Urban drainage pipe robot integrating inspection and repair and inspection and repair method

Abstract

The invention discloses an inspection and repair integrated urban drainage pipe robot which comprises a winding mechanism, one side of the winding mechanism is connected with a wheel type moving platform, the surface of the wheel type moving platform is connected with a detection and repair unit, and the wheel type moving platform is connected with a controller in a wireless communication mode. The controller is connected with a handle in a wireless communication mode, and the handle is connected with the wheel type mobile platform in a wireless communication mode. The invention further discloses an inspection and repair method of the urban drainage pipe robot integrating inspection and repair. The problems that in traditional pipeline maintenance, the detection and repair process is split, the robot moving adaptability is poor, detection coverage is incomplete and repair precision is low are solved, the detection coverage rate is increased through the two-degree-of-freedom holder, the repair precision is improved by combining the holder linkage spraying mechanism, meanwhile, the pipeline adaptability is enhanced through a detachable wheel type structure, and the maintenance efficiency is improved. Therefore, the pipeline maintenance efficiency and quality are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of urban drainage pipe detection and repair equipment, and specifically relates to an urban drainage pipe robot integrating inspection and repair, and also relates to an inspection and repair method of the above-mentioned robot. Background Art

[0002] Currently, urban drainage pipeline maintenance faces a technical bottleneck of inefficient inspection and repair. While traditional inspection technologies can capture images of the pipeline's interior, they require manual follow-up repairs, resulting in a disconnect between the inspection and repair processes and prolonged maintenance cycles for individual pipeline sections. Existing pipeline robots' inspection modules generally utilize fixed-angle cameras, requiring additional light sources in dark environments and creating blind spots. Spray repair equipment also lacks adjustable nozzle positions, resulting in low paint utilization and crack repair pass rates. Spray repair operations and inspections are performed separately, resulting in long operation cycles and significantly reduced efficiency. Summary of the Invention

[0003] The purpose of the present invention is to provide an urban drainage pipe robot that integrates inspection and repair, and can integrate pipeline inspection and repair operations into one.

[0004] Another object of the present invention is to provide an inspection and repair method for an urban drainage pipe robot that integrates inspection and repair.

[0005] The technical solution adopted by the present invention is an urban drainage pipe robot that integrates inspection and repair, including a winding mechanism, one side of the winding mechanism is connected to a wheeled mobile platform via a composite cable, the surface of the wheeled mobile platform is connected to a detection and repair unit, the winding mechanism is connected to a controller via wireless communication, and the controller is connected to a handle via wireless communication.

[0006] The present invention is also characterized in that: The winding mechanism includes a support platform, a protective cover is connected to the top of the support platform, a motor is connected to the middle of the support platform, the output end of the motor is connected to the winding drum through a connecting shaft, the composite cable is wound on the winding drum, one side of the support platform is connected to a guide device, one end of the composite cable passes through the guide device and is connected to the wheeled mobile platform, one end of the winding drum is connected to a sprocket, and the sprocket is connected to the guide device through a chain.

[0007] The end of the winding drum close to the chain is also connected with a hand crank, and the bottom of the supporting platform is connected with a universal wheel and a caster.

[0008] The guide device includes two oppositely arranged guide plates, which are respectively connected to two opposite columns of the support platform. A guide rod and a reciprocating screw are respectively connected between the two guide plates. The reciprocating screw is connected to the chain. A guide head is connected to the reciprocating screw. The composite cable passes through the guide head, and one end of the guide head is sleeved on the rod body of the guide rod.

[0009] The wheeled mobile platform includes a body frame, the bottom of the body frame is connected to the wheels through a reduction motor, the reduction motor is connected to the controller and handle through wireless communication, one end of the body frame is connected to the composite cable, and the detection and repair unit is connected to the body frame.

[0010] Handles are connected between two opposite sides of the vehicle body frame, and an end of the vehicle body frame away from the composite cable is connected to an anti-collision beam.

[0011] The detection and repair unit includes a rear camera, which is connected to the surface of the vehicle body frame. The rear camera is set close to one end of the vehicle body frame. The vehicle body frame is connected to a main camera through a dual-axis cloud. The surface of the vehicle body frame is connected to a repair component, which is set between the main camera and the rear camera.

[0012] The dual-axis gimbal includes two oppositely arranged fixed plates, both of which are connected to the vehicle frame. A transmission head and a pitch head are connected between the two fixed plates. The outer wall of the transmission head is connected to a rotating shaft, the end of the rotating shaft is connected to a rotating motor, the rotating motor is connected to a bracket, one side of the bracket is connected to the vehicle frame, the transmission head is connected to the pitch motor, the output shaft of the pitch motor passes through the side wall of the transmission head and is connected to a driving wheel on the fixed plate, the driving wheel is connected to a driven wheel through a transmission belt, the driven wheel is connected to the pitch head through a transmission shaft, and the main camera is connected to the pitch head.

