Internal detection device for narrow space

Abstract

The embodiment of the invention provides an internal detection device for a narrow space, and the device comprises a device main body which is provided with a front vision module, a lateral vision module, and a rear vision module. The connector module is supported and rotatably arranged at the tail end of the device body, and a reset mechanism is further arranged at the tail end of the device body and used for keeping the cable module in a horizontal state. The device body is further provided with a pull rope used for enabling the connector module to rotate by a certain angle relative to the tail end of the device body, one end of the pull rope is connected with a winding and unwinding mechanism, the winding and unwinding mechanism is used for winding and unwinding the pull rope, and the other end of the pull rope is connected with the tail end of the device body. The main cable is fixedly sleeved with a hard cable sleeve, the hard cable sleeve is provided with a sliding ring, and the sliding ring is fixedly provided with a guide ring used for guiding the pull rope. According to the embodiment of the invention, a stable horizontal state is kept in the process of lowering the detection device into the tank body, so that the problem of damage caused by direct contact of the front vision module with the bottom is avoided.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application belongs to the technical field of atmospheric tank car detection, and particularly relates to an internal detection device for a narrow space. BACKGROUND

[0002] In the field of industrial production and logistics transportation, the internal state detection of equipment such as containers, atmospheric tank cars, storage tanks and pipelines is a key link to ensure the safe operation of the equipment. Such equipment is mostly closed or semi-closed narrow spaces, and defects such as corrosion, cracks and accumulation of sundries may exist inside. In addition, due to problems such as medium residue (such as flammable and explosive residues of gasoline and diesel tank cars) and poor ventilation, manual entry for detection faces challenges such as low efficiency and high safety risks.

[0003] With the development of automation and visualization technology, internal detection devices for narrow spaces gradually replace traditional manual detection and become the industry mainstream. Such devices usually integrate cameras, sensors and other visualization components, and realize the collection and transmission of images and data inside the narrow space through remote control, which can greatly reduce the frequency of manual entry and improve the safety and efficiency of detection.

[0004] At present, such devices are developing towards miniaturization and intelligentization, striving to adapt to more complex narrow space environments and further improve detection stability through optimized control methods. In related technologies, the main structure of the visualization internal detection device for narrow spaces includes a detection front end and a tail structure, and the overall size is adapted to the entrance of the narrow space (such as the manhole at the top of the tank car), which can enter the detection space through vertical lowering. However, during the lowering process of the device, the detection front end (lens) is prone to touching the bottom first due to the reliance on the self-provided cable, and auxiliary cables need to be additionally tied to adjust the lowering posture, resulting in an increase in the number of cables, which are prone to entanglement when moving in the narrow space. SUMMARY

[0005] The purpose of the embodiment of the present application is to provide an internal detection device for a narrow space, to at least solve the technical problem that the detection device in related technologies is prone to touching the bottom first due to the reliance on the self-provided cable when entering the tank space through vertical lowering, and auxiliary cables need to be additionally tied, resulting in an increase in the number of cables, which are prone to entanglement when moving in the narrow space.

[0006] To achieve the above purpose, the embodiment of the present application provides the following technical solutions.

[0007] According to one embodiment of the present application, an internal detection device for a narrow space is provided, comprising:

[0008] The joint module supports the rotationally arranged tail end of the device body, and the tail end of the device body is further provided with a reset mechanism for keeping the cable module horizontal at the tail end of the device body; the device body is further provided with a pull rope for rotating the joint module at a certain angle relative to the tail end of the device body, one end of the pull rope is connected with the winding and unwinding mechanism, the winding and unwinding mechanism is used for winding and unwinding the pull rope, and the other end of the pull rope is connected with the tail end of the device body; the winding and unwinding mechanism is located at the front end of the device body;

[0009] The controller is arranged at the bottom of the device body, the controller is connected with the joint module through the flexible cable, the joint module has a cable joint, and the cable plug at the end of the main cable is fixedly plugged on the cable joint; a hard cable sleeve is fixedly sleeved on the main cable, a sliding ring is arranged on the hard cable sleeve, and a guide ring for guiding the pull rope is fixedly arranged on the sliding ring.

[0010] Preferably, the pull rope passes through the corresponding guide ring in a sliding manner;

[0011] The sliding ring is sleeved on the hard cable sleeve in an elastic sliding connection mode;

[0012] A fixed ring is fixedly sleeved on the hard cable sleeve, and the fixed ring and the sliding ring are connected through a supporting spring; a limiting ring is further fixedly arranged on the hard cable sleeve, the limiting ring is used for limiting the movement stroke of the sliding ring, and the sliding ring is located in the region between the fixed ring and the limiting ring, so that the elastic sliding connection mode between the sliding ring and the hard cable sleeve is realized.

[0013] Preferably, the device body is provided with a front vision module; a lateral vision module is arranged on the side of the device body along the direction thereof, and the lateral vision module is used for acquiring the lateral picture of the detection device; and a rear vision module is further arranged at the tail end of the device body, and the rear vision module is used for acquiring the tail end field of view of the detection device.

