one end of the direction control mechanism through the camera connection seat, and the camera and the camera connection seat are detachably connected by a buckle;

[0007] Further, the camera module further includes a lighting lamp. The lighting lamp is an annular lighting lamp. The lighting lamp is sleeved on the shooting end of the camera, and the lighting lamp is detachably connected to the camera connection seat;

[0008] Further, the direction control mechanism includes a vertical propeller thruster, a horizontal lateral propeller thruster, and a support frame. The support frame is installed at one end of the zero-buoyancy cabin. The vertical propeller thruster and the horizontal lateral propeller thruster are both installed in the support frame. The axis of the vertical propeller thruster is perpendicular to the axis of the support frame from top to bottom, and the axis of the horizontal lateral propeller thruster is perpendicular to the axis of the support frame from front to back. The camera module is installed at the end of the support frame away from the zero-buoyancy cabin.

[0009] Further, the vertical propeller thruster is arranged close to the camera module, and the horizontal lateral propeller thruster is arranged close to the zero-buoyancy cabin.

[0010] Further, the zero-buoyancy cabin includes a hydrophone, an attitude sensor, an angle sensor, and a buoyancy cabin body. The support frame is installed at one end of the buoyancy cabin body. The other end of the buoyancy cabin body is installed on the driving mechanism. The hydrophone, the attitude sensor, and the angle sensor are all installed inside the zero-buoyancy cabin, and the hydrophone is installed at the end of the zero-buoyancy cabin close to the support frame.

[0011] Further, a control module is also installed in the buoyancy cabin body. The signal input end of the control module is connected to the signal output ends of the attitude sensor and the angle sensor through wires. The signal output end of the control module is connected to the signal input ends of the vertical propeller thruster, the horizontal lateral propeller thruster, and the driving mechanism through wires.

[0012] Further, the driving mechanism includes a first coaxial bidirectional propeller thruster, a second coaxial bidirectional propeller thruster, and a fixing frame. The fixing frame is installed at the other end of the buoyancy cabin body. The first coaxial bidirectional propeller thruster and the second coaxial bidirectional propeller thruster are both installed in the fixing frame. The signal input ends of the first coaxial bidirectional propeller thruster and the second coaxial bidirectional propeller thruster are both connected to the signal output end of the control module through wires.

[0013] Further, the blade rotation direction of the first coaxial bidirectional propeller thruster is opposite to that of the second coaxial bidirectional propeller thruster.

[0014] Further, a watertight interface is provided at the end of the fixing frame away from the zero-buoyancy cabin.

[0015] The beneficial effects of this application compared with the prior art:

[0016] The present invention provides a tap water pipeline detection robot. By setting up a camera module, pipeline image information can be collected more clearly, and the shape inside the pipeline can be better detected through a hydrophone. By setting up a direction control mechanism and a driving mechanism, up and down floating, forward, backward, and left and right turning can be achieved, improving the mobility and working efficiency of the pipeline detection robot. Compared with the existing water pipe detection equipment, this application has the technical characteristics of simple structure, easy control, and high movement stability, effectively solving the problems of low detection accuracy, poor stability, and low working efficiency existing in the existing pipeline robots when completing underwater detection tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the overall structure of the tap water pipeline detection robot described in this application;

[0018] Figure 2 is an axonometric view (side view) of the tap water pipeline detection robot described in this application;

[0019] Figure 3 is an axonometric view (front view) of the tap water pipeline detection robot described in this application;

[0020] Figure 4 is an axonometric view (rear view) of the tap water pipeline detection robot described in this application;

[0021] In the figure, 1 is the camera module, 101 is the lighting lamp, 102 is the camera, 2 is the direction control mechanism, 201 is the vertical propeller thruster, 202 is the horizontal transverse propeller thruster, 3 is the zero buoyancy cabin, 301 is the hydrophone, 302 is the attitude sensor, 303 is the angle sensor, 4 is the driving mechanism, 401 is the first coaxial two-way propeller thruster, and 402 is the second coaxial two-way propeller thruster. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] DETAILED DESCRIPTION OF THE EMBODIMENT 1: In combination with Figures 1 to 4 this embodiment is described. In this embodiment, a tap water pipeline detection robot is provided. The detection robot includes a camera module 1, a direction control mechanism 2, a zero buoyancy cabin 3, and a driving mechanism 4. The camera module 1, the direction control mechanism 2, the zero buoyancy cabin 3, and the driving mechanism 4 are arranged in sequence from the head to the tail along the axial extension direction of the detection robot. The camera module 1 is installed at one end of the direction control mechanism 2, the direction control mechanism 2 is installed at one end of the zero buoyancy cabin 3, and the zero buoyancy cabin 3 is installed at one end of the driving mechanism 4.