[0013] The repair component includes a repair box, which is connected to the vehicle body frame and is arranged between the main camera and the rear camera. The repair box is connected to a spray pump through a pipe, the output end of the spray pump is connected to a hose, the end of the hose is connected to a nozzle, and the nozzle is connected to the pitch head through a quick-release buckle. The surface of the vehicle body frame is connected to an LED light, and the LED light is arranged close to the spray pump.

[0014] Another technical solution adopted by the present invention is a method for inspecting and repairing urban sewer pipes using a robot that integrates inspection and repair, which is specifically implemented according to the following steps: Step 1: Check the rotational freedom of the dual-axis gimbal and the imaging quality of the main camera and rear camera in turn; Step 2: Place the wheeled mobile platform in the pipeline, send a command via the handle, and the wheeled mobile platform moves in the pipeline. During the movement, the winding drum rotates to release the composite cable. Step 3: The dual-axis gimbal drives the main camera to scan the pipe wall, and the LED light automatically fills in the light according to the environment; Step 4: When a crack is identified, the spray pump pumps out paint and performs atomized spray repair through the nozzle.

[0015] The beneficial effects of the present invention are: The urban drainage pipe robot of the present invention integrates inspection and repair, and solves the problems of separation of inspection and repair processes, poor adaptability of robot movement, incomplete inspection coverage and low repair accuracy in traditional pipeline maintenance. The robot realizes the integration of inspection and repair functions through modular design, uses a dual-degree-of-freedom pan-tilt head to improve the inspection coverage rate, combines the pan-tilt head linkage spraying mechanism to improve the repair accuracy, and enhances the adaptability of the pipeline through the detachable wheel structure, thereby improving the efficiency and quality of pipeline maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of the urban sewer robot that integrates inspection and repair in one; Figure 2 This is a schematic diagram of the winding mechanism structure of the urban drainage pipe robot that integrates inspection and repair in the present invention; Figure 3 This is a partial structural diagram of the winding mechanism of the urban drainage robot that integrates inspection and repair in the present invention; Figure 4 This is a schematic diagram of the connection structure of the wheeled mobile platform of the urban sewer robot that integrates inspection and repair in the present invention; Figure 5 This is a top view of the wheeled mobile platform of the urban sewer robot that integrates inspection and repair; Figure 6 This is a structural diagram of the dual-axis pan-tilt platform in the urban drainage pipe robot that integrates inspection and repair.

[0017] In the figure: 1. Winding mechanism, 101. Guide plate, 102. Guide head, 103. Protective cover, 104. Support platform, 105. Universal wheel, 106. Caster, 107. Winding drum, 108. Composite cable, 109. Sprocket, 110. Chain, 111. Hand crank, 112. Guide rod, 113. Guide device, 114. Reciprocating screw, 2. Wheeled mobile platform, 21. Wheel, 22. Handle, 23. Anti-collision beam, 24. Vehicle frame, 25. Reduction Speed ​​motor, 3. Repair detection unit, 31. Main camera, 32. Rear view camera, 33. Dual-axis gimbal, 331. Fixing plate, 33. Transmission head, 333. Rotating shaft, 334. Rotating motor, 335. Bracket, 336. Driving wheel, 337. Pitch head, 338. Transmission belt, 339. Driven wheel, 3310. Transmission shaft, 34. Repair box, 35. Spray pump, 36. Hose, 37. Spray head, 38. LED light, 4. Controller, 5. Handle. DETAILED DESCRIPTION

[0018] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] The present invention provides a city sewer robot that integrates inspection and repair. Figure 1 As shown, the system includes a winding mechanism 1, one side of which is connected to a wheeled mobile platform 2 via a composite cable. A detection and repair unit 3 is connected to the surface of the wheeled mobile platform 2. The winding mechanism 1 is connected to a controller 4 via wireless communication (Wi-Fi), and the controller 4 is connected to a handle 5 via wireless communication (Bluetooth). The handle 5 controls the movement of the wheeled mobile platform 2 within the pipeline. While the wheeled mobile platform 2 is moving, the detection and repair unit 3 performs inspections within the pipeline and promptly sprays and repairs any cracks that appear in the pipeline.

[0020] Example 1 An urban drainage robot integrating inspection and repair includes a winding mechanism 1, one side of the winding mechanism 1 is connected to a wheeled mobile platform 2 via a composite cable, the surface of the wheeled mobile platform 2 is connected to a detection and repair unit 3, the winding mechanism 1 is connected to a controller 4 via wireless communication, and the controller 4 is connected to a handle 5 via wireless communication.