[0014] Preferably, the front vision module comprises:

[0015] The front vision module is used for acquiring images and videos in the advancing direction of the detection device in real time;

[0016] The light supplement module is adjustably arranged on the lower frame, and the lower frame is fixedly connected to the front vision module;

[0017] The two connecting rods are a group, and two groups of connecting rods are arranged on the two sides of the front vision module; for each connecting rod, one end of the connecting rod is hingedly connected with the front vision module, and the other end of the connecting rod is hingedly connected with the base, and the base is fixedly arranged on the upper end face of the device body.

[0018] The electric telescopic rod is hinged at one end to the connecting rod and at the other end to the upper end face of the device body. When the electric telescopic rod is controlled to extend, the connecting rod is rotated by a certain angle around the hinged end thereof to the base, the front vision module is lifted upward to adjust the height of the front vision module, the shooting range of the front vision module during image acquisition is improved, the image field of view is increased, and the staff can better detect the inside of the tank in the field of view.

[0019] Since the two connecting rods on one side of the front vision module are a group, the stability of the front vision module can be maintained when the front vision module is lifted, and the front vision module is prevented from overturning, so that the orientation of the front vision module is always aligned with the forward direction of the detection device.

[0020] Preferably, the forward end of the device body has a receiving groove matched with the front vision module, and the front vision module is placed in the receiving groove when the connecting rod is in a horizontal state.

[0021] Preferably, the winding and unwinding mechanism is embedded in the device body.

[0022] The winding and unwinding mechanism includes two rope winding wheels, the shafts of the two rope winding wheels are connected by a shaft coupling, and the winding and unwinding mechanism further includes a forward and reverse servo motor for driving the rope winding wheels to rotate; wherein the output shaft of the forward and reverse servo motor is coaxially connected with the shaft of the rope winding wheel.

[0023] Preferably, the joint module is rotatably supported on the end seat, and the rear vision module is arranged on the tail end side of the end seat.

[0024] Preferably, the reset mechanism includes a connecting toothed chain, one end of the connecting toothed chain is wound around a rotating gear, the rotating gear is fixedly installed on one end of a supporting rotating rod, the other end of the supporting rotating rod is fixedly connected with the joint module, and the supporting rotating rod is rotatably arranged on the end seat; the joint module can be rotatably supported on the end seat by the supporting rotating rod;

[0025] The other end of the connecting toothed chain is connected with a sliding block, the sliding block is slidably arranged in a sliding cavity in the device body, and a connecting spring is arranged in the sliding cavity, one end of the connecting spring is connected with the sliding block, and the other end of the connecting spring is fixedly connected with the inner wall of the sliding cavity.

[0026] Preferably, the air detection module is further provided, and the air detection module is arranged on the front vision module.

[0027] The air detection module includes a gas detection unit, a signal processing unit, a control and judgment unit, and an alarm unit.

[0028] The gas detection unit adopts a combined structure of a catalytic combustion type gas sensor and a semiconductor gas sensor.

[0029] The alarm unit includes an audible and visual alarm device;

[0030] The gas detection unit is electrically connected to the signal processing unit. The signal output terminal of the gas detection unit is directly connected to the signal input terminal of the signal processing unit. The gas detection unit converts the concentration of the target gas in the detection environment into an electrical signal, which is then optimized by the signal processing unit and transmitted.

[0031] The signal processing unit is electrically connected to the control and judgment unit, and the processed signal output terminal of the signal processing unit is connected to the signal input terminal of the control and judgment unit.

[0032] In the electrical connection between the control and judgment unit and the alarm unit, the alarm control output terminal of the control and judgment unit is connected to the trigger input terminal of the alarm unit; when the control and judgment unit determines that the gas concentration exceeds the standard, it outputs a control signal to trigger the alarm unit to work, such as controlling the audible and visual alarm to perform the operation.

[0033] The control and judgment unit is also electrically connected to the main control system via a communication unit.

[0034] Preferably, the outer ring of the rigid cable sleeve is a fixedly fitted outer cylinder, the outer ring of the outer cylinder is machined with external threads, and the inner ring of the fixing ring is machined with internal threads that mate with the external threads; the fixing ring is fixedly fitted onto the outer cylinder with the external thread structure through a threaded connection structure.

[0035] A freely movable connecting rope is also installed through the sliding ring. One end of the connecting rope, which passes freely through the sliding ring, is connected to a counterweight, and the other end is fixedly connected to a limit ring.

[0036] Compared with the prior art, the beneficial effects of the internal detection device for confined spaces provided in this application are:

[0037] When the winding mechanism retracts the pull rope, the cable module rotates upward around the tail end of the device body under the pulling action of the pull rope, causing the cable module to be in an inclined state. When the main cable is pulled up, the lifting point of the force is the position of the guide ring. Based on the center of gravity of the entire detection device, the winding and unwinding length of the pull rope can be adjusted by the winding mechanism. At this time, the detection device can be lowered into the tank through the main cable. During the lowering process, the detection device is subjected to uniform force, is stable and reliable, and can be in a relatively horizontal state, avoiding the problem of the front vision module of the detection device directly touching the bottom and causing damage.

