Detection device for rapidly checking drainage pipeline diseases

Abstract

The invention discloses a detection device for rapidly checking drainage pipeline diseases. The detection device comprises a first detection mechanism for checking a pipeline when water exists in the pipeline and a second detection mechanism for checking the interior of the pipeline when no water exists in the pipeline. A robot walking track is formed through transmitting and receiving of the cable anchor hook, and pipeline checking can be achieved by adjusting the angle as long as a non-water space of 10-15 cm is formed in a drainage pipeline. Even for the condition that the interior of the pipeline collapses, if a 10-15 cm non-water space still exists at the collapse position, pipeline checking can still be conducted.

Description

Technical Field

[0001] The present invention relates to the technical field of drainage pipeline detection devices, and particularly to a detection device for quickly detecting diseases of drainage pipelines. Background Art

[0002] According to relevant deployments, in the work in the next few years, all localities should accelerate the renovation of old pipelines such as urban gas, water supply, and heating, continuously promote the improvement of short boards in drainage pipe networks, and promote the construction of urban underground integrated pipe corridors according to local conditions. Adhere to comprehensive management, systematic management, and refined management, adhere to the combination of inspection, maintenance, and construction, and effectively improve the safe operation ability of urban underground pipe networks.

[0003] Since drainage pipelines are non-full-flow pipelines, the current pipe network detection technologies mainly include: endoscopic detection (CCTV) and periscope (QV) detection, and the two technologies are used alone or in combination. The periscope (QV) detection can basically only detect the water flow condition and leakage condition of pipelines within a certain range in inspection wells, and it is impossible to fully understand the corrosion and damage of pipelines. The endoscopic detection (CCTV) can achieve a full-range inspection of pipelines through a walking robot and a rotating camera, but it has high requirements for the pipeline environment. On the one hand, it requires the pipeline to be clean and without sewage residue, and on the other hand, the pipeline should have no pipeline collapse, garbage or sludge deposition that may cause difficulties for the robot to walk. Therefore, generally, the two technologies are used in combination. The QV detects the water level and bottom sediment of the pipeline, and then after the pipeline is cleaned, the CCTV detects the pipeline in detail. At present, a set of endoscopic detection (CCTV) and periscope (QV) detection equipment can detect 200 - 300 m of pipe networks in one day, and the technology is basically applied to pipelines with a diameter of 300 mm or more. In summary, the existing CCTV detection has low efficiency, cumbersome pre-treatment, and limited usage conditions. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a detection device for quickly detecting diseases of drainage pipelines. By transmitting and receiving with a cable anchor hook, a robot walking track is formed. As long as there is a non-water space of 10 - 15 cm in the drainage pipeline, the pipeline can be detected by adjusting the angle. Even for pipelines with collapses, if there is still a non-water space of 10 - 15 cm at the collapse, the pipeline can still be detected.

[0005] The purpose of the present invention is achieved by the following technical solutions: A detection device for quickly detecting diseases of drainage pipelines includes a first detection mechanism for detecting the pipeline when there is water in the pipeline and a second detection mechanism for detecting the inside of the pipeline when there is no water in the pipeline; The first detection mechanism includes an anchor hook launcher, an anchor hook receiver, and an inspection robot. The anchor hook launcher is arranged outside the ground. The launching end of the anchor hook launcher enters the drain pipe through the first inspection well, and launches an anchor hook with a cable to the anchor hook receiver arranged in the second inspection well. The inspection robot is arranged on the cable and moves forward along the length direction of the cable to inspect the inside of the pipe. The second detection mechanism includes a drone take-off platform, a drone receiving platform, and an inspection drone. The drone take-off platform is arranged outside the ground. After the inspection drone takes off from the drone take-off platform, it enters the drain pipe through the first inspection well and flies to the drone receiving platform arranged in the second inspection well. The inspection drone flies along the axial direction of the drain pipe and inspects the inside of the pipe.

