Modularized small-size water supply pipeline detection robot

Abstract

A modularized small-size water supply pipeline detection robot disclosed by the present invention comprises a power cavity, a control cavity and a battery cavity, the power cavity, the control cavity and the battery cavity are sequentially connected in series through cables, the power cavity, the control cavity and the battery cavity are all in a sphere-like shape, and the battery cavity can expand the battery capacity. A light supplementing lamp, a binocular camera, a double-propulsion propeller and a lifting propeller are arranged, automatic front-back, left-right and up-down movement is achieved through multi-degree-of-freedom motion control, the diameter is smaller than or equal to 85 mm, and a three-way path can be actively selected through pipelines of DN100 and above. A controller, a magnetic attraction charger, a hydrophone, a pressure sensor, a six-axis gyroscope and other various sensors are integrated in the control cavity, the pipeline environment is monitored and positioned in real time, the capacity is expanded by increasing the number of battery cavities, and the operation time is prolonged. Due to the sphere-like design, the jamming risk at the elbow and the tee joint is remarkably reduced, the passing ability and the recovery efficiency are improved, and the pipeline inspection robot is suitable for inspection of DN100-400 small-caliber pipelines and has the advantages of being autonomous in power, high in environmental adaptability, high in detection function integration degree and the like.

Description

Technical Field

[0001] This application belongs to the technical field of water supply pipeline detection, and more specifically, relates to a modular small-sized water supply pipeline detection robot. Background Art

[0002] In pipeline inspection applications, there are many problems with existing water supply pipeline detection robots. Most of the existing water supply pipeline detection robots on the market are unpowered and mainly rely on the flow of water to push the robot forward, which makes the robot unable to work properly in static water areas. Moreover, the existing pipeline robots cannot actively control the movement direction. When encountering a tee pipeline, they cannot independently select a suitable inlet direction, which brings great inconvenience to the inspection work.

[0003] In addition, the existing pipeline robots are too large in size and generally cannot inspect pipelines with a diameter of DN100 and below, which limits their application scope. And most of them adopt a cylindrical design, which is easy to get stuck at elbows or tees, not only affecting the inspection efficiency, but also possibly causing damage to the robot, increasing the maintenance cost and inspection difficulty.

[0004] Therefore, in view of the above technical problems, it is necessary to propose a modular small-sized water supply pipeline detection robot. Summary of the Invention

[0005] Aiming at the defects of the prior art, the purpose of this application is to provide a modular small-sized water supply pipeline detection robot to solve the problems of existing water supply pipeline detection robots such as being unpowered, unable to actively control the direction, being too large in size, and being easily stuck, so as to achieve efficient and accurate detection of water supply pipelines.

[0006] A modular small-sized water supply pipeline detection robot includes a power chamber, a control chamber, and a battery chamber.

[0007] The power chamber, the control chamber, and the battery chamber are sequentially connected in series by cables.

[0008] The power chamber, the control chamber, and the battery chamber are all spherical-like.

[0009] Several battery chambers can be expanded.

[0010] Preferably, the diameters of the power chamber, the control chamber, and the battery chamber are less than or equal to 85 mm and can pass through pipelines with a diameter of DN100 and above.

[0011] Preferably, the power chamber includes a first outer shell, a fill light, a binocular camera, a propulsion propeller, and a lifting propeller. The fill light and the binocular camera are arranged at the front of the first outer shell, and the propulsion propeller and the lifting propeller are arranged inside the first outer shell.

[0012] Preferably, the propulsion propeller is driven by a first drive motor, and the lifting propeller is driven by a second drive motor.

[0013] Preferably, at least one or more propulsion propellers are provided, preferably two.

[0014] Preferably, the control cavity includes a second housing, a controller, a rotary switch, and a magnetic charger. The controller, the rotary switch, and the magnetic charger are all arranged inside the second housing, and the rotary switch and the magnetic charger are both electrically connected to the controller.

[0015] Preferably, a hydrophone, a pressure sensor, a 6-axis gyroscope, and a geomagnetic sensor are further included inside the second housing. The hydrophone, the pressure sensor, the 6-axis gyroscope, and the geomagnetic sensor are all electrically connected to the controller to locate and detect the environment inside the water supply pipeline in real time.

[0016] Preferably, the battery cavity includes a third housing, a lithium battery, and an optical module. The lithium battery and the optical module are arranged inside the third housing.

[0017] Preferably, the lithium battery is connected to the controller through a cable to supply power to the controller and various sensors inside the control cavity. The controller is electrically connected to the supplementary light, the binocular camera, the first drive motor, and the second drive motor through cables respectively.