[0038] In this embodiment, a lateral vision module is added to the side of the main body of the device, which can realize the acquisition of the lateral field of view of the detection device. In conjunction with the rearward field of view acquired by the rear vision module, it is convenient to acquire the field of view when the detection device makes flexible turns in the tank.

[0039] This application also uses a flexible sliding connection method to keep the pull rope taut when the cable module is horizontal along the tail end of the device body. When the detection device moves inside the tank, keeping the pull rope taut can prevent tangling and ensure the good working condition of the detection device. Attached Figure Description

[0040] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0041] In the attached diagram:

[0042] Figure 1 A first-view perspective perspective view of an internal detection device for confined spaces provided in an embodiment of this application;

[0043] Figure 2 for Figure 1 Left view of the provided internal detection device;

[0044] Figure 3 for Figure 1 A front view of the provided internal detection device;

[0045] Figure 4 This is a schematic diagram of the structure of the front vision module provided in the embodiments of this application;

[0046] Figure 5 This is a schematic diagram of the structure of the take-up and take-down mechanism provided in the embodiments of this application;

[0047] Figure 6 for Figure 1 Right view of the provided internal detection device;

[0048] Figure 7 This is a schematic diagram of the cable module and connector module provided in the embodiments of this application;

[0049] Figure 8 This is a schematic diagram of the connector module provided in an embodiment of this application;

[0050] Figure 9 for Figure 1 Top view of the provided internal inspection device;

[0051] Figure 10 A schematic diagram showing the installation location of the air detection module in another embodiment provided in this application;

[0052] Figure 11 This is a structural block diagram of the air detection module provided in this application;

[0053] Figure 12The matching structure diagram of the counterweight and the sliding ring provided in the application.

[0054] The above drawings include the following reference signs:

[0055] 100, device body; 101, moving wheel; 1011, moving motor; 102, lateral vision module; 103, storage groove; 104, end seat; 105, controller; 106, flexible cable; 107, joint module; 1071, cable joint; 1072, support rotating rod; 1073, rotating gear; 1074, connecting toothed chain; 1075, sliding block; 1076, connecting spring; 108, rear vision module;

[0056] 200, front vision module; 201, front vision module; 202, lower frame; 203, light supplement module; 204, connecting rod; 205, electric telescopic rod; 206, base; 2061, U-shaped groove;

[0057] 300, pull rope;

[0058] 400, main cable; 401, hard cable sleeve; 4011, cable plug; 4012, outer cylinder; 4013, external thread; 402, fixing ring; 403, sliding ring; 4031, storage groove; 404, guide ring; 405, supporting spring; 406, limiting ring; 407, counterweight; 4071, connecting rope;

[0059] 500, winding and unwinding mechanism; 501, forward and reverse servo motor; 502, rope winding wheel;

[0060] 600, air detection module; 601, gas detection unit; 602, signal processing unit; 603, control and judgment unit; 604, alarm unit. DETAILED DESCRIPTION

[0061] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with embodiments.

[0062] It should be noted that, unless otherwise specified, all technical and scientific terms used in the present application have the same meaning as generally understood by those skilled in the art to which the present application belongs.

[0063] In the present application, unless otherwise specified, the orientation words such as "up, down, top, bottom" are generally directed to the directions shown in the drawings, or are directed to the vertical, perpendicular or gravity directions of the components themselves; similarly, for the convenience of understanding and description, "inner, outer" refers to the inner and outer relative to the contour of the components themselves, but the above orientation words are not used to limit the present application.

[0064] Embodiment 1

[0065] As Figures 1-3 According to one embodiment of the present application, an internal detection device for a narrow space is provided, comprising a device body 100, the bottom of the device body 100 is provided with a plurality of groups of moving wheels 101 along the length direction of the device body 100, the moving wheels 101 are used to realize the movement of the internal detection device in the tank body;

[0066] The moving wheels 101 can drive the detection device of the embodiment to move inside the tank body when rotating;

[0067] In one embodiment, the bottom of the device body 100 is provided with a moving motor 1011 for driving the moving wheels 101 to rotate, the moving motor 1011 should have a forward and reverse rotation function, which is used to drive the steering of the moving wheels 101 according to the needs, so as to realize the forward or backward movement of the detection device in the tank body;

[0068] It can be understood that the moving wheels 101 of the embodiment itself have a steering function, which is used to realize the movement of the detection device in the detection environment (such as the tank body) according to the predetermined track, rather than simply advancing or retreating in one direction; the moving wheels 101 with the steering structure belong to the conventional technical means in the art, and will not be described in detail.