[0006] Further, the inspection robot is placed on the cable through a robot placement rod.

[0007] Further, it further includes a control center, and the control center is used to control the walking speed and inspection range of the robot.

[0008] Both the inspection robot and the inspection drone are equipped with 360-degree rotating cameras.

[0009] Further, the inspection robot is provided with a cleaning pipe traction interface, and the traction interface is respectively connected to a water pipe and a 360-degree rotating flushing gun.

[0010] Further, the anchor hook receiver includes a placement rod, a frame, and a hook tightening assembly. The placement rod is connected to the frame and is used to place the frame into the second inspection well. The hook tightening assembly is used to receive the anchor hook launched by the anchor hook launcher, and drive the anchor hook to rotate and tighten, and stretch the cable.

[0011] Further, the hook tightening assembly includes a lead screw, a bushing, a nut seat, and two rotating circular plates. The two rotating circular plates are rotatably connected to the frame through the bushing. The rotating circular plate is fixedly connected to the bushing. The lead screw is rotatably connected between the two rotating circular plates. The bushing is coaxially sleeved outside the lead screw, and the lead screw and the bushing are rotatably connected. The rotating circular plate is symmetrically provided with sliding grooves at both ends of the same diameter. A tightening plate is slidably arranged between the two corresponding sliding grooves of the two rotating circular plates. A clamping plate is connected to the tightening plate. The nut seat is coaxially arranged on the lead screw. The nut seat is connected to the tightening plate through a connecting rod. Both ends of the connecting rod are hinged to the nut seat and the tightening plate respectively. The first end of the lead screw protrudes from the bushing. The lead screw is driven to rotate by a first driving mechanism, and the bushing is driven to rotate by a second driving mechanism.

[0012] Further, the first driving mechanism includes a first motor, a first driving gear, and a first driven gear. The first driving gear is disposed on the output shaft of the first motor. The first driven gear is coaxially fixed to the first end of the lead screw. The first driving gear is drivingly connected to the first driven gear through a first transmission chain. The second driving mechanism includes a second motor, a second driving gear, and a second driven gear. The second driving gear is disposed on the output shaft of the second motor. The second driven gear is coaxially fixed to the bushing. The second driving gear is drivingly connected to the second driven gear through a second transmission chain.

[0013] Further, two rolling wheels are provided at the end of the tightening plate. The two rolling wheels are respectively located on both sides of the connecting line of the rotating circular plate. The axis of the rolling wheel is perpendicular to the axis of the rotating circular plate.

[0014] The beneficial effects of the present invention are as follows: 1) By transmitting and receiving with a cable anchor hook, the present invention forms a walking track for the robot. As long as there is a non-water space of 10-15 cm in the drainage pipe, the pipeline can be inspected by adjusting the angle. Even for the case where there is a collapse in the pipeline, if there is still a non-water space of 10-15 cm at the collapse, the pipeline can still be inspected.

[0015] 2) By setting the hook tightening assembly, the present invention can realize the automatic clamping of the anchor hook and the automatic tensioning of the cable, ensuring that the robot can effectively walk in the pipeline and avoiding the influence of the cable dropping on the inspection of the pipeline by the robot. Description of the Drawings

[0016] Figure 1 It is a schematic diagram of the overall structure of the detection device for rapid inspection of drainage pipeline diseases in Embodiment 1 of the present invention; Figure 2 It is a schematic diagram of the overall structure of the detection device for rapid inspection of drainage pipeline diseases in Embodiment 2 of the present invention; Figure 3 It is a three-dimensional view of the rotating circular plate; Figure 4 It is a side view of the anchor hook receiver in Embodiment 2 of the present invention; Figure 5 It is a front view of the anchor hook receiver in Embodiment 2 of the present invention; In the figure, 1 is an inspection well; 2 is a drainage pipe; 3 is an anchor hook launcher; 4 is an anchor hook receiver; 5 is an inspection robot; 6 is an anchor hook; 7 is a cable; 8 is a delivery rod; 9 is a frame; 10 is a lead screw; 11 is a bushing; 12 is a nut seat; 13 is a rotating circular plate; 14 is a sliding groove; 15 is a tightening plate; 16 is a clamping plate; 17 is a first motor; 18 is a first driving gear; 19 is a first driven gear; 20 is a rolling wheel; 21 is a connecting rod; 22 is a control center. Detailed implementation mode

[0017] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present invention.