[0018] Compared with the prior art, it has the following beneficial effects:

[0019] 1. Good passability: Adopting a spherical-like design with a maximum diameter of 85 mm, it can pass through pipes with a diameter of DN100 and above, and is not easily stuck at three-way or elbow joints. The resistance during recovery is small, greatly improving the robot's passing ability and recovery efficiency inside the pipeline.

[0020] 2. Independent power: Equipped with a power system, it can move forward and backward independently, and can work normally even in static water areas. It can also actively adjust the direction, and can select a suitable inlet direction when passing through a three-way joint, improving the flexibility and accuracy of inspection.

[0021] 4. Multi-directional movement: Through three thrusters, it can achieve forward and backward, left and right, and up and down movements, meeting the inspection requirements under different working conditions.

[0022] 5. Integrated control: The three thrusters are integrated in one cabin, which is convenient for control and simplifies the structure and control logic of the robot.

[0023] 6. Environment detection: Equipped with a binocular camera, a hydrophone, a pressure sensor, a 6-axis gyroscope, and a geomagnetic sensor, it can locate and detect the environment inside the water supply pipeline in real time, providing detailed data support for pipeline maintenance.

[0024] 7. Battery expandable: The spherical series design enables capacity expansion by increasing the number of battery chambers, extending the working time of the robot. Brief Description of the Drawings

[0025] Figure 1 is a schematic structural diagram of the invention;

[0026] Figure 2 is the front view structural diagram of the power chamber of the present invention;

[0027] Figure 3 is the top view structural diagram of the power chamber of the present invention;

[0028] Figure 4 is the side view structural diagram of the power chamber of the present invention;

[0029] Figure 5 is the unfolded structural diagram of the power chamber of the present invention;

[0030] Figure 6 is the structural diagram of the control chamber of the present invention;

[0031] Figure 7 is the front view of the control chamber of the present invention;

[0032] Figure 8 is the internal structural diagram of the control chamber of the present invention;

[0033] Figure 9 is the unfolded structural diagram of the control chamber of the present invention;

[0034] Figure 10 is the unfolded structural diagram of the battery chamber of the present invention.

[0035] Reference numerals in the drawings: 1. Power chamber; 2. Control chamber; 3. Battery chamber; 4. Cable; 101. First housing; 102. Supplementary light; 103. Binocular camera; 104. Propulsion propeller; 105. Lifting propeller; 106. First drive motor; 107. Second drive motor; 201. Second housing; 202. Controller; 203. Knob switch; 204. Magnetic charger; 205. Hydrophone; 206. Pressure sensor; 301. Third housing; 302. Lithium battery; 303. Optical module. Detailed Description of the Invention

[0036] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the following further details the present application in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0037] In the description of the present application and the claims, terms such as "first" and "second" are used to distinguish different objects, rather than to describe a specific order of the objects. For example, the first control instruction and the second control instruction are used to distinguish different control instructions, rather than to describe a specific order of the control instructions.

[0038] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0039] In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality of" refers to two or more. For example, a plurality of processing units refers to two or more processing units; a plurality of elements refers to two or more elements.

[0040] The embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.

[0041] As Figure 1 shown, a modular small-sized water supply pipeline inspection robot includes a power chamber 1, a control chamber 2, and a battery chamber 3.

[0042] The power chamber 1, the control chamber 2, and the battery chamber 3 are sequentially connected in series by a cable 4.

[0043] The power chamber 1, the control chamber 2, and the battery chamber 3 are all spheroid-shaped.

[0044] A number of battery chambers 3 can be expanded.

[0045] The diameters of the power chamber 1, the control chamber 2, and the battery chamber 3 are less than or equal to 85 mm, and can pass through pipes with a diameter of DN100 or above.

[0046] The power chamber 1, the control chamber 2, and the battery chamber 3 are all spheroid-shaped, and this spheroid-shaped design has many advantages. On the one hand, the maximum diameter is less than or equal to 85 mm, and it can pass through pipes with a diameter of DN100 or above, effectively solving the problem that existing robots are too large to inspect small-diameter pipes; on the other hand, it is not easily stuck at three-way joints or elbows, and the resistance during recovery is small.

[0047] A number of battery chambers 3 can be expanded to increase the number of battery chambers 3 to meet the needs of the robot for long-term operation.

[0048] As Figures 2 to 5As shown in the figure, the power chamber 1 includes a first outer shell 101, a fill light 102, a binocular camera 103, a propulsion propeller 104 and a lifting propeller 105. The fill light 102 and the binocular camera 103 are arranged at the front part of the first outer shell 101, and the propulsion propeller 104 and the lifting propeller 105 are arranged inside the first outer shell 101. The fill light 102 is used to provide sufficient illumination in the pipeline to facilitate image acquisition by the binocular camera 103. The propulsion propeller 104 and the lifting propeller 105 are arranged inside the first outer shell 101.

