Underground pipe endoscope device

Abstract

The application relates to the technical field of pipeline detection, and discloses an underground pipeline endoscope device which comprises a main body framework, a holder detection assembly arranged at the front end of the main body framework, two groups of radial support assemblies arranged along the axial direction of the main body framework at intervals, and a segmented hard pushing rod assembly connected to the rear end of the main body framework. Each group of radial support assemblies comprises a plurality of telescopic support arms and rollers which are distributed in the circumferential direction, and the support arms are connected to the rollers through elastic pre-tightening structures so that the rollers are attached to the inner wall of the pipeline; the holder detection assembly carries a high-definition camera and an illumination unit and can change the shooting direction. Adjacent pushing rods are detachably connected, and control lines and power lines are led to the ground along the pushing rods. The device can be reliably pushed and pulled back by ground personnel, and the abnormal position can be determined according to the length of the pushing rod connection, so that the device is suitable for trenchless detection of underground pipeline corrosion, compensators, fixed joints, three-way pipes and bends.

Description

Technical Field

[0001] This invention relates to the field of trenchless inspection technology for underground pipelines, and in particular to an underground pipeline endoscope capable of reliably advancing and retrieving within an underground pipeline using a segmented rigid push rod, and performing imaging inspection of the pipeline's inner wall and components. Background Technology

[0002] Underground pipelines, buried underground for extended periods, are prone to safety hazards due to media corrosion, deposit buildup, weld defects, or localized deformation. The location and condition of components such as compensators, fixed joints, tees, and elbows also need to be confirmed before maintenance. Excavating sections for inspection is not only labor-intensive but also disrupts the normal operation of roads, sites, or production systems. Therefore, trenchless inspection using endoscopic or pipeline robotic equipment is typically necessary.

[0003] Existing pipeline robots typically rely on motors to drive their wheels and transmit images and control signals via cables. These devices are complex in structure and have high manufacturing and maintenance costs. When corrosion protrusions, deposits, or localized deformation exist within the underground pipeline, the walking mechanism may become stuck. Once the robot loses its driving force, it can usually only be retrieved by dragging the cable or using a separate traction rope, which carries the risk of the traction component breaking, the equipment becoming stuck, and remaining inside the pipeline.

[0004] Furthermore, different underground pipelines have varying diameters, making it difficult for ordinary fixed-size travel supports to simultaneously ensure stable centering and smooth movement of the equipment. If the camera is fixed to the body's posture, it is also not conducive to observing the circumferential area of ​​the pipe wall and the local positions of pipe components. Therefore, there is a need for an underground pipeline endoscope with a simple structure, adaptable to different pipe diameters, reliably pushed and pulled back from the ground, and easy to determine the location of anomalies. Summary of the Invention

[0005] The purpose of this invention is to provide an endoscopic device for underground pipelines to solve the problems of high manufacturing cost, insufficient reliability of recovery after jamming, limited adaptability to different pipe diameters, and difficulty in determining abnormal locations of existing self-driven pipeline robots.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: An underground pipeline endoscope includes a main frame, a detection assembly, a radial support assembly, a push rod assembly, and a cable assembly. The detection assembly, located at the front end of the main frame, includes a pan-tilt mechanism and a camera and lighting unit mounted on it. The radial support assemblies are in at least two sets, spaced apart axially along the main frame. Each set includes multiple telescopic support arms distributed circumferentially along the main frame. Each telescopic support arm has a roller rotatably connected to its outer end. The telescopic support arms can extend and retract radially along the main frame, applying a preload force towards the inner wall of the pipeline to the rollers. The push rod assembly is connected to the rear end of the main frame and consists of multiple rigid push rods that can be detachably connected end-to-end. The cable assembly is electrically connected to the camera, lighting unit, and pan-tilt mechanism, and extends along the push rod assembly to the ground control end.

[0007] Preferably, the two sets of radial support components are respectively set at the front and rear of the main frame, and each set has four telescopic support arms evenly arranged along the circumference, so that the equipment forms two rows and a total of eight roller support points.

[0008] Preferably, the telescopic support arm consists of a swing arm, a telescopic arm, and an elastic element. The swing arm is hinged to the main frame, the telescopic arm is slidably engaged with the swing arm, and the elastic element is disposed between the two to provide expansion and contraction compensation when the pipe diameter changes or the pipe wall is uneven.

[0009] Preferably, the pan-tilt mechanism can drive the camera and lighting unit to rotate relative to the main frame, so that the camera can observe the circumferential area of ​​the pipe wall and pipe components when the equipment is stationary or moving.

