Underground pipeline detection robot system

Abstract

The utility model discloses an underground pipeline detection robot system which comprises a robot body, a cable car unit and a rocker control terminal. The cable car unit is in communication connection with the robot body and the rocker control terminal. The robot body detects a pipeline, and the cable car unit interacts with the robot body and the rocker control terminal, so that the rocker control terminal controls actions of the robot body in a rocker mode. According to the underground pipeline detection robot system disclosed by the utility model, the action of controlling the detection robot by the rocker is simpler, and the control is smoother.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline detection, in particular to an underground pipeline detection robot system. Background Art

[0002] Urban underground pipelines are like the blood vessels of a city, and are closely related to the city's public health, safety, economic interests and other factors. Most of the pipelines that still play a major role in my country's urban drainage system were built in the 1990s. After a long period of use, they have problems such as aging and serious siltation. However, due to the particularity of the invisibility of underground pipelines, their internal defects are easy to accumulate and are not taken seriously until an accident occurs. Accidents caused by inadequate detection of drainage pipeline defects and untimely maintenance of the pipeline network are frequent. Therefore, it is important to conduct standardized inspections and investigations on the drainage pipelines in use to determine their health status. The current means of collecting internal information of drainage pipelines include: endoscopic sonar method, periscope method, bottom-penetrating radar and pipeline closed-circuit television method, among which the pipeline closed-circuit television detection system is one of the most widely used detection methods on engineering sites.

[0003] Relevant researchers are committed to developing technologies such as pipeline robots to improve the efficiency of drainage pipeline detection. For example, the invention patent with patent publication number CN115076511A discloses a modular pipeline detection robot system, including a robot body, a detection unit, a control terminal and an automatic retractable wire unit. The robot body includes an internal support module, a drive module, a high-pressure water flushing module and a control and communication module. The detection unit includes video detection, inclination detection, pressure detection, temperature detection and sonar detection. The corresponding module components can be quickly replaced, and the maintenance efficiency is high. The invention patent with patent publication number CN114544668A discloses a CCTV pipeline online detection system, including a control terminal, a detection robot and a CCTV pipeline detection system adapted to the detection robot, and the CCTV pipeline detection system is installed inside the detection robot. During operation, the detection robot detects and checks the pipeline. The detection robot is controlled through the external control terminal, and different areas of the pipeline can be checked for key or non-key points, reducing the detection cost.

[0004] Although the above existing systems have advantages such as practicality and modularity in pipeline detection, the control system of pipeline detection robots is complex and the software operation steps are many. If the staff fails to control it in time, the detection robot may fall into silt and other dangers. There are many operational requirements for the detection robot to go down the well for detection, which has led to the fact that intelligent and convenient pipeline detection systems have not yet been put into practical application. Utility Model Content

[0005] The technical problem to be solved by the utility model is that the operating system of the existing pipeline detection robot is complicated and the software operation steps are many, which makes the operation of the operator inconvenient and causes operation delay.

[0006] In order to solve the above technical problems, the utility model provides the following technical solutions:

[0007] A robot system for detecting underground pipelines comprises a robot body (100), a cable car unit (200) and a joystick control terminal (300); the cable car unit (200) is respectively connected to the robot body (100) and the joystick control terminal (300) for communication; the robot body (100) detects pipelines, and the cable car unit (200) interacts with the robot body (100) and the joystick control terminal (300) respectively, so that the joystick control terminal (300) controls the movement of the robot body (100) by joystick.

[0008] In one embodiment of the utility model, the robot body (100) includes a robot controller U1 and a radar module (110), a drive module (120), a sonar module (130) and a sensor module (140) which are communicatively connected to the robot controller U1.

[0009] In one embodiment of the utility model, the radar module (110) includes a transceiver YD1, an optocoupler U4, voltage-stabilizing diodes D4, D5 and D6, a resistor R18 and resistors R21 to R28, a capacitor C17 and a gateway H6; the two ends of the resistor R18 are respectively connected to the 42 pin of the robot controller U1 and the 4 pin of the transceiver YD1; the two ends of the resistor R21 are respectively connected to the 43 pin of the robot controller U1 and the 1 pin of the transceiver YD1; one end of the resistor R24 ​​is connected to the power supply and the other end is connected to the 3 and 2 pins of the transceiver YD1; one end of the resistor R27 is connected to the power supply, and the other end is connected to the positive electrode of the middle light-emitting diode of the optocoupler U4, the negative electrode of the middle light-emitting diode of the optocoupler U4 is connected to the 41 pin of the robot controller U1, and the collector of the transistor in the optocoupler U4 is connected to the 3 and 2 pins of the transceiver YD1, and the emitter E is grounded;

[0010] One end of resistor R25 is connected to pin 7 of transceiver YD1, and the other end is connected to port 3 of gateway H6. Resistor R23, cathode of Zener diode D4, and cathode of Zener diode D6 are all connected to the connection line between resistor R25 and gateway H6, and resistor R23 is also grounded; one end of resistor R26 is connected to pin 6 of transceiver YD1, and the other end is connected to port 4 of gateway H6. Resistor R28, anode of Zener diode D4, and cathode of Zener diode D5 are all connected to the connection line between resistor 26 and gateway H6, and resistor R28 is also connected to power supply, and anodes of Zener diodes D5 and D6 are grounded; port 1 of gateway H6 is connected to power supply, and port 2 is grounded; pin 8 of transceiver YD1 is connected to power supply, and grounded after connecting capacitor C17, and pin 5 is grounded.