[0049] The propulsion propeller 104 is driven by a first driving motor 106, and the lifting propeller 105 is driven by a second driving motor 107. The propulsion propeller 104 has at least one or more, preferably two. Through three thrusters (two propulsion propellers 104 and one lifting propeller 105), the robot can move forward and backward, left and right, up and down, and the three thrusters are integrated in one cabin, which is convenient for control.

[0050] As Figures 6 to 9 shown in the figure, the control chamber 2 includes a second outer shell 201, a controller 202, a knob switch 203, and a magnetic charger 204. The controller 202, the knob switch 203, and the magnetic charger 204 are all arranged inside the second outer shell 201. The knob switch 203 and the magnetic charger 204 are both electrically connected to the controller 202. The second outer shell 201 also includes a hydrophone, a pressure sensor, a 6-axis gyroscope and a geomagnetic sensor. The hydrophone 205, the pressure sensor 206, the 6-axis gyroscope and the geomagnetic sensor are all electrically connected to the controller 202 to perform real-time positioning and detect the environment inside the water supply pipeline.

[0051] As Figure 10 shown in the figure, the battery chamber 3 includes a third outer shell 301, a lithium battery 302 and an optical module 303. The lithium battery 302 and the optical module 303 are arranged inside the third outer shell 301. The lithium battery 302 is connected to the controller 202 through a cable 4 to provide power for the controller 202 and various sensors in the control chamber 2. The controller 202 is electrically connected to the fill light 102, the binocular camera 103, the first driving motor 106, and the second driving motor 107 through cables respectively. The lithium battery 302 provides power for the controller 202 and various sensors in the control chamber 2, and the controller 202 controls the working states of the fill light 102, the binocular camera 103, the first driving motor 106, and the second driving motor 107 through cables respectively.

[0052] Compared with the prior art, it has the following beneficial effects:

[0053] 1. Good passability: Adopting a spherical-like design with a maximum diameter of 85 mm, it can pass through pipes with a diameter of DN100 and above, and is not easily stuck at three-way joints or elbows. During recovery, the resistance is small, greatly improving the robot's passing ability and recovery efficiency in the pipeline.

[0054] 2. Autonomous power: Equipped with a power system, it can move forward and backward autonomously, and can work normally even in static water areas. It can also actively adjust the direction, and can select the appropriate inlet direction when passing through a three-way joint, improving the flexibility and accuracy of inspection.

[0055] 4. Multi-directional movement: Through three thrusters, it can achieve forward and backward, left and right, and up and down movements, meeting the inspection requirements under different working conditions.

[0056] 5. Integrated control: The three thrusters are integrated in one cabin, which is convenient for control and simplifies the structure and control logic of the robot.

[0057] 6. Environmental detection: Equipped with a binocular camera, hydrophone, pressure sensor, 6-axis gyroscope and geomagnetic sensor, it can real-time locate and detect the environment inside the water supply pipeline, providing detailed data support for pipeline maintenance.

[0058] 7. Expandable battery: The spherical-like series design enables the capacity to be expanded by increasing the number of battery chambers, extending the working time of the robot.

[0059] Working principle: Put the modular small-sized water supply pipeline inspection robot of the present invention into the water supply pipeline to be inspected, start the robot through the knob switch 203 of the control chamber 2, and the lithium battery 302 provides power for the controller 202 and various sensors, motors, etc.

[0060] The fill light 102 in the power chamber 1 is turned on to provide illumination for the binocular camera 103, and the binocular camera 103 starts to collect image information inside the pipeline. The first drive motor 106 drives the propulsion propeller 104 to make the robot move forward and backward in the pipeline; the second drive motor 107 drives the lifting propeller 105 to achieve the up and down movement of the robot. By adjusting the rotation speed and direction of the two propulsion propellers, the left and right movement of the robot can also be achieved.

[0061] The hydrophone 205, pressure sensor 206, 6-axis gyroscope and geomagnetic sensor in the control chamber 2 real-time collect information such as sound, pressure, attitude and geomagnetism inside the pipeline, and transmit this information to the controller 202. The controller 202 processes and analyzes this information, and at the same time can transmit the data to external devices through the optical module, facilitating the operator to understand the environment inside the pipeline and the position of the robot in real time.

[0062] When encountering a tee or when the direction needs to be adjusted, the operator can send an instruction to the controller through an external device, and the controller controls the motor to adjust the movement of the propulsion propeller 104 and the lifting propeller 105, so that the robot actively selects a suitable inlet direction.