[0023] DETAILED DESCRIPTION OF THE EMBODIMENT 2: In combination with Figures 1 to 4Describing this embodiment, the difference between this embodiment and the first specific embodiment is that the camera module 1 includes a camera 102 and a camera connection base. The camera 102 is installed on one end of the direction control mechanism 2 through the camera connection base, and the camera 102 and the camera connection base are detachably connected by a buckle. Other components and connection methods are the same as those in the first specific embodiment.

[0024] Specific embodiment three: Combining Figures 1 to 4 Describing this embodiment, the difference between this embodiment and the second specific embodiment is that the camera module 1 further includes a lighting lamp 101. The lighting lamp 101 is an annular lighting lamp. The lighting lamp 101 is sleeved on the shooting end of the camera 102, and the lighting lamp 101 is detachably connected to the camera connection base. Other components and connection methods are the same as those in the second specific embodiment.

[0025] Combining the second specific embodiment and the third specific embodiment, the camera 102 is used to capture images of the water leakage points in the water pipeline and accurately transmit the images to the ground computer. The lighting lamp 101 is used to provide supplementary lighting for the lighting lamp 101 to create a good shooting environment, which is beneficial to ensuring the clarity of the captured images.

[0026] Specific embodiment four: Combining Figures 1 to 4 Describing this embodiment, the difference between this embodiment and the third specific embodiment is that the direction control mechanism 2 includes a vertical propeller thruster 201, a horizontal transverse propeller thruster 202 and a support frame. The support frame is installed on one end of the zero buoyancy tank 3. Both the vertical propeller thruster 201 and the horizontal transverse propeller thruster 202 are installed in the support frame, and the axis of the vertical propeller thruster 201 is vertically arranged from top to bottom perpendicular to the axis of the support frame, and the axis of the horizontal transverse propeller thruster 202 is vertically arranged from front to back perpendicular to the axis of the support frame. The camera module 1 is installed on the end of the support frame away from the zero buoyancy tank 3. Other components and connection methods are the same as those in the third specific embodiment.

[0027] Specific embodiment five: Combining Figures 1 to 4 Describing this embodiment, the difference between this embodiment and the fourth specific embodiment is that the vertical propeller thruster 201 is arranged close to the camera module 1, and the horizontal transverse propeller thruster 202 is arranged close to the zero buoyancy tank 3. Other components and connection methods are the same as those in the fourth specific embodiment.

[0028] As described in Specific Embodiment 4 and Specific Embodiment 5, the present application fine-tunes the movement direction of the inspection robot in the pipeline through the vertical propeller thruster 201 and the horizontal transverse propeller thruster 202. When the robot needs to perform a pitching motion, the vertical propeller thruster 201 works, and the horizontal transverse propeller thruster 202 does not work. When a left-right swinging motion is required, the vertical propeller thruster 201 does not work, and the horizontal transverse propeller thruster 202 works. During the specific image shooting process of the water leakage point in the pipeline, in order to adjust the best shooting angle of the camera module 1, the vertical propeller thruster 201 and the horizontal transverse propeller thruster 202 are manually coordinated to work synchronously.

[0029] Specific Embodiment 6: As described in Figures 1 to 4 this embodiment, the difference between this embodiment and Specific Embodiment 5 is that the zero-buoyancy cabin 3 includes a hydrophone 301, an attitude sensor 302, an angle sensor 303 and a buoyancy cabin body. The support frame body is installed at one end of the buoyancy cabin body, and the other end of the buoyancy cabin body is installed on the driving mechanism 4. The hydrophone 301, the attitude sensor 302 and the angle sensor 303 are all installed inside the zero-buoyancy cabin 3, and the hydrophone 301 is installed at one end of the zero-buoyancy cabin 3 close to the support frame body. Other components and connection methods are the same as those in Specific Embodiment 5.

[0030] Specific Embodiment 7: As described in Figures 1 to 4 this embodiment, the difference between this embodiment and Specific Embodiment 6 is that a control module is also installed in the buoyancy cabin body. The signal input end of the control module is connected to the signal output end of the attitude sensor 302 and the signal output end of the angle sensor 303 through wires. The signal output end of the control module is connected to the signal input end of the vertical propeller thruster 201, the signal input end of the horizontal transverse propeller thruster 202 and the signal input end of the driving mechanism 4 through wires. Other components and connection methods are the same as those in Specific Embodiment 6.