[0018] Refer to Figures 1 - 5 , the present invention provides a technical solution: Embodiment

[0019] As Figure 1 shown, a detection device for quickly detecting diseases in drainage pipes includes a first detection mechanism for detecting the pipes when there is water in the drainage pipe 2 (hereinafter referred to as the pipe) and a second detection mechanism for detecting the inside of the pipe when there is no water in the pipe; The first detection mechanism includes an anchor hook launcher 3, an anchor hook receiver 4 and an inspection robot 5. The anchor hook launcher 3 is arranged outside the ground. The launching end of the anchor hook launcher 3 enters the drainage pipe 2 through the first inspection well 1 and launches the anchor hook 6 with a cable 7 (along the axial direction of the drainage pipe 2) to the anchor hook receiver 4 arranged in the second inspection well 1. The inspection robot 5 is arranged on the cable 7 and travels along the length direction of the cable 7 to detect the inside of the pipe; The second detection mechanism (wherein, the structure diagram of the second detection mechanism is not shown) includes a drone take-off platform, a drone receiving platform and an inspection drone. The drone take-off platform is arranged outside the ground. After the inspection drone takes off from the drone take-off platform, it enters the drainage pipe 2 through the first inspection well 1 and flies to the drone receiving platform arranged in the second inspection well 1. The inspection drone flies along the axial direction of the drainage pipe 2 and detects the inside of the pipe.

[0020] The inspection robot 5 is placed on the cable 7 through a robot delivery rod.

[0021] It further includes a control center 22, and the control center 22 is used to control the walking speed and inspection range of the robot.

[0022] Both the inspection robot 5 and the inspection drone are equipped with 360-degree rotating cameras.

[0023] The inspection robot 5 is provided with a cleaning pipe traction interface, and the traction interface is respectively connected to a water pipe and a 360-degree rotating flushing gun. With such a setting, when the drain pipe 2 needs to be cleaned and decontaminated, the cleaning pipe can be connected to the water source and pressurized to perform 360-degree cleaning on the drain pipe 2.

[0024] Among them, 1. The inspection robot 5, the anchor hook launcher 3, and the optional unmanned aerial vehicle are all prior arts, and their working principles and specific structures are not described in detail here. 2. The control center 22 can be but is not limited to intelligent terminals (such as mobile phones, computers, etc.), and the control center 22 communicates wirelessly with the inspection robot 5 and the inspection unmanned aerial vehicle.

[0025] Working principle: (1) When there is water in the pipeline, the form of using the anchor hook launcher to set the cable 7 + the machine walking along the cable 7 is adopted to quickly check the water inlet of the pipeline. Specifically: The anchor hook launcher 3 projects the anchor hook 6 carrying the cable 7 from one inspection well 1 of the pipeline to the receiver of the other inspection well 1 of the pipeline, and the cable 7 is tightened accordingly, quickly forming a walking track for the inspection robot 5.

[0026] After the anchor hook receiver 4 receives the launched anchor hook, the receiver quickly anchors and locks the anchor hook to ensure that the anchor hook does not fall. After the anchor hook is fixed, the cable 7 is tightened.

[0027] The anchor hook launcher 3 launches the anchor hook with the cable 7, and the anchor hook quickly anchors the anchor hook receiver 4. Then the anchor hook receiver 4 quickly locks the anchor hook. After double anchoring, the anchor hook launcher 3 tightens the cable 7. At this time, the robot walking track has been laid out. Then, the robot is placed on the cable 7 by using the robot placement rack, and the robot walks on the walking track cable 7 to perform a comprehensive inspection on the drain pipe 2. The 360° rotating camera of the robot records the situation inside the drain pipe 2 and uploads it to the control center 22 in real time. It is also possible to control the robot through the control center 22 to control the walking speed and inspection range of the robot.