[0063] If it is necessary to extend the working time of the robot, the number of battery compartments 3 can be expanded to meet the needs of long-term inspection.

[0064] In summary, the modular small-sized water supply pipeline inspection robot of the present invention effectively solves the problems existing in the existing water supply pipeline inspection robots through reasonable structural design and advanced sensor configuration, and has good application prospects.

[0065] Embodiment 1: DN100 Pipeline Inspection Application

[0066] Power Chamber: Install a double propulsion propeller (model XH-200) and a lifting propeller (model SH-15);

[0067] Control Chamber: Equipped with an STM32H743 controller and an MPU-9250 sensor module;

[0068] Battery Chamber: Configure two groups of lithium batteries (total capacity 4000mAh);

[0069] Detection Process:

[0070] The robot enters through the DN100 pipeline inlet and advances at a cruising speed of 0.5 m / s; the binocular camera collects images of the pipeline inner wall in real time, the fill light group automatically adjusts the brightness, the 6-axis gyroscope + geomagnetic sensor fusion positioning, the error is controlled within ±3 cm, the pressure sensor monitors the water pressure change in the pipeline (detection value: 0.65 MPa), and the hydrophone collects the pipeline leakage sound signal (detection frequency range: 500 Hz - 10 kHz).

[0071] Extended Application: The battery chamber 3 is extended to three battery chambers 3, the battery life is extended to 6 hours, and the control chamber 2 can be externally connected with a water quality detection module (such as a pH sensor and a turbidimeter).

[0072] Embodiment 2: Complex Pipe Network Detection, Technical Parameters, Minimum Pipe Diameter Passed: DN100, Maximum Working Depth: 50 m; Maximum Propulsion Force: 8 N (double propeller mode), Detection Scenario, 360° rotation detection at a 90° elbow, automatic attitude adjustment when passing through a T-shaped tee, and the detection accuracy of pipeline scaling thickness reaches ±0.5 mm.

[0073] It can be understood that the various digital numbers involved in the embodiments of the present application are only for the convenience of description and are not used to limit the scope of the embodiments of the present application.

[0074] Those skilled in the art can easily understand that the above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A modular small-sized water supply pipeline inspection robot, characterized in that: It includes a power chamber, a control chamber, and a battery chamber. The power chamber, the control chamber, and the battery chamber are connected in series by cables in sequence. The power chamber, the control chamber, and the battery chamber are all spherical. Several battery chambers can be expanded.

2. The modular small-sized water supply pipeline inspection robot according to claim 1, characterized in that: The diameters of the power chamber, the control chamber, and the battery chamber are less than or equal to 85 mm and can pass through pipes with a diameter of DN100 or above.

3. The modular small-sized water supply pipeline detection robot according to claim 1, characterized in that: The power chamber includes a first housing, a fill light, a binocular camera, a propulsion propeller, and a lifting propeller. The fill light and the binocular camera are arranged at the front of the first housing, and the propulsion propeller and the lifting propeller are arranged inside the first housing.

4. The modular small-sized water supply pipeline inspection robot according to claim 1, characterized in that: At least one or more fill lights are provided, preferably four.

5. The modular small-sized water supply pipeline inspection robot according to claim 1, characterized in that: The propulsion propeller is driven by a first drive motor, and the lifting propeller is driven by a second drive motor.

6. The modular small-sized water supply pipeline inspection robot according to claim 1, wherein: At least one or more propulsion propellers are provided, preferably two.

7. The modular small-sized water supply pipeline inspection robot according to claim 1, characterized in that: The control chamber includes a second housing, a controller, a knob switch, and a magnetic charger. The controller, the knob switch, and the magnetic charger are all arranged inside the second housing, and the knob switch and the magnetic charger are both electrically connected to the controller.

8. The modular small-sized water supply pipeline inspection robot according to claim 1, characterized in that: A hydrophone, a pressure sensor, a 6-axis gyroscope, and a geomagnetic sensor are further included inside the second housing. The hydrophone, the pressure sensor, the 6-axis gyroscope, and the geomagnetic sensor are all electrically connected to the controller to locate and detect the environment inside the water supply pipe in real time.

9. The modular small-sized water supply pipeline inspection robot according to claim 1, characterized in that: The battery chamber includes a third housing, a lithium battery, and an optical module. The lithium battery and the optical module are arranged inside the third housing.

10. A modular small-sized water supply pipeline inspection robot according to claim 1, characterized in that: The lithium battery is connected to the controller through a cable to provide power for the controller and various sensors inside the control chamber. The controller is electrically connected to the fill light, the binocular camera, the first drive motor, and the second drive motor through cables respectively.

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