[0011] In one embodiment of the utility model, the driving module (120) includes a transceiver YD2, an optocoupler U5, voltage stabilizing diodes D8 to D10, resistors R44 to R52, and interfaces H7 and H8;

[0012] The two ends of the resistor R44 are respectively connected to the 16th pin of the robot controller U1 and the 4th pin of the transceiver YD2; the two ends of the resistor R45 are respectively connected to the 17th pin of the robot controller U1 and the 1st pin of the transceiver YD2; one end of the resistor R18 is connected to the power supply, and the other end is connected to the 2nd and 3rd pins of the robot controller U1; one end of the resistor R51 is connected to the power supply, and the other end is connected to the anode of the light-emitting diode in the optocoupler U5, the cathode of the light-emitting diode is connected to the 15th pin of the robot controller U1, the collector of the transistor in the optocoupler U5 is connected to the 2nd and 3rd pins of the transceiver YD2, and the emitter is grounded;

[0013] One end of the resistor R49 is connected to the pin 7 of the transceiver YD2, and the other end is connected to the resistor R47, the cathodes of the voltage zener diodes D8 and D10, and the port 3 of the interface H7 in sequence;

[0014] One end of the resistor R50 is connected to the 6th pin of the transceiver YD2, and the other end is connected to the resistor R52, the anode of the voltage stabilizing diode D8, the cathode of D9 and the 4th port of the interface H7 in sequence;

[0015] The resistors R47 and R25 are also grounded, the resistor R46 is connected in parallel with the voltage zener diode D8, and the anodes of the voltage zener diodes D9 and D10 are connected and then grounded; the 3rd and 4th ports of the interface H8 are respectively connected to the 3rd and 4th ports of the interface H7.

[0016] In one embodiment of the present invention, the sonar module (130) includes a transceiver YD3, voltage stabilizing diodes D11 to D13, resistors R53 to R58 and R60 and R61, an optocoupler U6 and a gateway H10;

[0017] The two ends of the resistor R53 are connected to the 29th pin of the robot controller U1 and the 4th pin of the transceiver YD3 respectively; the two ends of the resistor R54 are connected to the 30th pin of the robot controller U1 and the 1st pin of the transceiver YD3 respectively; one end of the resistor R57 is connected to the power supply, and the other end is connected to the 2nd and 3rd pins of the transceiver YD3; one end of the resistor R61 is connected to the power supply, and the other end is connected to the anode of the light-emitting diode in the optocoupler U6, the cathode of the light-emitting diode is connected to the 27th pin of the robot controller U1, the collector of the transistor in the optocoupler U6 is connected to the 2nd and 3rd pins of the transceiver YD3, and the emitter is grounded;

[0018] One end of the resistor R58 is connected to the 7-pin of the transceiver YD3, and the other end is connected to the resistor R56, the cathodes of the voltage-stabilizing diodes D11 and D13, and the 3-port of the gateway H10 in sequence;

[0019] One end of the resistor R60 is connected to the 6-pin of the transceiver YD3, and the other end is connected to the resistor R62, the anode of the voltage stabilizing diode D11, the cathode of D12, and the 4-port of the gateway H10 in sequence;

[0020] The resistors R56 and R62 are also grounded, and the anodes of the Zener diodes D12 and 13 are connected to ground. The resistor R55 is connected in parallel with the Zener diode D11.

[0021] In one embodiment of the utility model, the sensor module (140) includes an air pressure sensor (141), a posture sensor (142), a temperature sensor (143) and a humidity sensor (144); wherein the output ports of the air pressure sensor (141), the posture sensor (142), the temperature sensor (143) and the humidity sensor (144) are all connected to the 29th and 30th pins of the robot controller U1, and the robot controller U1 transmits information by serial port polling.

[0022] In one embodiment of the utility model, the cable vehicle unit (200) includes a cable main controller U11 and a serial port to network port module 210 connected to the cable main controller U11), a cable power module (220), a touch screen module (230) and an environment acquisition module (240).

[0023] In one embodiment of the present invention, the serial port to network port module 210) includes a transceiver YD11, an optocoupler U41, voltage stabilizing diodes D41, D51 and D61, a resistor R221 and resistors R241 to R311, and a signal output conversion interface H41;

[0024] The two ends of the resistor R221 are respectively connected to the 41 pin of the cable main controller U11 and the 4 pin of the transceiver YD11; the two ends of the resistor R241 are respectively connected to the 43 pin of the cable main controller U11 and the 1 pin of the transceiver YD11; one end of the resistor R271 is connected to the power supply, and the other end is connected to the 3 and 2 pins of the transceiver YD11; one end of the resistor R301 is connected to the power supply, and the other end is connected to the positive electrode of the light-emitting diode in the optocoupler U41, and the cathode of the light-emitting diode in the optocoupler U41 is connected to the 41 pin of the cable main controller U11; the collector of the transistor in the optocoupler U41 is connected to the 3 and 2 pins of the transceiver YD11, and the emitter collector of the transistor is grounded;