[0021] like Figure 2-3 As shown, the winding mechanism 1 includes a support platform 104, a protective cover 103 is connected to the top of the support platform 104, a motor is connected to the middle of the support platform 104, the output end of the motor is connected to the winding drum 107 through a connecting shaft, the composite cable is wound on the winding drum 107, one side of the support platform 104 is connected to a guide device 113, one end of the composite cable 108 passes through the guide device 113 and is connected to the wheeled mobile platform 2, one end of the winding drum 107 is connected to a sprocket 109, and the sprocket 109 is connected to the guide device 113 through a chain 110. The winding drum 107 is connected to two deep groove ball bearings through a connecting shaft, and the two deep groove ball bearings are connected to the support platform 104. A transformer is installed in the protective cover 103 to convert 220V AC power into 24V DC power to power each module of the device. The controller 4 controls the start and stop of the motor, and the motor drives the winding drum 107 to rotate through the connecting shaft, thereby releasing the composite cable 108. The composite cable 108 is used for power supply and communication between the wheeled mobile platform 2 and the detection and repair unit. During the release process of the composite cable 108, the guide device 113 guides the wiring. During the rotation process of the winding drum 107, the guide device 113 is driven to rotate synchronously through the chain 110.

[0022] Example 2 An urban drainage robot integrating inspection and repair includes a winding mechanism 1, one side of the winding mechanism 1 is connected to a wheeled mobile platform 2 via a composite cable, the surface of the wheeled mobile platform 2 is connected to a detection and repair unit 3, the winding mechanism 1 is connected to a controller 4 via wireless communication, and the controller 4 is connected to a handle 5 via wireless communication.

[0023] The winding mechanism 1 includes a support platform 104, a protective cover 103 is connected to the top of the support platform 104, a motor is connected to the middle of the support platform 104, the output end of the motor is connected to the winding drum 107 through a connecting shaft, a composite cable 108 is wound on the winding drum 107, a guide device 113 is connected to one side of the support platform 104, one end of the composite cable 108 passes through the guide device 113 and is connected to the wheeled mobile platform 2, one end of the winding drum 107 is connected to the sprocket 109, and the sprocket 109 is connected to the guide device 113 through the chain 110.

[0024] The end of the bobbin 107 near the chain 110 is also connected to a hand crank 111, and the bottom of the support platform 104 is connected to a universal wheel 105 and a caster 106. The hand crank 111 is connected to one end of the connecting shaft. When the motor fails, the hand crank 111 can drive the connecting shaft to rotate. There are two universal wheels 105 and two casters 106, and both universal wheels 105 are equipped with self-locking devices.

[0025] Example 3 An urban drainage robot integrating inspection and repair includes a winding mechanism 1, one side of the winding mechanism 1 is connected to a wheeled mobile platform 2 via a composite cable, the surface of the wheeled mobile platform 2 is connected to a detection and repair unit 3, the winding mechanism 1 is connected to a controller 4 via wireless communication, and the controller 4 is connected to a handle 5 via wireless communication.

[0026] The winding mechanism 1 includes a support platform 104, a protective cover 103 is connected to the top of the support platform 104, a motor is connected to the middle of the support platform 104, the output end of the motor is connected to the winding drum 107 through a connecting shaft, a composite cable 108 is wound on the winding drum 107, a guide device 113 is connected to one side of the support platform 104, one end of the composite cable 108 passes through the guide device 113 and is connected to the wheeled mobile platform 2, one end of the winding drum 107 is connected to the sprocket 109, and the sprocket 109 is connected to the guide device 113 through the chain 110.

[0027] The end of the winding drum 107 close to the chain 110 is also connected to a hand crank 111, and the bottom of the support platform 104 is connected to a universal wheel 105 and a caster 106.

[0028] The guide device 113 comprises two oppositely arranged guide plates 101, the two guide plates 101 are connected to the two opposite columns of the support table 104 respectively, guide rods 112 and reciprocating lead screws 114 are connected between the two guide plates 101 respectively, the reciprocating lead screws 114 are connected with the chain 110, the reciprocating lead screws 114 are connected with guide heads 102, the composite cable 108 passes through the guide heads 102, one end of the guide head 102 is sleeved on the rod body of the guide rod 112.

[0029] Embodiment 4 The city drainage pipe robot integrating inspection and repair comprises a winding mechanism 1, one side of the winding mechanism 1 is connected with a wheeled mobile platform 2 through a composite cable, the surface of the wheeled mobile platform 2 is connected with a detection and repair unit 3, the winding mechanism 1 is connected with a controller 4 through wireless communication, and the controller 4 is connected with a handle 5 through wireless communication.