[0028] The anchor hook launcher 3 has a aiming function and an angle adjustment function. According to the investigation of the anchor hook launcher 3 on the market, the initial velocity of the anchor hook launcher 3 is generally 60 m / s, and the length of the drain pipe 2 is generally between 30 and 50 m. The angle adjustment function can ensure that the displacement deviation of the anchor hook reaching the receiver is within 2 cm. Therefore, the anchor hook launcher 3 operates above the liquid level of the drain pipe 2 to achieve "running with water", but there should be a space of 10 - 15 cm above the water level.

[0029] (2) When the pipe diameter is large and there is basically no water, a drone delivery device + the form of controlling the flight of the drone is used to quickly inspect the pipeline. Specifically: The drone can also be controlled through the control center 22. At this time, the control center 22 is a mobile phone or a tablet computer for convenient operation. After the drone takes off and flies inside the pipeline, a 360° rotating camera is carried on the drone to conduct a comprehensive inspection of the drain pipe 2. The 360° rotating camera records the situation of the pipeline and uploads it to the control center 22 in real time. The control center 22 controls and operates the drone to control the flight speed and inspection range of the drone. After the drone completes the task, it flies to the drone receiving end platform for landing. Then, the drone can be lifted to the ground through the drone delivery device (such as a rod with a hook or a scoop net).

[0030] Through the launch and reception of the cable 7 anchor hooks, the present invention forms a robot walking track. As long as there is a non-water space of 10 - 15 cm in the drain pipe 2, the pipeline can be inspected by adjusting the angle. Even for the situation where there is a collapse in the pipeline, if there is still a non-water space of 10 - 15 cm at the collapse, the pipeline can still be inspected.

[0031] At the same time, the form of "drone delivery device + controlling the flight of the drone" uses the most direct and convenient small drone to conduct flight inspections on pipelines with large diameters and basically no water. Its inspection speed is fast and the inspection effect is excellent. Embodiment

[0032] As Figures 2 - 4 As shown, on the basis of Embodiment 1 of this embodiment, the anchor hook receiver 4 includes a delivery rod 8, a frame 9, and a hook tightening assembly. The delivery rod 8 is connected to the frame 9 and is used to deliver the frame 9 into the second inspection well 1. The hook tightening assembly is used to receive the anchor hook launched by the anchor hook launcher 3 and drive the anchor hook to rotate and tighten, and straighten the cable 7. Among them, the rotation direction of the anchor hook is tangent to the cable 7.

[0033] The hook tightening assembly includes a lead screw 10, a bushing 11, a nut seat 12, and two rotating circular plates 13. The two rotating circular plates 13 are rotatably connected to the frame 9 through the bushing 11. The rotating circular plate 13 is fixedly connected to the bushing 11. The lead screw 10 is rotatably connected between the two rotating circular plates 13. The bushing 11 is coaxially sleeved outside the lead screw 10, and the lead screw 10 is rotatably connected to the bushing 11; among them, the two ends of the lead screw 10 are rotatably sleeved with the bushing 11, and there is no bushing 11 in the middle of the lead screw 10 to avoid the interference of the bushing 11 on the movement of the nut seat 12. At the same time, the lead screw 10 and the bushing 11 are connected through bearings, and the bushing 11 and the frame 9 are connected through bearings and bearing seats.