[0025] One end of the resistor R281 is connected to the 7-pin of the transceiver YD11, and the other end is connected to the resistor R261, the cathode of the voltage stabilizing diode D41, D61 and the 3-pin of the signal output conversion interface H41 in sequence;

[0026] One end of the resistor R291 is connected to the 6th pin of the transceiver YD11, and the other end is connected to the resistor R311, the anode of the voltage-stabilizing diode D41, the cathode of the voltage-stabilizing diode D51 and the 4th pin of the signal output conversion interface H41 in sequence;

[0027] The resistor R251 is connected in parallel with the Zener diode D41; the anodes of the Zener diodes D51 and D61 are grounded; the other end of the resistor R26 is grounded; and the other end of the resistor R311 is connected to the power supply.

[0028] In one embodiment of the utility model, the cable power module (220) includes a transceiver YD21, an optical coupler U51, resistors R371 to R401, resistors R421 to R441, resistors R461 and R471, voltage stabilizing diodes D81, D91 and D101, and power interfaces H51 and H61;

[0029] The two ends of the resistor R371 are respectively connected to the 16th pin of the cable main controller U11 and the 4th pin of the transceiver YD21; the two ends of the resistor R381 are respectively connected to the 17th pin of the cable main controller U11 and the 1st pin of the transceiver YD21; one end of the resistor R421 is connected to the power supply, and the other end is connected to the 3rd and 2nd pins of the transceiver YD21; one end of the resistor R461 is connected to the power supply, and the other end is connected to the positive electrode of the light-emitting diode in the optocoupler U51, and the cathode of the light-emitting diode in the optocoupler U51 is connected to the 15th pin of the cable main controller U11; the collector of the transistor in the optocoupler U51 is connected to the 3rd and 2nd pins of the transceiver YD21, and the emitter collector of the transistor is grounded;

[0030] One end of the resistor R431 is connected to the 7-pin of the transceiver YD21, and the other end is connected to the resistor R401, the cathode of the voltage stabilizing diodes D81 and D101, and the 3-pin of the power interface H51 in sequence;

[0031] One end of the resistor R441 is connected to the 6th pin of the transceiver YD21, and the other end is connected to the resistor R471, the anode of the Zener diode D81, the cathode of the Zener diode D91 and the 4th pin of the power interface H51 in sequence;

[0032] Resistor R391 is connected in parallel with Zener diode D81; anodes of Zener diodes D91 and D101 are grounded; the other end of resistor R401 is grounded; the other end of resistor R471 is connected to the power supply; pins 3 and 4 of power interface H61 are connected to pins 3 and 4 of power interface H51 respectively.

[0033] In one embodiment of the utility model, the touch screen module (230) comprises an interface P8, a fuse F1, a capacitor C221 and a transient suppression diode TVS1; one end of the fuse F1 is connected to pin 4 of the interface P8, and the other end is connected to a power supply; the capacitor C221 and the transient suppression diode TVS1 are connected in parallel, and the two ends of the parallel connection are connected to the power supply and ground respectively; pins 3 and 2 of the interface P8 are connected to pins 29 and 30 of the cable main controller U11 respectively; pin 1 of the interface P8 is grounded;

[0034] The environment acquisition module (240) comprises an interface P9, a fuse F2, a capacitor C231 and a transient suppression diode TVS2; one end of the fuse F2 is connected to pin 4 of the interface P9, and the other end is connected to a power supply; the capacitor C231 and the transient suppression diode TVS2 are connected in parallel, and the two ends of the parallel connection are respectively connected to the power supply and ground; pins 3 and 2 of the interface P9 are respectively connected to pins 53 and 54 of the cable main controller U11; and pin 1 of the interface P9 is grounded.

[0035] Compared with the prior art, the utility model has the following beneficial effects: the robot body is used to detect the actuator of the pipeline, and the cable car unit is connected to the robot body, which can control the robot body, transmit power, and exchange data information, and can pull the robot body back to the ground in case of an emergency. The joystick control terminal is connected to the cable car unit, and the cable car unit transmits the data collected by the sensors, radar, sonar and camera in the robot body to the joystick control terminal, which is displayed on the display screen of the joystick control terminal. The robot's drive motor and camera are concentrated on the joystick of the joystick control terminal, and the robot's movements and camera perspectives are switched by the joystick. Compared with the prior art, the joystick control robot is smoother to use and simpler to operate, making it more responsive. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1The figure is a schematic diagram of an underground pipeline detection robot system according to an embodiment of the utility model.

[0037] Figure 2 It is a schematic diagram of the robot body and the cable car unit of an embodiment of the utility model.

[0038] Figure 3 Schematic diagram of a robot controller according to an embodiment of the present utility model.

[0039] Figure 4 Schematic diagram of a radar module according to an embodiment of the present utility model.

[0040] Figure 5 Schematic diagram of a driving module according to an embodiment of the present utility model.

[0041] Figure 6 Schematic diagram of a sonar module according to an embodiment of the present utility model.

[0042] Figure 7 Schematic diagram of a robot safety module according to an embodiment of the present utility model.

[0043] Figure 8 Schematic diagram of a cable main controller according to an embodiment of the present utility model.