[0030] The winding mechanism 1 comprises a support table 104, the top of the support table 104 is connected with a protective cover 103, the middle part of the support table 104 is connected with a motor, the output end of the motor is connected with a winding drum 107 through a connecting shaft, the composite cable 108 is wound on the winding drum 107, one end of the composite cable 108 passes through the guide device 113 and is connected with the wheeled mobile platform 2, one end of the winding drum 107 is connected with a chain wheel 109, and the chain wheel 109 is connected with the guide device 113 through a chain 110.

[0031] The end of the winding drum 107 close to the chain 110 is further connected with a hand crank 111, and the bottom of the support table 104 is connected with universal wheels 105 and casters 106.

[0032] The guide device 113 comprises two oppositely arranged guide plates 101, the two guide plates 101 are connected to the two opposite columns of the support table 104 respectively, guide rods 112 and reciprocating lead screws 114 are connected between the two guide plates 101 respectively, the reciprocating lead screws 114 are connected with the chain 110, the reciprocating lead screws 114 are connected with guide heads 102, the composite cable 108 passes through the guide heads 102, one end of the guide head 102 is sleeved on the rod body of the guide rod 112.

[0033] As Figure 4-5As shown, the wheeled mobile platform 2 includes a body frame 24, the bottom of which is connected to wheels 21 via reduction motors 25. The reduction motors 25 are wirelessly connected to the controller 4 and handle 5. One end of the body frame 24 is connected to a composite cable 108, and the inspection and repair unit 3 is connected to the body frame 24. There are four reduction motors 25, each connected to the wheel 21 via a coupling. The four reduction motors 25 are independently driven to achieve differential turning, with a minimum turning radius of 300mm, a maximum obstacle clearance height of 45mm, and an anti-overturning angle of 15° or greater in pipes with a diameter of 300mm or greater. The body frame 24 is welded from aluminum alloy and consists of six metal plates connected by M4 screws, forming a sealed interior. The composite cable 108 provides power and communication for the reduction motors 25. The controller 4 controls the start and stop of the reduction motors 25, and the handle 5 controls the movement of the wheels 21.

[0034] Example 5 An urban drainage robot integrating inspection and repair includes a winding mechanism 1, one side of the winding mechanism 1 is connected to a wheeled mobile platform 2 via a composite cable, the surface of the wheeled mobile platform 2 is connected to a detection and repair unit 3, the winding mechanism 1 is connected to a controller 4 via wireless communication, and the controller 4 is connected to a handle 5 via wireless communication.

[0035] The winding mechanism 1 includes a support platform 104, a protective cover 103 is connected to the top of the support platform 104, a motor is connected to the middle of the support platform 104, the output end of the motor is connected to the winding drum 107 through a connecting shaft, a composite cable 108 is wound on the winding drum 107, a guide device 113 is connected to one side of the support platform 104, one end of the composite cable 108 passes through the guide device 113 and is connected to the wheeled mobile platform 2, one end of the winding drum 107 is connected to the sprocket 109, and the sprocket 109 is connected to the guide device 113 through the chain 110.

[0036] The end of the winding drum 107 close to the chain 110 is also connected to a hand crank 111, and the bottom of the support platform 104 is connected to a universal wheel 105 and a caster 106.

[0037] The guide device 113 includes two oppositely arranged guide plates 101, which are respectively connected to two opposite columns of the support platform 104. A guide rod 112 and a reciprocating screw 114 are respectively connected between the two guide plates 101. The reciprocating screw 114 is connected to the chain 110. The reciprocating screw 114 is connected to the guide head 102. The composite cable 108 passes through the guide head 102. One end of the guide head 102 is sleeved on the rod body of the guide rod 112.

[0038] The wheeled mobile platform 2 comprises a vehicle body frame 24, the bottom of the vehicle body frame 24 is connected with wheels 21 through a reduction motor 25, the reduction motor 25 is connected with the controller 4 and the handle 5 through wireless communication, one end of the vehicle body frame 24 is connected with the composite cable 108, and the detection and repair unit 3 is connected to the vehicle body frame 24.

[0039] The opposite sides of the vehicle body frame 24 are connected with handles 22, and the end of the vehicle body frame 24 away from the composite cable 108 is connected with a bumper beam 23. The wheeled mobile platform can be moved through the handles 22, the bumper beam 23 is a polyurethane bumper beam 23, the cross section is a "U" type structure, and the internal honeycomb reinforcing ribs can absorb collision energy.

[0040] Embodiment 6 The wheeled mobile platform 2 comprises a vehicle body frame 24, the bottom of the vehicle body frame 24 is connected with wheels 21 through a reduction motor 25, the reduction motor 25 is connected with the controller 4 and the handle 5 through wireless communication, one end of the vehicle body frame 24 is connected with the composite cable 108, and the detection and repair unit 3 is connected to the vehicle body frame 24.