[0034] The rotating circular plate 13 is symmetrically provided with sliding grooves 14 at both ends of the same diameter. A tightening plate 15 is slidably arranged between the two corresponding sliding grooves 14 of the two rotating circular plates 13. A clamping plate 16 is connected to the tightening plate 15. The nut seat 12 is coaxially arranged on the lead screw 10. The nut seat 12 is connected to the tightening plate 15 through a connecting rod 21. Both ends of the connecting rod 21 are hinged to the nut seat 12 and the tightening plate 15 respectively. The first end of the lead screw 10 protrudes from the sleeve 11. The lead screw 10 is driven to rotate by a first driving mechanism, and the sleeve 11 is driven to rotate by a second driving mechanism.

[0035] The first driving mechanism includes a first motor 17, a first driving gear 18, and a first driven gear 19. The first driving gear 18 is arranged on the output shaft of the first motor 17. The first driven gear 19 is coaxially fixed to the first end of the lead screw 10. The first driving gear 18 is in transmission connection with the first driven gear 19 through a first transmission chain. The second driving mechanism includes a second motor, a second driving gear, and a second driven gear. The second driving gear is arranged on the output shaft of the second motor. The second driven gear is coaxially fixed to the sleeve 11. The second driving gear is in transmission connection with the second driven gear through a second transmission chain.

[0036] Two rolling wheels 20 are provided at the end of the tightening plate 15. The two rolling wheels 20 are respectively located on both sides of the rotating circular plate 13. The axis of the rolling wheel 20 is perpendicular to the axis of the rotating circular plate 13.

[0037] Among them, 1. When the tightening plate 15 is opened, the distance between the two tightening plates 15 is close to the diameter of the drain pipe 2, and the length of the tightening plate 15 is greater than the diameter of the drain pipe 2. In this way, it can be ensured that when the anchor hook is launched, even if the anchor hook deviates, it can enter between the two tightening plates 15. 2. Control the length of the control cable 7 so that its launching length is not greater than the length between the two inspection wells 1 to avoid too long winding length in the follow-up, which affects the efficiency.

[0038] Working principle: After the anchor hook launcher 3 launches the anchor hook, the anchor hook moves forward along the axis of the drain pipe 2 until it flies over the tightening plate 15. At this time, start the first motor 17. The first motor 17 drives the lead screw 10 to rotate. When the lead screw 10 rotates, the nut seat 12 moves axially along the lead screw 10, and then drives the tightening plate 15 to slide radially along the rotating circular plate 13 through the connecting rod 21, so that the two tightening plates 15 approach each other.

[0039] When the two tightening plates 15 approach each other, the two clamping plates 16 gradually close (the distance between the two clamps decreases), and finally it is less than the expanded size of the anchor hook. Such a setting is to prevent the anchor hook from detaching from the clamping plate 16 and not being tightened when the rotating circular plate 13 rotates.

[0040] After the clamping plate 16 is closed, start the first motor 17 and the second motor to rotate synchronously. The first motor 17 and the second motor drive the lead screw 10 and the bushing 11 to rotate synchronously respectively. During this process, the hook tightening group rotates, and then the redundant cable 7 is wound around the outside of the two tightening plates 15, realizing the tightening and straightening of the cable 7. When the cable 7 is tightened and straightened, the first motor 17 and the second motor stop rotating.

[0041] By setting the hook tightening assembly, the present invention can realize the automatic clamping of the anchor hook and the automatic tightening and straightening of the cable, ensuring that the robot can effectively walk in the pipeline and avoiding the cable from sagging, which affects the inspection of the pipeline by the robot during walking.

[0042] The above are only the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the form disclosed herein, should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be changed within the scope of the concept described herein through the above teachings or the technology or knowledge in related fields. And the changes and modifications made by those skilled in the art without departing from the spirit and scope of the present invention shall fall within the protection scope of the appended claims of the present invention.