[0044] Fig. 9 The figure is a schematic diagram of a serial port to network port according to an embodiment of the utility model.

[0045] Fig.10 This is a schematic diagram of a cable power module according to an embodiment of the utility model.

[0046] Fig.11 This is a schematic diagram of a touch screen module according to an embodiment of the present utility model.

[0047] Fig.12 This is a schematic diagram of an environment acquisition module according to an embodiment of the present utility model.

[0048] Fig.13 This is a schematic diagram of a cable safety module according to an embodiment of the present utility model.

[0049] Fig.14 Schematic diagram of a joystick control terminal according to an embodiment of the present utility model. DETAILED DESCRIPTION

[0050] In order to facilitate those skilled in the art to understand the technical solution of the utility model, the technical solution of the utility model is further explained in conjunction with the drawings in the specification.

[0051] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0052] See also Figure 1 As shown, the utility model provides an underground pipeline detection robot system, including a robot body 100, a cable car unit 200 and a joystick control terminal 300, wherein the cable car unit 200 is respectively connected to the robot body 100 and the joystick control terminal 300 for communication. The robot body 100 detects the pipeline, and the cable car unit 200 interacts with the robot body 100 and the joystick control terminal 300 respectively, so that the joystick control terminal 300 controls the movement of the robot body 100 by the joystick.

[0053] See also Figures 1 to 7 As shown, in one embodiment of the present invention, the robot body 100 includes a robot controller U1 and a radar module 110, a drive module 120, a sonar module 130 and a sensor module 140 that are communicatively connected to the robot controller U1.

[0054] The radar module 110 includes a transceiver YD1, an optocoupler U4, a voltage-stabilizing diode D4, D5 and D6, a resistor R18 and resistors R21 to R28, a capacitor C17 and a gateway H6. The two ends of the resistor R18 are respectively connected to the 42 pin of the robot controller U1 and the 4 pin of the transceiver YD1 to send radar data. The two ends of the resistor R21 are respectively connected to the 43 pin of the robot controller U1 and the 1 pin of the transceiver YD1 to receive radar data. One end of the resistor R24 ​​is connected to the power supply and the other end is connected to the 3 and 2 pins of the transceiver YD1. One end of the resistor R27 is connected to the power supply, and the other end is connected to the positive pole of the light-emitting diode in the optocoupler U4. The negative pole of the light-emitting diode in the optocoupler U4 is connected to the 41 pin of the robot controller U1, so that the radar data is transmitted to the enable end. And the collector of the transistor in the optocoupler U4 is connected to the 3 and 2 pins of the transceiver YD1, and the emitter E is grounded.

[0055] One end of the resistor R25 is connected to pin 7 of the transceiver YD1, and the other end is connected to port 3 of the gateway H6. The resistor R23, the cathode of the Zener diode D4, and the cathode of the Zener diode D6 are all connected to the connection line between the resistor R25 and the gateway H6, and the resistor R23 is also grounded.

[0056] One end of resistor R26 is connected to pin 6 of transceiver YD1, and the other end is connected to port 4 of gateway H6. Resistor R28, the positive electrode of Zener diode D4, and the cathode of Zener diode D5 are all connected to the connection line between resistor 26 and gateway H6, and resistor R28 is also connected to the power supply, and the positive electrodes of Zener diodes D5 and D6 are grounded. Port 1 of gateway H6 is connected to the power supply, and port 2 is grounded. Pin 8 of transceiver YD1 is connected to the power supply, and connected to capacitor C17 and then grounded, and pin 5 is grounded.

[0057] The radar module 110 can form the overall profile of the pipeline and perform measurements. Specifically, the robot controller U1 is STM32F103RCT6, the transceiver YD1 is the RS485 chip ADM487, the gateway H6 is the radar interface, and the optocoupler U4 is the high-speed optocoupler 6N137.

[0058] The driving module 120 includes a transceiver YD2, an optocoupler U5, Zener diodes D8 to D10, resistors R44 to R52, and interfaces H7 and H8.

[0059] The two ends of resistor R44 are connected to the 16th pin of robot controller U1 and the 4th pin of transceiver YD2 respectively to send motor data. The two ends of resistor R45 are connected to the 17th pin of robot controller U1 and the 1st pin of transceiver YD2 respectively to receive motor data. One end of resistor R18 is connected to the power supply, and the other end is connected to the 2nd and 3rd pins of robot controller U1. One end of resistor R51 is connected to the power supply, and the other end is connected to the anode of the light-emitting diode in the optocoupler U5. The cathode of the light-emitting diode is connected to the 15th pin of robot controller U1 to transmit the motor data to the enable end. The collector of the transistor in the optocoupler U5 is connected to the 2nd and 3rd pins of transceiver YD2, and the emitter is grounded.