[0010] Preferably, each rigid push rod includes a rod body, a front connector and a connecting sleeve, adjacent rigid push rods are locked by threaded connection or plug-in, and control lines and power lines are laid along the rigid push rods and connected to the ground control terminal.

[0011] Preferably, the rigid push rod is provided with length scale or segment identification mark, so that ground personnel can determine the axial position of the detection component based on the number of push rods that have been connected and the current segment insertion length.

[0012] This invention has at least the following beneficial effects: This equipment eliminates the complex drive system that relies on wheel motors for self-propelled movement, directly transmitting thrust and pull through rigid push rods connected end to end. Even if the equipment encounters resistance inside the tube, ground personnel can still perform stable pullback using the rigid push rods, reducing the risk of breakage and equipment abandonment that occurs when relying solely on flexible cables or traction ropes for retrieval, and also helping to reduce manufacturing and maintenance costs.

[0013] The front and rear radial support components create multi-point elastic support within the pipe cross-section. The rollers expand and contract with changes in pipe diameter and local inner wall shape, maintaining a relatively stable passage posture for the main frame. This can be adjusted to accommodate different pipe diameters. The pan-tilt-zoom (PTZ) detection component allows the camera and lighting unit to change their observation direction, facilitating inspection of pipe inner wall corrosion and the locations of compensators, fixed joints, tees, and elbows. By counting the number of push rod sections and the insertion length, the position of anomalies relative to the inlet can be estimated without excavation, providing a basis for subsequent targeted excavation or maintenance. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments are briefly described below.

[0015] Figure 1 This is a schematic diagram illustrating the application of the present invention within an underground pipeline; Figure 2 This is a three-dimensional structural diagram of the present invention; Figure 3 This is a side view of the structure of the present invention.

[0016] In the diagram: 1. Lighting unit; 2. Front protective shell; 3. Inspection mounting bracket; 4. Pan-tilt mechanism; 5. Lower longitudinal beam; 6. Upper longitudinal beam; 7. Roller; 8. Front telescopic support arm; 9. Rear telescopic support arm; 10. Rear end cover; 11. Cable sealing connector; 12. Front connector of push rod; 13. Push rod body; 14. Push rod connecting sleeve; 15. Cable; 16. Inner wall of pipe. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the described embodiments are for explaining the invention and are not intended to limit the invention.

[0018] Reference Figures 1 to 3 The underground pipeline endoscope in this embodiment mainly consists of a main frame, a detection component located at the front end of the main frame, radial support components located at the front and rear ends of the main frame, a push rod assembly located at the rear end of the main frame, and a cable assembly. The main frame is composed of a lower longitudinal beam 5, an upper longitudinal beam 6, and end connectors connecting the two ends of each longitudinal beam. It can be made of steel, aluminum alloy, or other metal materials with sufficient rigidity and corrosion resistance. The lower longitudinal beam 5 and the upper longitudinal beam 6 extend along the axial direction of the equipment, together forming a rigid frame for installing the detection component, support component, and rear end cover 10.

[0019] The detection assembly is mounted at the front end of the main frame. The detection mounting bracket 3 is located inside the front protective shell 2. The high-definition camera is mounted in the middle of the detection mounting bracket 3, and multiple lighting units 1 are arranged around the high-definition camera to illuminate the inner wall of the pipe. The front protective shell 2 surrounds the outer periphery of the camera and the lighting units 1, which can protect the detection element when the equipment enters the pipe or comes into contact with local obstacles, while retaining a viewing and lighting area directly in front.

[0020] The inspection mounting frame 3 is connected to the main frame via a pan-tilt mechanism 4. The pan-tilt mechanism 4 can be a motor-driven rotating shaft structure or another rotating mechanism controlled from the ground, allowing the inspection mounting frame 3 to rotate relative to the main frame. The camera and lighting unit 1 rotate synchronously with the inspection mounting frame 3, thus enabling the camera and lighting directions to be changed even when the position of the main frame remains essentially unchanged, allowing observation of different circumferential areas of the pipe's inner wall, as well as the vicinity of compensators, fixed joints, tees, or elbows.

[0021] A set of radial support assemblies is provided at the front and rear of the main frame. The front radial support assembly includes four forward telescopic support arms 8 evenly distributed along the circumference of the main frame, and the rear radial support assembly includes four rear telescopic support arms 9 evenly distributed along the circumference of the main frame. For ease of illustration, only a portion of the support arms located on the observation side is shown in the attached figure; the remaining support arms are arranged along the circumference of the main frame. Rollers 7 are installed at the outer ends of each forward telescopic support arm 8 and rear telescopic support arm 9.