[0069] Further, the device body 100 is provided with a front vision module 200, the front vision module 200 is used to obtain the image in the forward direction of the detection device when moving in the tank body, so as to detect whether there is an obstacle in the forward direction; it belongs to the conventional technical field of target detection to detect whether there is an obstacle in the image based on image recognition technology, and the embodiment of the present application will not be expanded in detail;

[0070] In one implementation, the main camera of the front vision module 200 selects an industrial-grade low-illumination wide-angle camera, which can ensure that clear images can still be output in a weak light environment inside the tank body; the lens adopts an oil stain-resistant coating to reduce the influence of fog and dust on imaging; preferably, a binocular camera can be selected, the depth information of the obstacle is obtained through parallax calculation, and the limitation that monocular vision can only identify existence and cannot judge distance is solved;

[0071] The front vision module 200 can obtain the video in the forward direction of the detection device in real time, and transmit the video stream data to the display terminal located outside the tank body in real time, the staff can correct the path instruction of the detection device moving in the tank body through the display terminal, so as to ensure that the detection device moves to avoid obstacles in the tank body, and obtains the image of the region to be detected.

[0072] Considering the structure of the tank, the wireless transmission mode is prone to signal loss, and the cable transmission method is generally used in the art; specifically, a cable is connected to the tail of the detection device, and the other end of the cable is electrically connected with an electrical equipment such as a display terminal (with a built-in main control system) outside the tank, which can provide continuous power supply for the detection device inside the tank, and ensure the real-time performance of signal transmission and reduce the delay of data transmission.

[0073] As Figures 1-4 In some embodiments, the front vision module 200 includes a front vision module 201 for acquiring images and videos in the forward direction of the detection device in real time; since the light in the tank to be detected is dim, the front vision module 200 of the embodiment further includes a light supplement module 203, which is adjustably arranged on the lower frame 202, and the lower frame 202 is fixedly connected to the front vision module 201. The light supplement module 203 can be used to supplement light to the detection environment of the front vision module 201 when it is turned on; wherein the angle of the light supplement module 203 relative to the lower frame 202 can be adjusted to increase the light supplement range of the light supplement module 203 and improve flexibility.

[0074] In some embodiments, the front vision module 200 further includes a connecting rod 204, two connecting rods 204 form a group, and two groups of connecting rods 204 are arranged on the two sides of the front vision module 200; for each connecting rod 204, one end of the connecting rod 204 is hingedly connected to the front vision module 200, and the other end of the connecting rod 204 is hingedly connected to the base 206, which is fixedly arranged on the upper end surface of the device main body 100;

[0075] Further, a U-shaped groove 2061 is formed in the base 206; the U-shaped groove 2061 corresponds to the cable module, and is used to avoid interference between the base 206 and the cable module when the cable module is in an inclined state;

[0076] Further, in the embodiment of the application, the front vision module 200 further includes an electric telescopic rod 205, one end of the electric telescopic rod 205 is hingedly connected to the connecting rod 204, and the other end of the electric telescopic rod 205 is hingedly connected to the upper end surface of the device main body 100; when the electric telescopic rod 205 is controlled to be elongated, the connecting rod 204 is rotated around the hinged end of the base 206 by a certain angle, which can lift the front vision module 200 upward to adjust the height of the front vision module 200, improve the shooting range when the front vision module 200 collects images, increase the image field of view, and facilitate the staff to better detect the tank inside the field of view;

[0077] In the embodiment, since the two connecting rods 204 of the front vision module 200 are a group, the stability of the front vision module 200 can be maintained when the front vision module 200 is lifted, and the front vision module 200 is prevented from overturning, so that the orientation of the front vision module 200 is always aligned with the forward direction of the detection device.

[0078] In addition, the front end of the device body 100 is provided with a receiving groove 103, which is matched with the front vision module 200. When the connecting rod 204 is in a horizontal state, the front vision module 200 is placed in the receiving groove 103.

[0079] Please refer to Figure 6 and Figure 9 In some embodiments, the device body 100 is provided with a lateral vision module 102 on the side thereof in the direction, which is used to obtain a lateral picture of the detection device, so as to supplement the lateral field of view of the detection device, and the operator can perceive the lateral obstacle direction, so as to ensure that the detection device can smoothly turn in the tank;

[0080] In addition, in the embodiment, the tail end of the device body 100 is also provided with a rear vision module 108, which is used to obtain the tail end field of view of the detection device; when the detection device retreats in the tank body, the rear vision module 108 provides the operator with the field of view behind the detection device; in cooperation with the lateral field of view obtained by the lateral vision module 102, the detection device can be conveniently turned or moved backward in the tank body.

[0081] As a preferred, for the lateral vision module 102 and the rear vision module 108, corresponding light supplement modules are synchronously arranged, which are used to supplement light when the lateral vision module 102 and the rear vision module 108 obtain the field of view image, so as to improve the quality of the obtained field of view image video.

[0082] Please continue to refer to Figures 6-8 In an embodiment of the application, the bottom of the device body 100 is provided with a controller 105, the controller 105 is connected with a joint module 107 through a flexible cable 106, the joint module 107 is provided with a cable joint 1071, and the cable joint 1071 is fixedly connected with the cable plug 4011 at the end of the main cable 400.