[0060] One end of the resistor R49 is connected to the 7-pin of the transceiver YD2, and the other end is connected to the resistor R47, the cathode of the voltage-stabilizing diode D8 and D10, and the 3-port of the interface H7 in sequence. One end of the resistor R50 is connected to the 6-pin of the transceiver YD2, and the other end is connected to the resistor R52, the anode of the voltage-stabilizing diode D8, the cathode of D9, and the 4-port of the interface H7 in sequence. The resistors R47 and R25 are also grounded, the resistor R46 is connected in parallel with the voltage-stabilizing diode D8, and the anodes of the voltage-stabilizing diodes D9 and D10 are connected to the ground. The 3-port and 4-port of the interface H8 are respectively connected to the 3-port and 4-port of the interface H7. Among them, through the interface H7 and the interface H8, it is connected to the left / right wheel drive motor 121 of the robot body 100 to control the forward, backward and steering of the robot body 100. Specifically, the transceiver YD2 is the RS485 chip ADM487, and the optocoupler U4 is the high-speed optocoupler 6N137.

[0061] The sonar module 130 includes a transceiver YD3, voltage stabilizing diodes D11 to D13, resistors R53 to R58, R60 and R61, an optical coupler U6 and a gateway H10. Specifically, the sonar module 130 is used to detect the silt situation in the pipeline.

[0062] The two ends of resistor R53 are connected to pin 29 of robot controller U1 and pin 4 of transceiver YD3 respectively to send sonar data. The two ends of resistor R54 are connected to pin 30 of robot controller U1 and pin 1 of transceiver YD3 respectively to receive sonar data. One end of resistor R57 is connected to the power supply, and the other end is connected to pins 2 and 3 of transceiver YD3; one end of resistor R61 is connected to the power supply, and the other end is connected to the anode of the light-emitting diode in the optocoupler U6, and the cathode of the light-emitting diode is connected to pin 27 of robot controller U1, so that the sonar data is transmitted to the enable end. And the collector of the transistor in the optocoupler U6 is connected to pins 2 and 3 of transceiver YD3, and the emitter is grounded.

[0063] One end of resistor R58 is connected to pin 7 of transceiver YD3, and the other end is connected to resistor R56, cathodes of Zener diodes D11 and D13, and port 3 of gateway H10 in sequence. One end of resistor R60 is connected to pin 6 of transceiver YD3, and the other end is connected to resistor R62, anode of Zener diode D11, cathode of D12, and port 4 of gateway H10 in sequence. Resistors R56 and R62 are also grounded, and the anodes of Zener diodes D12 and 13 are connected to ground, and resistor R55 is connected in parallel with Zener diode D11. Specifically, transceiver YD3 is RS485 chip ADM487, and optocoupler U6 is high-speed optocoupler 6N137.

[0064] The sensor module 140 includes an air pressure sensor 141, an attitude sensor 142, a temperature sensor 143, and a humidity sensor 144. The output ports of the air pressure sensor 141, the attitude sensor 142, the temperature sensor 143, and the humidity sensor 144 are all connected to the 29th and 30th pins of the robot controller U1, and the robot controller U1 transmits information through serial port polling. Specifically, the air pressure sensor 141, the attitude sensor 142, the temperature sensor 143, and the humidity sensor 144 are all existing products.

[0065] The robot body 100 also includes a camera 150, a lighting module 160 and a robot safety module, wherein the robot controller U1 is connected to the radar module 110, the sonar module 130 and the camera 150 through a gateway, and the camera 150 is connected to the gateway through an IP address, and the camera 150 is used to display the video situation inside the pipeline. The lighting module 160 drives the headlights / rear lights 161 on the robot body 100 respectively to illuminate the environment inside the pipeline, and is used in conjunction with the camera 150. Among them, the pin driving the headlight in the lighting module 160 is connected to the 38th pin of the robot controller U1, and the pin driving the rear light is connected to the 39th pin of the robot controller U1 to control the start and stop of the headlights / rear lights 161. This module is an existing conventional circuit structure.

[0066] The robot safety module includes transistors Q7 and Q8, resistor R59, resistors R63 to R65, switch buttons KEY1 and KEY2, capacitors C21 and C22, and light-emitting diode LD1. The collector of transistor Q7 is connected to the power supply, and the emitter is connected to the 35 pin of the robot controller U1, and then connected to the resistor R59 and then grounded. The base of transistor Q7 is connected to the resistor R63 and then connected to the power supply, and the base of transistor Q7 is also connected to the capacitor C21 and then grounded, and the switch button KEY1 is connected in parallel with the capacitor C21.

[0067] The collector of transistor Q8 is connected to the power supply, and the emitter is connected to the 34th pin of the robot controller U1, and then connected to the resistor R65, and finally grounded. The base of transistor Q8 is connected to the power supply after being connected to the resistor R66, and the base of transistor Q8 is also connected to the capacitor C22 and then grounded, and the switch button KEY2 is connected in parallel with the capacitor C22. One end of the resistor R64 is connected to the power supply, and the other end is connected to the anode of the light-emitting diode LD1, and the cathode of the light-emitting diode LD1 is connected to the 33rd pin of the robot controller U1. The switch buttons KEY1 and KEY2 are the emergency stop switch and the motion mode switching switch of the robot body 100, respectively, to achieve different walking.

[0068] See also Figure 1 , 2 , Figures 8 to 14 As shown, in one embodiment of the present utility model, the cable vehicle unit 200 includes a cable main controller U11 and a serial port to network port module 210, a cable power module 220, a touch screen module 230 and an environment acquisition module 240 connected to the cable main controller U11.