[0022] Both the front telescopic support arm 8 and the rear telescopic support arm 9 may include a swing arm hinged to the main frame, a telescopic arm slidably connected to the swing arm, and a compression spring disposed between the two. A wheel seat is provided at the outer end of the telescopic arm, and a roller 7 is rotatably mounted on the wheel seat. After the equipment is installed in the pipeline, the compression spring causes the telescopic arm to extend outward, thereby causing the roller 7 to conform to the inner wall 16 of the pipeline; when the pipe diameter decreases or encounters a local protrusion, the telescopic arm retracts against the spring force, thereby reducing the probability of rigid collisions and jamming. The initial extension length of the support arm can be adjusted by a threaded adjustment component or a stepped positioning hole, allowing the equipment to adapt to pipelines with nominal diameters from DN500 to DN900.

[0023] The rear end cover 10 is fixed to the rear end of the main frame. The cable 15 passes through the rear end cover 10 via the cable sealing connector 11 and connects to the camera, lighting unit 1, and pan / tilt mechanism 4. The cable sealing connector 11 restricts the movement of the cable 15 relative to the rear end cover 10 and provides sealing protection at the cable entry point. The cable 15 includes video or data signal lines, pan / tilt control lines, and power lines. The cable 15 is laid along the push rod assembly and leads out to the ground control terminal. The cable 15 can be fixed to the surface of the push rod by external clips or passed through the hollow channel of the push rod.

[0024] The push rod assembly includes multiple rigid push rods. Each rigid push rod includes a push rod body 13, a push rod front connector 12 at its front end, and a push rod connecting sleeve 14 at its rear end. The foremost rigid push rod is detachably connected to the connecting seat outside the cable sealing connector 11 via the push rod front connector 12; subsequent rigid push rods are connected end-to-end via the push rod front connector 12 and the push rod connecting sleeve 14. The connection method can be a threaded connection or a plug-in connection locked by a pin or rotating locking sleeve to ensure that the push rod assembly can transmit both thrust and pull forces simultaneously.

[0025] In one embodiment, each push rod 13 is six meters long. The outer wall of each push rod 13 is marked with segment numbers and length markings. If the number of push rods fully inserted into the pipe is N, the length of a single push rod is l, and the length of the currently inserted push rod is s, then the axial distance of the detection component relative to the pipe inlet can be estimated using L = N × l + s. In actual use, it can also be corrected based on a fixed distance from the front end of the equipment to the starting position of the first push rod.

[0026] The operation of this equipment is as follows: First, adjust the initial extension length of the front telescopic support arm 8 and the rear telescopic support arm 9 according to the inner diameter of the pipe to be inspected, so that each roller 7 can contact the inner wall 16 of the pipe after the equipment enters the pipe. Then, send the front end of the equipment into the pipe through the inspection well or pipe opening, and turn on the lighting unit 1 and the camera. The operator connects the rigid push rods one by one on the ground, and applies thrust through the push rod assembly, so that the rollers 7 roll along the inner wall 16 of the pipe, and the main frame moves forward along the axial direction of the pipe.

[0027] During the advancement process, the ground control unit receives images from the camera. When it is necessary to observe the circumferential area of ​​the pipe wall or the local position of the pipe component, the control pan-tilt mechanism 4 rotates the detection mounting frame 3, so that the camera faces the target area. After corrosion, cracks, deposits, deformation, or component abnormalities are detected, advancement is stopped and the number of push rod sections that have been connected and the current push rod insertion scale are recorded, thereby determining the estimated location of the abnormal point. After the inspection is completed, the operator applies tension through the push rod assembly, causing the main frame to exit the pipe along the original path, and then disassembles the exited push rods one by one.

[0028] Because the push rod assembly is a rigid connection structure capable of transmitting bidirectional axial loads, it can be immediately switched to a pull-back operation when the equipment is unable to move forward due to deposits, internal wall protrusions, or obstruction by the support components. Compared to equipment that is only retrieved via flexible cables or traction ropes, the push rod assembly is less prone to bending and stacking under pressure and can provide a more stable retrieval force. The front and rear radial support components form segmented guides for the main frame, which can reduce the tilt of the main frame and improve imaging stability.