Claims

1. A detection device for quickly detecting diseases of drainage pipes, characterized in that: It includes a first detection mechanism for checking the pipeline when there is water in the pipeline and a second detection mechanism for checking the pipeline when there is no water in the pipeline; The first detection mechanism includes an anchor hook transmitter, an anchor hook receiver and an inspection robot. The anchor hook transmitter is arranged outside the ground. The transmitting end of the anchor hook transmitter enters the drainage pipe from the first inspection well and transmits the anchor hook with the cable to the anchor hook receiver arranged in the second inspection well. The inspection robot is arranged on the cable and moves forward along the length direction of the cable to inspect the inside of the pipeline. The second detection mechanism includes a UAV take-off platform, a UAV receiving platform and an inspection UAV. The UAV take-off platform is arranged outside the ground. After taking off from the UAV take-off platform, the inspection UAV enters the drainage pipe from the first inspection well and flies to the UAV receiving platform arranged in the second inspection well. The inspection UAV flies along the axis of the drainage pipe and inspects the inside of the pipe.

2. The detection device for rapid investigation of drainage pipeline diseases according to claim 1, wherein: The inspection robot is placed on the cable by a robot-dropping rod.

3. The detection device for rapid investigation of drainage pipeline diseases according to claim 2, characterized in that: The robot also includes a control center, which is used to control the walking speed and inspection range of the robot.

4. The detection device for rapid inspection of drainage pipeline diseases according to claim 1, characterized in that: The inspection robot and the inspection drone are both equipped with a 360-degree rotating camera.

5. The detection device for rapid investigation of drainage pipeline diseases according to claim 2, characterized in that: The inspection robot is provided with a cleaning pipe traction interface, and the traction interface is respectively connected to a water pipe and a 360-degree rotating flushing gun.

6. The detection device for rapid investigation of drainage pipeline diseases according to claim 1, characterized in that: The anchor hook receiver comprises a launching rod, a frame and a clamping hook tensioning assembly, wherein the launching rod is connected to the frame and is used to launch the frame into the second inspection well; The clamping hook tensioning assembly is used to receive the anchor hook launched by the anchor hook launcher, and drive the anchor hook to rotate and tighten and straighten the cable.

7. The detection device for rapid investigation of drainage pipeline diseases according to claim 6, characterized in that: The clamp hook tensioning assembly comprises a screw rod, a shaft sleeve, a nut seat and two rotating circular plates, the two rotating circular plates are rotatably connected to the frame through the shaft sleeve, the rotating circular plate is fixedly connected to the shaft sleeve, the screw rod is rotatably connected between the two rotating circular plates, the shaft sleeve is coaxially sleeved outside the screw rod, and the screw rod and the shaft sleeve are rotatably connected; The rotating circular plate is symmetrically provided with sliding grooves at both ends of the same diameter, a tightening plate is slidably provided between the two sliding grooves corresponding to the two rotating circular plates, a clamping plate is connected to the tightening plate, the nut seat is coaxially arranged on the screw rod, the nut seat is connected to the tightening plate through a connecting rod, and the two ends of the connecting rod are respectively hinged to the nut seat and the tightening plate; The first end of the screw rod protrudes from the shaft sleeve, the screw rod is driven to rotate by a first driving mechanism, and the shaft sleeve is driven to rotate by a second driving mechanism.

8. The detection device for rapid investigation of drainage pipeline diseases according to claim 7, characterized in that: The first driving mechanism comprises a first motor, a first driving gear, and a first driven gear, wherein the first driving gear is arranged on the output shaft of the first motor, the first driven gear is coaxially fixed to the first end of the screw rod, and the first driving gear is connected to the first driven gear through a first transmission chain; The second driving mechanism includes a second motor, a second driving gear, and a second driven gear. The second driving gear is arranged on the output shaft of the second motor. The second driven gear is coaxially fixed on the sleeve. The second driving gear is connected to the second driven gear through a second transmission chain.

9. The detection device for rapid inspection of drainage pipeline diseases according to claim 8, characterized in that: Two rolling wheels are provided at the end of the tightening plate, and the two rolling wheels are respectively located on both sides of the connecting line of the rotating circular plate, and the axis of the rolling wheel is perpendicular to the axis of the rotating circular plate.

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