[0069] The serial port to network port module 210 includes a transceiver YD11, an optocoupler U41, a voltage stabilizing diode D41, D51 and D61, a resistor R221 and resistors R241 to R311 and a signal output conversion interface H41. The two ends of the resistor R221 are respectively connected to the 41 pin of the cable main controller U11 and the 4 pin of the transceiver YD11, and the two ends of the resistor R241 are respectively connected to the 43 pin of the cable main controller U11 and the 1 pin of the transceiver YD11, which is set for the serial port to network port connected to the robot body 100 for communication. One end of the resistor R271 is connected to the power supply, and the other end is connected to the 3 and 2 pins of the transceiver YD11. One end of the resistor R301 is connected to the power supply, and the other end is connected to the positive pole of the light-emitting diode in the optocoupler U41, and the cathode of the light-emitting diode in the optocoupler U41 is connected to the 41 pin of the cable main controller U11, so that the robot body 100 is transferred to the enable end. The collector of the transistor in the optocoupler U41 is connected to the 3 and 2 pins of the transceiver YD11, and the emitter of the transistor is grounded.

[0070] One end of the resistor R281 is connected to the 7-pin of the transceiver YD11, and the other end is connected to the resistor R261, the cathode of the voltage-stabilizing diodes D41 and D61, and the 3-pin of the signal output conversion interface H41 in sequence. One end of the resistor R291 is connected to the 6-pin of the transceiver YD11, and the other end is connected to the resistor R311, the anode of the voltage-stabilizing diode D41, the cathode of the voltage-stabilizing diode D51, and the 4-pin of the signal output conversion interface H41 in sequence. The resistor R251 is connected in parallel with the voltage-stabilizing diode D41, the anodes of the voltage-stabilizing diodes D51 and D61 are grounded, the other end of the resistor R26 is grounded, and the other end of the resistor R311 is connected to the power supply. Specifically, the cable main controller U11 is STM32F103RCT6, the transceiver YD11 is ADM487 chip, and the optocoupler U41 is a high-speed optocoupler 6N137.

[0071] The cable power module 220 includes a transceiver YD21, an optocoupler U51, resistors R371 to R401, resistors R421 to R441, resistors R461 and R471, Zener diodes D81, D91 and D101, and power interfaces H51 and H61.

[0072] The two ends of resistor R371 are respectively connected to the 16th pin of the cable main controller U11 and the 4th pin of the transceiver YD21 to send the left / right wheel drive motor data. The two ends of resistor R381 are respectively connected to the 17th pin of the cable main controller U11 and the 1st pin of the transceiver YD21 to receive the left / right wheel drive motor data. One end of resistor R421 is connected to the power supply, and the other end is connected to the 3rd and 2nd pins of the transceiver YD21. One end of resistor R461 is connected to the power supply, and the other end is connected to the positive pole of the light-emitting diode in the optocoupler U51, and the cathode of the light-emitting diode in the optocoupler U51 is connected to the 15th pin of the cable main controller U11, and the left / right wheel drive motor data is transmitted to the enable end. And the collector of the transistor in the optocoupler U51 is connected to the 3rd and 2nd pins of the transceiver YD21, and the emitter of the transistor is grounded.

[0073] One end of the resistor R431 is connected to the 7-pin of the transceiver YD21, and the other end is connected to the resistor R401, the cathode of the voltage-stabilizing diode D81 and D101, and the 3-pin of the power interface H51 in sequence. One end of the resistor R441 is connected to the 6-pin of the transceiver YD21, and the other end is connected to the resistor R471, the anode of the voltage-stabilizing diode D81, the cathode of the voltage-stabilizing diode D91, and the 4-pin of the power interface H51 in sequence. The resistor R391 is connected in parallel with the voltage-stabilizing diode D81, the anodes of the voltage-stabilizing diodes D91 and D101 are grounded, the other end of the resistor R401 is grounded, the other end of the resistor R471 is connected to the power supply, and the 3-pin and 4-pin of the power interface H61 are connected to the 3-pin and 4-pin of the power interface H51 respectively. Specifically, the transceiver YD21 is an ADM487 chip, the optocoupler U51 is a high-speed optocoupler 6N137, and the power interface H61 and the power interface H51 are respectively the left / right wheel drive motor data transmission interfaces.

[0074] The touch screen module 230 includes an interface P8, a fuse F1, a capacitor C221 and a transient suppression diode TVS1. One end of the fuse F1 is connected to the 4-pin of the interface P8, and the other end is connected to the power supply. The capacitor C221 and the transient suppression diode TVS1 are connected in parallel, and the two ends of the parallel connection are connected to the power supply and ground respectively. The 3-pin and 2-pin of the interface P8 are connected to the 29-pin and 30-pin of the cable main controller U11 respectively, and are used to send / receive information transmitted by the touch screen, and the 1-pin of the interface P8 is grounded.

[0075] The environment acquisition module 240 includes an interface P9, a fuse F2, a capacitor C231 and a transient suppression diode TVS2; one end of the fuse F2 is connected to pin 4 of the interface P9, and the other end is connected to the power supply. The capacitor C231 and the transient suppression diode TVS2 are connected in parallel, and the two ends of the parallel connection are connected to the power supply and the ground respectively. Pins 3 and 2 of the interface P9 are connected to pins 53 and 54 of the cable main controller U11 respectively, and are used to send sensor information and receive data returned by the sensor respectively, and pin 1 of the interface P9 is grounded.