[0029] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. For those skilled in the art, any equivalent substitutions or conventional changes made to the number of support arms, the push rod connection structure, the gimbal drive form, the cable routing method, and the camera and lighting elements without departing from the concept of the present invention should fall within the protection scope of the present invention.

Claims

1. An underground pipeline endoscope, comprising a main frame, a detection component, a radial support component, a push rod component, and a cable component, characterized in that: The detection component is located at the front end of the main frame. The detection component includes a pan-tilt mechanism and a camera and lighting unit mounted on the pan-tilt mechanism. The radial support components are at least two sets and are spaced apart along the axial direction of the main frame. Each set of radial support components includes multiple telescopic support arms distributed circumferentially along the main frame. Each telescopic support arm has a roller rotatably connected to its outer end. The telescopic support arms can extend and retract radially along the main frame and apply a preload force toward the inner wall of the pipe to the rollers. The push rod assembly is connected to the rear end of the main frame. The push rod assembly consists of multiple rigid push rods that can be detachably connected end to end. The push rod assembly is used to transmit thrust and pull forces along the axial direction of the pipe to the main frame. The cable assembly is electrically connected to the camera, lighting unit, and pan-tilt mechanism and extends along the push rod assembly to the ground control end.

2. The underground pipeline endoscope according to claim 1, characterized in that: The two sets of radial support components are respectively disposed at the front and rear of the main frame. Each set of radial support components includes four telescopic support arms evenly distributed along the circumference, so that a total of eight roller support points are formed on the outer periphery of the main frame.

3. The underground pipeline endoscope according to claim 1, characterized in that: The telescopic support arm includes a swing arm hinged to the main frame, a telescopic arm slidably engaged with the swing arm, and an elastic element disposed between the swing arm and the telescopic arm. The roller is installed at the outer end of the telescopic arm, and the elastic element is used to compensate for changes in pipe diameter and maintain the roller in contact with the inner wall of the pipe.

4. The underground pipeline endoscope according to claim 1, characterized in that: The gimbal mechanism includes a gimbal bracket rotatably connected to the main frame and a rotary drive component for driving the gimbal bracket to rotate. The camera and lighting unit are fixed to the gimbal bracket, and the shooting direction of the camera can be changed relative to the axis of the main frame.

5. The underground pipeline endoscope according to claim 4, characterized in that: The lighting unit includes multiple lights spaced around the camera. The front end of the main frame is provided with a protective frame surrounding the camera and the lights. The front end of the protective frame forms an open area for the camera to frame the shot and for the lighting light to pass through.

6. The underground pipeline endoscope according to claim 1, characterized in that: Each of the rigid push rods includes a rod body, a front connector located at the front end of the rod body, and a connecting sleeve located at the rear end of the rod body. Two adjacent rigid push rods are threadedly connected or plugged into each other through the front connector and the connecting sleeve.

7. The underground pipeline endoscope according to claim 6, characterized in that: The rigid push rod is equipped with length scales or segment identification marks. The ground control terminal determines the axial position of the detection component in the pipeline based on the number of connected rigid push rods and the current insertion length of the rigid push rod.

8. The underground pipeline endoscope according to claim 1, characterized in that: The telescopic support arm has an adjustable initial extension length, and the adjustment range of each telescopic support arm is adapted to underground pipelines with a nominal diameter of DN500 to DN900.

9. A method for inspecting underground pipelines using the underground pipeline endoscope according to any one of claims 1 to 8, characterized in that, include: Adjust each telescopic support arm according to the inner diameter of the pipe to be inspected, so that the rollers maintain contact with the inner wall of the pipe after entering the pipe; align the inspection assembly towards the inside of the pipe and connect the rigid push rods one by one, applying a pushing force to the main frame through the rigid push rods to move the underground pipe endoscope along the pipe; turn on the lighting unit and camera, and change the shooting direction through the pan-tilt mechanism to image the inner wall of the pipe as well as the positions of compensators, fixed joints, tees, and elbows; when an abnormal position is detected, determine the abnormal position based on the number of connected rigid push rods and the insertion length; after the inspection is completed, apply a pulling force to the main frame through the rigid push rods to pull the underground pipe endoscope out of the pipe.

10. The method for detecting underground pipelines according to claim 9, characterized in that: During the movement of the equipment, the front and rear radial support components guide and support the main frame respectively. When the inner diameter or inner wall shape of the pipe changes, the elastic element drives the corresponding telescopic support arm to extend or allows it to retract, so as to maintain the stable position of the camera relative to the cross-section of the pipe.

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