[0083] In the embodiment, a hard cable sleeve 401 is fixedly sleeved on the main cable 400.

[0084] The flexible cable 106 and the main cable 400 provided in the embodiment jointly constitute a cable module, which is used to realize the transmission of data, such as image, video and control instruction, between the detection device and the electrical module outside the tank body.

[0085] Correspondingly, the detection device can also be continuously powered.

[0086] However, when data transmission is performed by using a cable, the detection device is prone to being first in contact with the bottom during the lowering process, and an auxiliary cable needs to be additionally arranged on site to adjust the lowering posture, resulting in an increase in the number of cables and entanglement during movement in a narrow space.

[0087] Further, in the embodiment, the joint module 107 supports the rotation of the tail end of the device main body 100, and the tail end of the device main body 100 is also provided with a reset mechanism, which is used to keep the cable module horizontal at the tail end of the device main body 100. When the detection device moves in the tank, the cable module is in a horizontal state and moves with the detection device, without affecting the detection path and field of view collection of the head, thereby ensuring the accuracy of the detection result.

[0088] In the embodiment, the device main body 100 is also provided with a pull rope 300 for rotating the joint module 107 at a certain angle relative to the tail end of the device main body 100. One end of the pull rope 300 is connected with the winding and unwinding mechanism 500, and the other end of the pull rope 300 is connected with the tail end of the device main body 100.

[0089] The winding and unwinding mechanism 500 is located at the advancing end of the device main body 100.

[0090] In addition, the hard cable sleeve 401 is provided with a sliding ring 403, and the sliding ring 403 is fixedly provided with a guide ring 404 for guiding the pull rope 300. The pull rope 300 passes through the corresponding guide ring 404. Therefore, when the winding and unwinding mechanism 500 winds the pull rope 300, the cable module is rotated upward around the tail end of the device main body 100 under the pulling action of the pull rope 300, so that the cable module is in an inclined state, forming a triangular state as shown in Figure 3 When the main cable 400 is pulled, the force-bearing hanging point is the position of the guide ring 404, and the winding length of the pull rope 300 by the winding and unwinding mechanism 500 can be adjusted according to the center of gravity state of the entire detection device, so that the rotation angle of the cable module relative to the tail end of the device main body 100 is adjustable. When the rotation angle is relatively large, the guide ring 404 is closer to the upper left part of the device main body 100, and vice versa. Therefore, the winding length of the pull rope 300 by the winding and unwinding mechanism 500 can be adjusted based on the center of gravity state of the entire detection device. At this time, the detection device can be stably lowered into the tank by the main cable 400. The detection device is uniformly stressed during the lowering process and can be in a relatively horizontal state, thereby avoiding the problem of damage caused by the direct contact of the front vision module 200 with the bottom.

[0091] Further, in one implementation of the present application, the sliding ring 403 is sleeved on the hard cable sleeve 401 in an elastic sliding connection mode; wherein the hard cable sleeve 401 is fixedly sleeved with a fixed ring 402, and the fixed ring 402 is connected with the sliding ring 403 through a supporting spring 405; in addition, the hard cable sleeve 401 is also fixedly provided with a limiting ring 406, the limiting ring 406 is used for limiting the moving stroke of the sliding ring 403, and the sliding ring 403 is located in the region between the fixed ring 402 and the limiting ring 406, so as to realize the elastic sliding connection mode between the sliding ring 403 and the hard cable sleeve 401; through the elastic sliding connection mode, when the cable module is in a horizontal state along the tail end of the device main body 100, the pull rope 300 can be kept in a tension state, and when the detection device moves in the tank body, the pull rope 300 kept in the tension state can avoid winding phenomenon, and ensure good use state of the detection device.

[0092] Please continue to refer to Figure 3 and Figure 5 In the embodiment of the present application, the winding and unwinding mechanism 500 is embedded in the device main body 100, the winding and unwinding mechanism 500 includes a rope winding wheel 502, the shafts of the two rope winding wheels 502 are connected through a shaft coupling, and the winding and unwinding mechanism 500 also includes a forward and reverse servo motor 501 for driving the rope winding wheel 502 to rotate; wherein the output shaft of the forward and reverse servo motor 501 is coaxially connected with the shaft of the rope winding wheel 502.

[0093] It should be noted that the forward and reverse servo motor 501 provided in the embodiment of the present application is a servo motor with forward and reverse functions, so as to realize the winding or unwinding action of the pull rope 300, and the winding and unwinding action can be accurately controlled; the forward and reverse servo motor 501 can have an electromagnetic brake, which is used to ensure the self-locking and fixed state of the shaft when the forward and reverse servo motor 501 stops driving.

[0094] It can be seen that, in the implementation of the present application, the winding and unwinding mechanism 500 is controlled to wind the pull rope 300, so that the cable module changes from a horizontal state to an inclined state, so that a triangular force state is formed between the pull rope 300 and the device main body 100, and the detection device can be smoothly lowered into the tank body by pulling the main cable 400;

[0095] Therefore, the detection device of the present application has a visual function, can be vertically placed through a manhole at the top of the tank, and can solve the technical problems that the existing detection device needs to be additionally tied with an auxiliary cable to adjust the lowering posture, resulting in an increase in the number of cables and easy winding when moving in a narrow space.