[0041] The winding mechanism 1 comprises a support table 104, the top of the support table 104 is connected with a protective cover 103, the middle of the support table 104 is connected with a motor, the output end of the motor is connected with a winding drum 107 through a connecting shaft, the composite cable 108 is wound on the winding drum 107, one side of the support table 104 is connected with a guide device 113, one end of the composite cable 108 passes through the guide device 113 and is connected with the wheeled mobile platform 2, one end of the winding drum 107 is connected with a chain wheel 109, and the chain wheel 109 is connected with the guide device 113 through a chain 110.

[0042] The end of the winding drum 107 close to the chain 110 is also connected with a hand crank 111, and the bottom of the support table 104 is connected with universal wheels 105 and casters 106.

[0043] The guide device 113 comprises two oppositely arranged guide plates 101, the two guide plates 101 are respectively connected to two opposite stand columns of the support table 104, guide rods 112 and reciprocating lead screws 114 are respectively connected between the two guide plates 101, the reciprocating lead screw 114 is connected with the chain 110, the reciprocating lead screw 114 is connected with a guide head 102, the composite cable 108 passes through the guide head 102, and one end of the guide head 102 is sleeved on the rod body of the guide rod 112.

[0044] The wheeled mobile platform 2 comprises a vehicle body frame 24, the bottom of the vehicle body frame 24 is connected with wheels 21 through a reduction motor 25, the reduction motor 25 is connected with the controller 4 and the handle 5 through wireless communication, one end of the vehicle body frame 24 is connected with the composite cable 108, and the detection and repair unit 3 is connected to the vehicle body frame 24.

[0045] A handle 22 is connected between two opposite sides of the vehicle frame 24 , and an anti-collision beam 23 is connected to the end of the vehicle frame 24 away from the composite cable 108 .

[0046] The inspection and repair unit 3 includes a rear camera 32, which is connected to the surface of the vehicle frame 24 and is located near one end of the vehicle frame 24. A main camera 31 is connected to the vehicle frame 24 via a dual-axis pan-tilt head 33. A repair assembly is connected to the surface of the vehicle frame 24 and is located between the main camera 31 and the rear camera 32. The dual-axis pan-tilt head 33 drives the main camera 31 to rotate. The main camera 31 and the rear camera 32 cooperate to inspect the inner wall of the pipe. The images formed by the main camera 31 and the rear camera 32 are transmitted to a display screen on the ground.

[0047] Example 7 An urban drainage robot integrating inspection and repair includes a winding mechanism 1, one side of the winding mechanism 1 is connected to a wheeled mobile platform 2 via a composite cable, the surface of the wheeled mobile platform 2 is connected to a detection and repair unit 3, the winding mechanism 1 is connected to a controller 4 via wireless communication, and the controller 4 is connected to a handle 5 via wireless communication.

[0048] The winding mechanism 1 includes a support platform 104, a protective cover 103 is connected to the top of the support platform 104, a motor is connected to the middle of the support platform 104, the output end of the motor is connected to the winding drum 107 through a connecting shaft, a composite cable 108 is wound on the winding drum 107, a guide device 113 is connected to one side of the support platform 104, one end of the composite cable 108 passes through the guide device 113 and is connected to the wheeled mobile platform 2, one end of the winding drum 107 is connected to the sprocket 109, and the sprocket 109 is connected to the guide device 113 through the chain 110.

[0049] The end of the winding drum 107 close to the chain 110 is also connected to a hand crank 111, and the bottom of the support platform 104 is connected to a universal wheel 105 and a caster 106.

[0050] The guide device 113 includes two oppositely arranged guide plates 101, which are respectively connected to two opposite columns of the support platform 104. A guide rod 112 and a reciprocating screw 114 are respectively connected between the two guide plates 101. The reciprocating screw 114 is connected to the chain 110. The reciprocating screw 114 is connected to the guide head 102. The composite cable 108 passes through the guide head 102. One end of the guide head 102 is sleeved on the rod body of the guide rod 112.

[0051] The wheeled mobile platform 2 includes a body frame 24, the bottom of the body frame 24 is connected to the wheel 21 through a reduction motor 25, the reduction motor 25 is connected to the controller 4 and the handle 5 through wireless communication, one end of the body frame 24 is connected to the composite cable 108, and the detection and repair unit 3 is connected to the body frame 24.

[0052] A handle 22 is connected between two opposite sides of the vehicle frame 24 , and an anti-collision beam 23 is connected to the end of the vehicle frame 24 away from the composite cable 108 .

[0053] The detection and repair unit 3 includes a rear camera 32, which is connected to the surface of the vehicle body frame 24. The rear camera 32 is arranged close to one end of the vehicle body frame 24. The main camera 31 is connected to the vehicle body frame 24 through a dual-axis gimbal 33. The surface of the vehicle body frame 24 is connected to a repair component, which is arranged between the main camera 31 and the rear camera 32.