[0076] The cable vehicle unit 200 also includes a rotary encoder 250, a tension sensor 260, a clutch 270 and a cable safety module 280. The rotary encoder 250 is connected to the 38, 39 and 40 pins of the cable main controller U11 to count the input signal for encoding. The tension sensor 260 is connected to the 42 and 43 pins of the cable main controller U11 to transmit information in polling mode. In the same baud rate segment, the tension information is transmitted through different station numbers of the ports of the 42 and 43 pins of the cable main controller U11. The clutch 270 is connected to the 24 pin of the cable main controller U11 to control the switch output. The cable rope of the cable car unit 200 is connected to the robot body 100, and the rotary encoder 250, the tension sensor 260 and the clutch 270 cooperate to collect the meter data of the cable rope reeling and unreeling, calculate the reeling and unreeling length of the cable rope, adapt the cable rope to the walking distance of the robot body 100, and pull the robot body 100 back to the ground when an emergency occurs. This is the existing technology and will not be described in detail here.

[0077] The cable safety module 280 includes transistors Q3 and Q4, resistors R321, R331, R341, R411 and R451, capacitors C181 and C201, switch buttons KEY1-1 and KEY2-1, and light emitting diode LD1-1. The collector of the transistor Q3 is connected to the power supply, and the emitter is connected to the 34 pin of the cable main controller U11, and then connected to the resistor R331 and then grounded. The base of the transistor Q3 is connected to the resistor R341 and then connected to the power supply, and the base of the transistor Q3 is also connected to the capacitor C181 and then grounded, and the switch button KEY1-1 is connected in parallel with the capacitor C181.

[0078] The collector of transistor Q4 is connected to the power supply, and the emitter is connected to the 35-pin of the cable main controller U11, and then connected to the resistor R411, and finally grounded. The base of transistor Q4 is connected to the power supply after being connected to the resistor R451, and the base of transistor Q4 is also connected to the capacitor C201 and then grounded, and the switch button KEY2-1 is connected in parallel with the capacitor C201. One end of the resistor R321 is connected to the power supply, and the other end is connected to the anode of the light-emitting diode LD1-1, and the cathode of the light-emitting diode LD1-1 is connected to the 33-pin of the cable main controller U11. The switch buttons KEY1-1 and KEY2-1 are the emergency stop button of the cable car in the cable car unit 200 and the switch for manually switching the cable rope to be retracted, and the light-emitting diode LD1-1 is an indicator light on the cable car.

[0079] The joystick control terminal 300 includes a camera direction control joystick 310, a camera function button 320, a robot gear adjustment button 330 and a robot motion control joystick 340. The joystick control terminal 300 and the cable car unit 200 are interconnected using a specified MAC address or information is exchanged through a wired serial port, so that the camera direction control joystick 310 can control the adjustment of the pan / tilt direction of the camera 150 by a joystick. The camera function button 320 is located on one side of the camera direction control joystick 310. Among the four camera function buttons 320, the upper and lower camera function buttons 320 correspond to the zoom function of the camera 150, and the left and right camera function buttons 320 correspond to the focus function of the camera 150. Among the four robot gear adjustment buttons 330, the upper and lower robot gear adjustment buttons 330 correspond to the robot's motion gear adjustment, and the left and right robot gear adjustment buttons 330 correspond to the robot's turning gear adjustment. In the robot motion control joystick 340, the joystick controls the robot's forward, backward, left and right movements. The data acquired by the environment acquisition module 240 is displayed on the display screen of the joystick control terminal 300, that is, the data collected by the radar module 110, the sonar module 130 and the sensor module 140 in the robot body 100 are displayed. The robot is controlled to perform pipeline inspection through the camera direction control joystick 310, the camera function button 320, the robot gear adjustment button 330 and the robot motion control joystick 340. Specifically, the joystick control terminal 300 is the AMD 7840U of GPD Win max2. The underground pipeline inspection robot system also includes a power supply 400, which is used to supply power to the robot body 100 and the cable car unit 200 respectively. The power supply 400 is a prior art and will not be described in detail here.

[0080] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any figure mark in the claims should not be regarded as limiting the claims involved.

[0081] The above-described embodiments merely represent implementation methods of the utility model, and the protection scope of the utility model is not limited to the above-described embodiments. For those skilled in the art, several modifications and improvements can be made without departing from the concept of the utility model, and all of these belong to the protection scope of the utility model.

Claims

1. An underground pipeline detection robot system, characterized in that: The invention comprises a robot body (100), a cable car unit (200) and a joystick control terminal (300); the cable car unit (200) is respectively connected to the robot body (100) and the joystick control terminal (300) for communication; the robot body (100) detects a pipeline, and the cable car unit (200) interacts with the robot body (100) and the joystick control terminal (300) respectively, so that the joystick control terminal (300) controls the movement of the robot body (100) through a joystick.

2. The underground pipeline detection robot system according to claim 1, characterized in that: The robot body (100) comprises a robot controller U1, and a radar module (110), a drive module (120), a sonar module (130), and a sensor module (140) that are communicatively connected to the robot controller U1.