[0096] Please continue to refer to Figures 6-8In the embodiment of the present application, the joint module 107 is rotatably arranged on the end seat 104, and the rear vision module 108 is arranged on the tail end side of the end seat 104, wherein after the joint module 107 is rotated to be inclined, the cable module no longer causes the rear vision module 108 to be blocked, so that the detection device can obtain a good environment view when it retreats in the tank.

[0097] Further, in one implementation of the reset mechanism in the embodiment, the reset mechanism includes a connecting tooth chain 1074, one end of the connecting tooth chain 1074 is wound around a rotating gear 1073, the rotating gear 1073 is fixedly installed on one end of a supporting rotating rod 1072, the other end of the supporting rotating rod 1072 is fixedly connected with the joint module 107, and the supporting rotating rod 1072 is rotatably arranged on the end seat 104; the joint module 107 can be rotatably supported on the end seat 104 by the supporting rotating rod 1072.

[0098] In addition, the other end of the connecting tooth chain 1074 is connected with a sliding block 1075, the sliding block 1075 is slidably arranged in a sliding cavity in the device main body 100, a connecting spring 1076 is arranged in the sliding cavity, one end of the connecting spring 1076 is connected with the sliding block 1075, and the other end of the connecting spring 1076 is fixedly connected with the inner wall of the sliding cavity; when the joint module 107 is rotated from the horizontal state to the inclined state, the connecting spring 1076 is elastically deformed under the pulling action of the connecting tooth chain 1074, so that the joint module 107 (i.e. the cable module) has a tendency to reset to the horizontal state, and under the elastic resetting action of the connecting spring 1076, the joint module 107 is pulled back to the horizontal state when the winding and unwinding mechanism 500 unwinds the pull rope 300.

[0099] In summary, the detection device provided by the embodiment of the present application is suitable for narrow spaces where workers cannot enter, such as a tank, wherein when the detection device is lowered into the tank, the detection device can be placed in the tank in a stable horizontal state, avoiding the problem that the front vision module 200 of the detection device is directly damaged by touching the bottom;

[0100] In addition, the embodiment of the present application additionally provides a lateral vision module 102 on the side of the device main body 100, which can realize the acquisition of the lateral view of the detection device, and cooperate with the rear view acquired by the rear vision module 108, so as to facilitate the flexible use of the detection device when it advances or retreats in the tank.

[0101] As shown in the drawings, Figure 10 In another embodiment of the present application, the internal detection device for a narrow space provided by the embodiment further includes an air detection module 600, which is arranged on the front vision module 200;

[0102] The air detection module 600 is configured to detect whether the air in the tank body is flammable and explosive.

[0103] As shown in the figure, the air detection module 600 of the embodiment includes a gas detection unit 601, a signal processing unit 602, a control and judgment unit 603, and an alarm unit 604. Figure 11

[0104] In one implementation, the gas detection unit 601 of the embodiment adopts a combined structure of a catalytic combustion type gas sensor and a semiconductor gas sensor, wherein the catalytic combustion type sensor is configured to detect flammable gases such as methane and hydrogen, and the semiconductor sensor is configured to detect volatile organic compounds and specific flammable gases.

[0105] In one implementation, the alarm unit 604 includes an audible and visual alarm device such as a high-brightness red LED indicator and a high-decibel buzzer. The alarm threshold can be set in multiple levels.

[0106] Further, in the embodiment, the gas detection unit 601 is electrically connected to the signal processing unit 602, wherein the signal output end of the gas detection unit 601 is directly connected to the signal input end of the signal processing unit 602. The gas detection unit converts the target gas concentration in the detection environment into an electrical signal and transmits the optimized signal through the signal processing unit 602.

[0107] The signal processing unit 602 is electrically connected to the control and judgment unit 603, and the processed signal output end of the signal processing unit 602 is connected to the signal input end of the control and judgment unit 603. Specifically, the digital signal after filtering, amplification, and A / D conversion is transmitted through a parallel data bus or a serial port. The signal processing unit 602 transmits the standardized gas concentration data to the control and judgment unit 603 as a judgment basis after noise reduction and linearization correction of the original signal.

[0108] In the electrical connection between the control and judgment unit 603 and the alarm unit 604, the alarm control output end of the control and judgment unit 603 is connected to the trigger input end of the alarm unit 604. When the control and judgment unit 603 determines that the gas concentration exceeds the preset threshold, a control signal is output to trigger the alarm unit 604 to work, such as controlling the audible and visual alarm to execute.