[0031] As described in Specific Embodiment 6 and Specific Embodiment 7, the hydrophone 301 is the main detection component in the present application. It detects the shape inside the pipeline by collecting the sound waves transmitted back in the water flow, and determines the water leakage area in the pipeline according to different sound wave bands. The attitude sensor 302 and the angle sensor 303 are used to feedback the motion state of the inspection robot in the pipeline, and transmit the feedback information to the control module to control the direction control mechanism 2 and the driving mechanism 4 to perform corresponding actions to avoid the robot hitting the wall. The control module is used to control each power component of the robot, and thus control the overall working state of the robot.

[0032] Specific Embodiment 8: As described in Figures 1 to 4Regarding this embodiment, the difference between this embodiment and the seventh specific embodiment is that the driving mechanism 4 includes a first coaxial two-way propeller thruster 401, a second coaxial two-way propeller thruster 402, and a fixed frame body. The fixed frame body is installed at the other end of the buoyancy cabin. Both the first coaxial two-way propeller thruster 401 and the second coaxial two-way propeller thruster 402 are installed in the fixed frame body, and the signal input ends of the first coaxial two-way propeller thruster 401 and the second coaxial two-way propeller thruster 402 are connected to the signal output end of the control module through wires. Other components and connection methods are the same as those in the seventh specific embodiment.

[0033] Specific embodiment nine: In combination with Figures 1 to 4 Regarding this embodiment, the difference between this embodiment and the eighth specific embodiment is that the blade rotation direction of the first coaxial two-way propeller thruster 401 is opposite to the blade rotation direction of the second coaxial two-way propeller thruster 401. Other components and connection methods are the same as those in the eighth specific embodiment.

[0034] Specific embodiment ten: In combination with Figures 1 to 4 Regarding this embodiment, the difference between this embodiment and the ninth specific embodiment is that a watertight interface 403 is provided at the end of the fixed frame body away from the zero buoyancy cabin 3. Other components and connection methods are the same as those in the ninth specific embodiment.

[0035] Combining the eighth specific embodiment and the tenth specific embodiment, the first coaxial two-way propeller thruster 401 and the second coaxial two-way propeller thruster 402 are used to provide forward power for the detection robot. The opposite setting of the blade rotation direction of the first coaxial two-way propeller thruster 401 and the blade rotation direction of the second coaxial two-way propeller thruster 402 can better resist the interference of water flow during movement. The acting forces generated by the opposite propellers balance each other, offsetting part of the vibration generated by the propeller propulsion in water, which is beneficial to improving the stability of the robot's movement in water. At the same time, it reduces the noise of the propeller in water and improves the resolution of the hydrophone 301. The coaxial setting of the blade rotation direction of the first coaxial two-way propeller thruster 401 and the second coaxial two-way propeller thruster 402 improves the evenness of the propeller load and reduces the risk of single blade failure. The first coaxial two-way propeller thruster 401 and the second coaxial two-way propeller thruster 402 can be started simultaneously, improving the propulsion efficiency of the robot when traveling in water, recovering the energy loss of the water flow, and reducing the energy loss in water.

[0036] The present invention has been disclosed above with preferred embodiments. However, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to the above-disclosed structure and technical content within the scope of the technical solution of the present invention to obtain equivalent embodiments with equivalent changes. However, as long as the content does not depart from the technical solution of the present invention, any simple modification, equivalent change, and modification made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

[0037] Working principle

[0038] When this application is working, first, the various components that make up the inspection robot are assembled according to the connection relationships described in Specific Embodiment 1 to Specific Embodiment 10. Then, the inspection robot is arranged in the water supply pipe to be inspected, and it is connected to the control cable through the watertight interface 403 at the end of the inspection robot. Inside the watertight interface 403, the control module in the zero-buoyancy cabin 3 is connected through a wire. Thus, the preparatory work before the pre-inspection is completed. An operator manually controls the computer on the ground and transmits instructions to the control module in the zero-buoyancy cabin 3 through the cable. The control module controls the direction control mechanism 2 and the driving mechanism 4 to perform corresponding operations according to the instructions transmitted back by the attitude sensor 302 and the angle sensor 303. During the movement of the robot, the detection module 1 synchronously performs the shooting and detection work.