[0054] like Figure 6 As shown, the dual-axis gimbal 33 includes two oppositely arranged fixed plates 331, both of which are connected to the vehicle frame 24, and a transmission head 332 and a pitch head 337 are connected between the two fixed plates 331. The outer wall of the transmission head 332 is connected to a rotating shaft 333, and the end of the rotating shaft 333 is connected to a rotating motor 334. The rotating motor 334 is connected to a bracket 335, and one side of the bracket 335 is connected to the vehicle frame 24. A pitch motor is connected inside the transmission head 332, and the output shaft of the pitch motor passes through the side wall of the transmission head 331 and is connected to a driving wheel 336 on the fixed plate 331. The driving wheel 336 is connected to a driven wheel 339 through a transmission belt 338, and the driven wheel 339 is connected to the pitch head 337 through a transmission shaft 3310. The main camera 31 is connected to the pitch head 337. The composite cable 108 provides power and communication for the rotating motor 334 and the pitch motor. The controller 4 controls the start and stop of the rotating motor 334 and the pitch motor. The rotating motor 334 drives the transmission head 332 to rotate through the rotating shaft 333. The pitch motor drives the driving wheel 336 to rotate. The driving wheel 336 drives the driven wheel 339 to rotate through the transmission belt 338. The driven wheel 339 drives the transmission shaft 3310 to rotate. The transmission shaft 3310 is connected between the two fixed plates 331. During the rotation process, the transmission shaft 3310 can drive the pitch head 337 to rotate, and can drive the main camera 31 to pitch.

[0055] Example 8 An urban drainage robot integrating inspection and repair includes a winding mechanism 1, one side of the winding mechanism 1 is connected to a wheeled mobile platform 2 via a composite cable, the surface of the wheeled mobile platform 2 is connected to a detection and repair unit 3, the winding mechanism 1 is connected to a controller 4 via wireless communication, and the controller 4 is connected to a handle 5 via wireless communication.

[0056] The winding mechanism 1 includes a support platform 104, a protective cover 103 is connected to the top of the support platform 104, a motor is connected to the middle of the support platform 104, the output end of the motor is connected to the winding drum 107 through a connecting shaft, a composite cable 108 is wound on the winding drum 107, a guide device 113 is connected to one side of the support platform 104, one end of the composite cable 108 passes through the guide device 113 and is connected to the wheeled mobile platform 2, one end of the winding drum 107 is connected to the sprocket 109, and the sprocket 109 is connected to the guide device 113 through the chain 110.

[0057] The end of the winding drum 107 close to the chain 110 is also connected to a hand crank 111, and the bottom of the support platform 104 is connected to a universal wheel 105 and a caster 106.

[0058] The guide device 113 includes two oppositely arranged guide plates 101, which are respectively connected to two opposite columns of the support platform 104. A guide rod 112 and a reciprocating screw 114 are respectively connected between the two guide plates 101. The reciprocating screw 114 is connected to the chain 110. The reciprocating screw 114 is connected to the guide head 102. The composite cable 108 passes through the guide head 102. One end of the guide head 102 is sleeved on the rod body of the guide rod 112.

[0059] The wheeled mobile platform 2 includes a body frame 24, the bottom of the body frame 24 is connected to the wheel 21 through a reduction motor 25, the reduction motor 25 is connected to the controller 4 and the handle 5 through wireless communication, one end of the body frame 24 is connected to the composite cable 108, and the detection and repair unit 3 is connected to the body frame 24.

[0060] A handle 22 is connected between two opposite sides of the vehicle frame 24 , and an anti-collision beam 23 is connected to the end of the vehicle frame 24 away from the composite cable 108 .

[0061] The detection and repair unit 3 includes a rear camera 32, which is connected to the surface of the vehicle body frame 24. The rear camera 32 is arranged close to one end of the vehicle body frame 24. The main camera 31 is connected to the vehicle body frame 24 through a dual-axis gimbal 33. The surface of the vehicle body frame 24 is connected to a repair component, which is arranged between the main camera 31 and the rear camera 32.

[0062] The dual-axis gimbal 33 includes two oppositely arranged fixed plates 331, both of which are connected to the vehicle frame 24. A transmission head 332 and a pitch head 337 are connected between the two fixed plates 331. The outer wall of the transmission head 332 is connected to a rotating shaft 333, and the end of the rotating shaft 333 is connected to a rotating motor 334. The rotating motor 334 is connected to a bracket 335, and one side of the bracket 335 is connected to the vehicle frame 24. A pitch motor is connected inside the transmission head 332, and the output shaft of the pitch motor passes through the side wall of the transmission head 332 and is connected to a driving wheel 336 on the fixed plate 331. The driving wheel 336 is connected to a driven wheel 339 through a transmission belt 338, and the driven wheel 339 is connected to the pitch head 337 through a transmission shaft 3310. The main camera 31 is connected to the pitch head 337.