[0109] ​The control and judgment unit 603 is also electrically connected to the main control system outside the tank via a communication unit (the communication unit can be a cable module in this embodiment). It is for bidirectional data interaction, and the communication interface of the control and judgment unit 603 is directly connected to the corresponding interface of the communication unit. In forward data interaction, the control and judgment unit 603 transmits real-time gas concentration data and alarm status (such as "normal" or "exceeding the standard") to the outside through the communication unit (such as sending it to the main control system). In reverse data interaction, the communication unit receives the instructions sent by the main control system and forwards them to the control and judgment unit 603 for execution.

[0110] As can be seen, the gas detection unit 601 in this embodiment of the invention serves as a front-end sensing node. After optimization by the signal processing unit 602, the control and judgment unit 603 makes a decision, and then the alarm unit 604 and the communication unit realize the functional output.

[0111] Example 2

[0112] Unlike Example 1, as Figure 12 As shown, in this embodiment, the outer ring of the rigid cable sleeve 401 is a fixedly fitted outer cylinder 4012. The outer ring of the outer cylinder 4012 is machined with an external thread 4013, and the inner ring of the fixing ring 402 is machined with an internal thread that mates with the external thread 4013. In this embodiment, the fixing ring 402 is fixedly fitted onto the outer cylinder 4012 with the external thread structure through a threaded connection structure. Since the threaded connection has a good self-locking effect, on the one hand, the fixing ring 402 can be fixed on the outer cylinder 4012, and on the other hand, the position of the fixing ring 402 in the fixed state on the outer cylinder 4012 can be adjusted, so that the position of the stroke limit point of the support spring 405 being stretched or compressed can be adjusted as needed, making it more flexible to use.

[0113] In addition, in this embodiment, a freely pullable connecting rope 4071 is also provided through the sliding ring 403. One end of the connecting rope 4071 that freely passes through the sliding ring 403 is connected to a counterweight 407, and the other end is fixedly connected to a limiting ring 406.

[0114] Furthermore, in this embodiment, the sliding ring 403 is provided with a storage groove 4031 that cooperates with the counterweight 407. When the support spring 405 is not stretched, the counterweight 407 abuts against the storage groove 4031, and the connecting rope 4071 is also in a taut state (parallel to the axis of the outer cylinder 4012).

[0115] It can be seen that, in use, the detection device of the embodiment differs from that of Embodiment 1 in that, when the detection device is lowered into the tank, the sliding ring 403 is close to the limiting ring 406, and under the action of the weight of the counterweight 407, the counterweight 407 is in a suspended state under the suspension of the connecting rope 4071. At this time, the counterweight 407 helps to maintain the stability of the detection device during lowering into the tank, and reduces the shaking of the detection device.

[0116] Therefore, the counterweight 407 provided in the embodiment can reduce shaking when the detection device is lowered into the tank, and avoid the detection device from hitting the wall due to shaking.

[0117] The above schemes are only descriptions of preferred examples, but are not limited thereto. In the implementation of the present application, appropriate substitutions and / or modifications can be made according to the needs of users.

[0118] The number of devices and the scale of processing described herein are used to simplify the description of the present application. The application, modification and variation of the present application are obvious to those skilled in the art.

[0119] Although the embodiments of the present application have been disclosed as above, it is not limited to the application listed in the specification and the embodiments. It can be fully applied to various fields suitable for the present application. Additional modifications can be easily realized by those skilled in the art. Therefore, the present application is not limited to specific details and the figures shown and described herein, without departing from the general concept defined by the claims and the equivalent scope.

Claims

1. An internal detection device for confined spaces, characterized in that, include: A connector module (107) is rotatably mounted on the tail end of the device body (100). The tail end of the device body (100) is also provided with a reset mechanism, which is used to keep the cable module in a horizontal state at the tail end of the device body (100). The device body (100) is also provided with a pull rope (300) for rotating the connector module (107) relative to the tail end of the device body (100) by a certain angle. One end of the pull rope (300) is connected to a winding and unwinding mechanism (500), which is used to wind and unwind the pull rope (300). The other end of the pull rope (300) is connected to the tail end of the device body (100). The winding and unwinding mechanism (500) is located at the forward end of the device body (100). The controller (105) is located at the bottom of the main body (100) of the device. The controller (105) is connected to the connector module (107) via a flexible cable (106). The connector module (107) has a cable connector (1071). The cable connector (1071) is fixedly plugged into the cable plug (4011) at the end of the main cable (400). A rigid cable sleeve (401) is fixedly fitted on the main cable (400). A sliding ring (403) is provided on the rigid cable sleeve (401). A guide ring (404) for guiding the pull rope (300) is fixedly provided on the sliding ring (403).

2. The internal detection device for confined spaces according to claim 1, characterized in that, The pull rope (300) slides through the corresponding guide ring (404); The sliding ring (403) is fitted onto the rigid cable sleeve (401) using an elastic sliding connection method; A fixed ring (402) is fixedly fitted on the rigid cable sleeve (401), and the fixed ring (402) and the sliding ring (403) are connected by a support spring (405); a limit ring (406) is also fixedly fitted on the rigid cable sleeve (401), and the sliding ring (403) is located in the area between the fixed ring (402) and the limit ring (406).