[0039] The specific detection process is as follows:

[0040] The camera module 1 and the hydrophone 301 send the collected image and acoustic wave information to the ground computer in real time through the cable; when a water leakage point is found, the water supply pipe inspection robot hovers and waits for the next instruction from the ground operator. The operator controls the water supply pipe robot through the computer, moves it to the water leakage point, and the camera module 1 takes a picture of it and transmits it back to the computer. The water supply pipe robot continues to work until the inspection is completed.

Claims

1. A tap water pipeline detection robot, characterized in that: The detection robot includes a camera module (1), a direction control mechanism (2), a zero-buoyancy chamber (3), and a driving mechanism (4). The camera module (1), the direction control mechanism (2), the zero-buoyancy chamber (3), and the driving mechanism (4) are sequentially arranged from the head to the tail along the axial extension direction of the detection robot. The camera module (1) is installed at one end of the direction control mechanism (2), the direction control mechanism (2) is installed at one end of the zero-buoyancy chamber (3), and the zero-buoyancy chamber (3) is installed at one end of the driving mechanism (4).

2. The water pipeline detection robot according to claim 1, characterized in that: The camera module (1) includes a camera (102) and a camera connector. The camera (102) is installed at one end of the direction control mechanism (2) through the camera connector, and the camera (102) and the camera connector are detachably connected by a buckle.

3. The water pipeline inspection robot according to claim 2, characterized in that: The camera module (1) further includes a lighting lamp (101). The lighting lamp (101) is an annular lighting lamp. The lighting lamp (101) is sleeved on the shooting end of the camera (102), and the lighting lamp (101) is detachably connected to the camera connector.

4. The water pipeline detection robot according to claim 3, wherein: The direction control mechanism (2) includes a vertical propeller thruster (201), a horizontal transverse propeller thruster (202), and a support frame body. The support frame body is installed at one end of the zero-buoyancy chamber (3). Both the vertical propeller thruster (201) and the horizontal transverse propeller thruster (202) are installed in the support frame body. The axis of the vertical propeller thruster (201) is perpendicular to the axis of the support frame body from top to bottom, and the axis of the horizontal transverse propeller thruster (202) is perpendicular to the axis of the support frame body from front to back. The camera module (1) is installed at the end of the support frame body far from the zero-buoyancy chamber (3).

5. The water pipeline inspection robot according to claim 4, wherein: The vertical propeller thruster (201) is arranged close to the camera module (1), and the horizontal transverse propeller thruster (202) is arranged close to the zero-buoyancy chamber (3).

6. The water pipeline inspection robot according to claim 5, characterized in that: The zero-buoyancy chamber (3) includes a hydrophone (301), an attitude sensor (302), an angle sensor (303), and a buoyancy chamber body. The support frame body is installed at one end of the buoyancy chamber body, and the other end of the buoyancy chamber body is installed on the driving mechanism (4). The hydrophone (301), the attitude sensor (302), and the angle sensor (303) are all installed inside the zero-buoyancy chamber (3), and the hydrophone (301) is installed at the end of the zero-buoyancy chamber (3) close to the support frame body.

7. The inspection robot for a tap water pipeline according to claim 6, wherein: A control module is also installed in the buoyancy chamber body. The signal input end of the control module is connected to the signal output ends of the attitude sensor (302) and the angle sensor (303) through wires. The signal output end of the control module is connected to the signal input ends of the vertical propeller thruster (201), the horizontal transverse propeller thruster (202), and the driving mechanism (4) through wires.

8. The inspection robot for a tap water pipeline according to claim 7, wherein: The drive mechanism (4) includes a first coaxial two-way propeller thruster (401), a second coaxial two-way propeller thruster (402) and a fixed frame body, the fixed frame body is installed at the other end of the buoyancy cabin body, the first coaxial two-way propeller thruster (401) and the second coaxial two-way propeller thruster (402) are both installed in the fixed frame body, and the signal input ends of the first coaxial two-way propeller thruster (401) and the second coaxial two-way propeller thruster (402) are both connected to the signal output end of the control module through wires.

9. The inspection robot for a tap water pipeline according to claim 8, wherein: The blade rotation direction of the first coaxial two-way propeller thruster (401) is opposite to that of the second coaxial two-way propeller thruster (401).

10. The water pipeline detection robot according to claim 9, wherein: A watertight interface (403) is provided at one end of the fixed frame body away from the zero buoyancy cabin (3).

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