[0063] The repair component includes a repair box 34, which is connected to the vehicle body frame 24 and is arranged between the main camera 31 and the rear camera 32. The repair box 34 is connected to a spray pump 35 through a pipeline, and the output end of the spray pump 35 is connected to a hose 36. The end of the hose 36 is connected to a nozzle 37, and the nozzle 37 is connected to the pitch head 337 through a quick-release buckle. The surface of the vehicle body frame 24 is connected to an LED light 38, and the LED light 38 is arranged close to the spray pump 35. The controller 4 controls the start and stop of the spray pump 35 and the LED light 38. The composite cable 108 provides power and communication for the LED light 38 and the spray pump 35. The brightness of the LED light 38 can be automatically adjusted according to the environment. The repair box 34 has a capacity of 1L and stores epoxy resin paint internally. The nozzle 37 is an atomizing nozzle and maintains a distance of 10mm from the main camera 31. When a crack is detected, the spray pump 35 pumps out the paint in the repair box 34 and sprays it out through the nozzle 37 for repair. The nozzle 37 can be driven to rotate through the dual-axis pan-tilt head 33 to accurately repair the crack.

[0064] Example 9 The inspection and repair method of the urban drainage pipe robot integrating inspection and repair of the present invention is specifically implemented according to the following steps: Step 1: Check the rotational freedom of the dual-axis gimbal 33 and the imaging quality of the main camera 31 and the rear camera 32 in sequence; Step 2: The wheeled mobile platform 2 is placed in the pipeline. The controller 4 sends a command, and the wheeled mobile platform 2 moves in the pipeline. During the movement, the winding drum 107 rotates to release the composite cable 108. Step 3: The dual-axis gimbal 33 drives the main camera 31 to scan the pipe wall, and the LED light 38 automatically fills in the light according to the environment; Step 4: When a crack is identified, the spray pump 35 pumps out paint and performs atomized spray repair through the nozzle 37.

[0065] The working principle of the urban sewer robot that integrates inspection and repair is as follows: The wheeled mobile platform 2 is placed into the pipeline through the handle 22, and the reduction motor 25 drives the wheel 21 forward. During the movement of the wheeled mobile platform 2, the motor drives the winding drum 107 to rotate through the connecting shaft, thereby releasing the composite cable 108. During the rotation of the winding drum 107, the sprocket 109 drives the reciprocating screw 114 to rotate through the chain 110. During the rotation, the reciprocating screw 114 drives the guide head 102 to reciprocate along the reciprocating screw 114 with a lead of 10mm. During the reciprocating motion, the guide head 102 realizes uniform wiring of the composite cable 108. During the movement of the guide head 102, the guide rod 112 plays a guiding role. When the wheeled mobile platform 2 moves, the main camera 31 and the rear camera 32 detect the pipe wall. When cracks are detected, the spray pump 35 pumps out the paint in the repair box 34, and sprays it out through the nozzle 37 for repair. The nozzle 37 can be driven to rotate by the dual-axis pan-tilt head 33 to accurately repair the cracks.

[0066] The urban drainage pipe robot of the present invention integrates inspection and repair, and solves the problems of separation of inspection and repair processes, poor adaptability of robot movement, incomplete inspection coverage and low repair accuracy in traditional pipeline maintenance. The robot realizes the integration of inspection and repair functions through modular design, uses a dual-degree-of-freedom pan-tilt head to improve the inspection coverage rate, combines the pan-tilt head linkage spraying mechanism to improve the repair accuracy, and enhances the adaptability of the pipeline through the detachable wheel structure, thereby improving the efficiency and quality of pipeline maintenance.

Claims

1. An urban drainage robot that integrates inspection and repair, characterized by: The invention comprises a wire winding mechanism (1), one side of the wire winding mechanism (1) is connected to a wheeled mobile platform (2) via a composite cable (108), a surface of the wheeled mobile platform (2) is connected to a detection and repair unit (3), the wire winding mechanism (1) is connected to a controller (4) via a wireless communication method, and the controller (4) is connected to a handle (5) via a wireless communication method.

2. The urban drainage pipe robot integrating inspection and repair according to claim 1 is characterized in that: The winding mechanism (1) includes a support platform (104), the top of the support platform (104) is connected to a protective cover (103), the middle of the support platform (104) is connected to a motor, the output end of the motor is connected to a winding drum (107) via a connecting shaft, the composite cable (108) is wound on the winding drum (107), one side of the support platform (104) is connected to a guide device (113), one end of the composite cable (108) passes through the guide device (113) and is connected to the wheeled mobile platform (2), one end of the winding drum (107) is connected to a sprocket (109), and the sprocket (109) is connected to the guide device (113) via a chain (110).