3. The internal detection device for confined spaces according to claim 2, characterized in that, A front-view module (200) is provided on the main body (100) of the device. The main body of the device (100) is provided with a lateral vision module (102) along its side, which is used to acquire the lateral view of the detection device; The rear end of the main body (100) of the device is also provided with a rear vision module (108), which is used to acquire the field of view at the rear end of the detection device.

4. The internal detection device for confined spaces according to claim 3, characterized in that, The front vision module (200) includes a front vision module (201) and a supplementary lighting module (203); the front vision module (201) is used to acquire images and videos in the forward direction of the detection device in real time; the supplementary lighting module (203) is angle-adjustable and is set on the lower frame (202), and the lower frame (202) is fixedly connected to the front vision module (201); The front vision module (200) also includes connecting rods (204), with two connecting rods (204) forming a group, and the two groups of connecting rods (204) are respectively set on both sides of the front vision module (200); for each connecting rod (204), one end of the connecting rod (204) is hinged to the front vision module (200), and the other end of the connecting rod (204) is hinged to the base (206), and the base (206) is fixedly set on the upper end surface of the device body (100); An electric telescopic rod (205) is provided, with one end of the electric telescopic rod (205) hinged to the connecting rod (204) and the other end of the electric telescopic rod (205) hinged to the upper surface of the main body (100) of the device.

5. The internal detection device for confined spaces according to claim 4, characterized in that, The front end of the main body (100) of the device has a storage groove (103), which cooperates with the front vision module (200). When the connecting rod (204) is in a horizontal state, the front vision module (200) is placed in the storage groove (103).

6. The internal detection device for confined spaces according to claim 5, characterized in that, The take-up and release mechanism (500) is embedded in the main body (100) of the device; the take-up and release mechanism (500) includes a rope winding wheel (502), the shafts of the two rope winding wheels (502) are connected by a coupling, and the take-up and release mechanism (500) also includes a forward and reverse servo motor (501) for driving the rope winding wheel (502) to rotate; the output shaft of the forward and reverse servo motor (501) is coaxially connected to the shaft of the rope winding wheel (502).

7. The internal detection device for confined spaces according to any one of claims 2-6, characterized in that, The connector module (107) is rotatably mounted on the end seat (104), and the rear vision module (108) is mounted on the side of the tail end of the end seat (104).

8. The internal detection device for confined spaces according to claim 7, characterized in that, The reset mechanism includes: A connecting toothed chain (1074) is connected at one end to a rotating gear (1073). The rotating gear (1073) is fixedly installed at one end of a supporting rotating rod (1072). The other end of the supporting rotating rod (1072) is fixedly connected to a connector module (107), while the supporting rotating rod (1072) is rotatably mounted on an end seat (104). The other end of the connecting toothed chain (1074) is connected to a slider (1075). The slider (1075) is slidably disposed in the slide cavity inside the main body (100) of the device. A connecting spring (1076) is provided in the slide cavity. One end of the connecting spring (1076) is connected to the slider (1075), and the other end of the connecting spring (1076) is fixedly connected to the inner wall of the slide cavity.

9. The internal detection device for confined spaces according to claim 8, characterized in that, It also includes an air detection module (600), which is mounted on the front vision module (200); The air detection module (600) includes a gas detection unit (601), a signal processing unit (602), a control and judgment unit (603), and an alarm unit (604). The gas detection unit (601) adopts a combination structure of a catalytic combustion gas sensor and a semiconductor gas sensor; The alarm unit (604) includes an audible and visual alarm device; The gas detection unit (601) is electrically connected to the signal processing unit (602), wherein the signal output terminal of the gas detection unit (601) is directly connected to the signal input terminal of the signal processing unit (602), and the gas detection unit (601) converts the target gas concentration in the detection environment into an electrical signal and transmits it after optimization by the signal processing unit (602). The signal processing unit (602) is electrically connected to the control and judgment unit (603), and the processed signal output terminal of the signal processing unit (602) is connected to the signal input terminal of the control and judgment unit (603). In the electrical connection between the control and judgment unit (603) and the alarm unit (604), the alarm control output terminal of the control and judgment unit (603) is connected to the trigger input terminal of the alarm unit; when the control and judgment unit (603) determines that the gas concentration exceeds the standard, it outputs a control signal to trigger the alarm unit (604) to work. The control and judgment unit (603) is also electrically connected to the main control system via a communication unit.

10. The internal detection device for confined spaces according to claim 9, characterized in that, The outer ring of the rigid cable sleeve (401) is a fixed outer cylinder (4012), the outer ring of the outer cylinder (4012) is machined with an external thread (4013), and the inner ring of the fixing ring (402) is machined with an internal thread that mates with the external thread (4013). The retaining ring (402) is fixedly sleeved on the outer cylinder (4012) with an external thread structure through a threaded connection structure; A freely movable connecting rope (4071) is also provided through the sliding ring (403). One end of the connecting rope (4071) that freely passes through the sliding ring (403) is connected to a counterweight (407), and the other end is fixedly connected to a limiting ring (406).

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