3. The urban drainage pipe robot integrating inspection and repair according to claim 2 is characterized in that: The end of the winding drum (107) close to the chain (110) is also connected to a hand crank (111), and the bottom of the support platform (104) is connected to a universal wheel (105) and a caster (106).

4. The urban drainage pipe robot integrating inspection and repair according to claim 2 is characterized in that: The guide device (113) includes two guide plates (101) arranged opposite to each other. The two guide plates (101) are respectively connected to two opposite upright posts of the support platform (104). A guide rod (112) and a reciprocating screw (114) are respectively connected between the two guide plates (101). The reciprocating screw (114) is connected to the chain (110). A guide head (102) is connected to the reciprocating screw (114). The composite cable (108) passes through the guide head (102). One end of the guide head (102) is sleeved on the rod body of the guide rod (112).

5. The urban drainage pipe robot integrating inspection and repair according to claim 1 is characterized in that: The wheeled mobile platform (2) includes a vehicle frame (24), the bottom of the vehicle frame (24) is connected to a wheel (21) via a reduction motor (25), the reduction motor (25) is connected to a controller (4) and a handle (5) via wireless communication, one end of the vehicle frame (24) is connected to a composite cable (108), and the detection and repair unit (3) is connected to the vehicle frame (24).

6. The urban drainage pipe robot integrating inspection and repair according to claim 5 is characterized in that: A handle (22) is connected between two opposite sides of the vehicle body frame (24), and an end of the vehicle body frame (24) away from the composite cable (108) is connected to an anti-collision beam (23).

7. The urban drainage pipe robot integrating inspection and repair according to claim 1 is characterized in that: The detection and repair unit (3) includes a rear camera (32), the rear camera (32) is connected to the surface of the vehicle frame (24), the rear camera (32) is arranged close to one end of the vehicle frame (24), the vehicle frame (24) is connected to a main camera (31) via a dual-axis pan-tilt platform (33), the surface of the vehicle frame (24) is connected to a repair component, and the repair component is arranged between the main camera (31) and the rear camera (32).

8. The urban drainage pipe robot integrating inspection and repair according to claim 7 is characterized in that: The dual-axis pan-tilt platform (33) includes two fixed plates (331) arranged opposite to each other, the two fixed plates (331) are connected to the vehicle frame (24), a transmission head (332) and a pitch head (337) are connected between the two fixed plates (331), an outer wall of the transmission head (332) is connected to a rotating shaft (333), an end of the rotating shaft (333) is connected to a rotating motor (334), the rotating motor (334) is connected to a bracket (335), and the bracket (335) is connected to the outer wall of the transmission head (332). One side is connected to the vehicle body frame (24), and a pitch motor is connected inside the transmission head (332). The output shaft of the pitch motor passes through the side wall of the transmission head (332) and is connected to a driving wheel (336) with a fixed plate (331). The driving wheel (336) is connected to a driven wheel (339) through a transmission belt (338). The driven wheel (339) is connected to the pitch head (337) through a transmission shaft (3310). The main camera (31) is connected to the pitch head (337).

9. The urban drainage pipe robot integrating inspection and repair according to claim 7 is characterized in that: The repair component includes a repair box (34), the repair box (34) is connected to the vehicle body frame (24), the repair box (34) is arranged between the main camera (31) and the rear camera (32), the repair box (34) is connected to a spray pump (35) through a pipeline, the output end of the spray pump (35) is connected to a hose (36), the end of the hose (36) is connected to a nozzle (37), the nozzle (37) is connected to the pitch head (337) through a quick-release buckle, and the surface of the vehicle body frame (24) is connected to an LED lamp (38), and the LED lamp (38) is arranged close to the spray pump (35).

10. The inspection and repair method for urban drainage pipes using a robot integrating inspection and repair according to any one of claims 1 to 9, characterized in that: Please follow the steps below to implement it: Step 1: Check the rotational freedom of the dual-axis gimbal (33) and the imaging quality of the main camera (31) and the rear camera (32) in turn; Step 2: placing the wheeled mobile platform (2) in the pipeline, sending a command via the handle (5), and causing the wheeled mobile platform (2) to move in the pipeline. During the movement, the winding drum (107) rotates, releasing the composite cable (108); Step 3: The dual-axis gimbal (33) drives the main camera (31) to scan the pipe wall, and the LED light (38) automatically fills in the light according to the environment; Step 4: When a crack is identified, the spray pump (35) pumps out the paint and performs atomized spray repair through the nozzle (37).

Images