3. The underground pipeline detection robot system according to claim 2, characterized in that: The radar module (110) comprises a transceiver YD1, an optocoupler U4, voltage stabilizing diodes D4, D5 and D6, a resistor R18 and resistors R21 to R28, a capacitor C17 and a gateway H6; the two ends of the resistor R18 are respectively connected to the 42 pin of the robot controller U1 and the 4 pin of the transceiver YD1; the two ends of the resistor R21 are respectively connected to the 43 pin of the robot controller U1 and the 1 pin of the transceiver YD1; one end of the resistor R24 ​​is connected to the power supply and the other end is connected to the 3 and 2 pins of the transceiver YD1; one end of the resistor R27 is connected to the power supply and the other end is connected to the positive electrode of the light emitting diode in the optocoupler U4, the negative electrode of the light emitting diode in the optocoupler U4 is connected to the 41 pin of the robot controller U1, and the collector of the transistor in the optocoupler U4 is connected to the 3 and 2 pins of the transceiver YD1, and the emitter E is grounded; One end of resistor R25 is connected to pin 7 of transceiver YD1, and the other end is connected to port 3 of gateway H6. Resistor R23, cathode of Zener diode D4, and cathode of Zener diode D6 are all connected to the connection line between resistor R25 and gateway H6, and resistor R23 is also grounded; one end of resistor R26 is connected to pin 6 of transceiver YD1, and the other end is connected to port 4 of gateway H6. Resistor R28, anode of Zener diode D4, and cathode of Zener diode D5 are all connected to the connection line between resistor 26 and gateway H6, and resistor R28 is also connected to power supply, and anodes of Zener diodes D5 and D6 are grounded; port 1 of gateway H6 is connected to power supply, and port 2 is grounded; pin 8 of transceiver YD1 is connected to power supply, and grounded after connecting capacitor C17, and pin 5 is grounded.

4. The underground pipeline detection robot system according to claim 3, characterized in that: The driving module (120) comprises a transceiver YD2, an optocoupler U5, voltage stabilizing diodes D8 to D10, resistors R44 to R52, and interfaces H7 and H8; The two ends of the resistor R44 are respectively connected to the 16th pin of the robot controller U1 and the 4th pin of the transceiver YD2; the two ends of the resistor R45 are respectively connected to the 17th pin of the robot controller U1 and the 1st pin of the transceiver YD2; one end of the resistor R18 is connected to the power supply, and the other end is connected to the 2nd and 3rd pins of the robot controller U1; one end of the resistor R51 is connected to the power supply, and the other end is connected to the anode of the light-emitting diode in the optocoupler U5, the cathode of the light-emitting diode is connected to the 15th pin of the robot controller U1, the collector of the transistor in the optocoupler U5 is connected to the 2nd and 3rd pins of the transceiver YD2, and the emitter is grounded; One end of the resistor R49 is connected to the pin 7 of the transceiver YD2, and the other end is connected to the resistor R47, the cathodes of the voltage zener diodes D8 and D10, and the port 3 of the interface H7 in sequence; One end of the resistor R50 is connected to the 6th pin of the transceiver YD2, and the other end is connected to the resistor R52, the anode of the voltage stabilizing diode D8, the cathode of D9 and the 4th port of the interface H7 in sequence; The resistors R47 and R25 are also grounded, the resistor R46 is connected in parallel with the voltage zener diode D8, and the anodes of the voltage zener diodes D9 and D10 are connected and then grounded; the 3rd and 4th ports of the interface H8 are respectively connected to the 3rd and 4th ports of the interface H7.

5. The underground pipeline detection robot system according to claim 4, characterized in that: The sonar module (130) includes a transceiver YD3, voltage stabilizing diodes D11 to D13, resistors R53 to R58 and R60 and R61, an optocoupler U6 and a gateway H10; The two ends of the resistor R53 are connected to the 29th pin of the robot controller U1 and the 4th pin of the transceiver YD3 respectively; the two ends of the resistor R54 are connected to the 30th pin of the robot controller U1 and the 1st pin of the transceiver YD3 respectively; one end of the resistor R57 is connected to the power supply, and the other end is connected to the 2nd and 3rd pins of the transceiver YD3; one end of the resistor R61 is connected to the power supply, and the other end is connected to the anode of the light-emitting diode in the optocoupler U6, the cathode of the light-emitting diode is connected to the 27th pin of the robot controller U1, the collector of the transistor in the optocoupler U6 is connected to the 2nd and 3rd pins of the transceiver YD3, and the emitter is grounded; One end of the resistor R58 is connected to the 7-pin of the transceiver YD3, and the other end is connected to the resistor R56, the cathodes of the voltage-stabilizing diodes D11 and D13, and the 3-port of the gateway H10 in sequence; One end of the resistor R60 is connected to the 6-pin of the transceiver YD3, and the other end is connected to the resistor R62, the anode of the voltage stabilizing diode D11, the cathode of D12, and the 4-port of the gateway H10 in sequence; The resistors R56 and R62 are also grounded, and the anodes of the Zener diodes D12 and 13 are connected to ground. The resistor R55 is connected in parallel with the Zener diode D11.

6. The underground pipeline detection robot system according to claim 5, characterized in that: The sensor module (140) comprises an air pressure sensor (141), a posture sensor (142), a temperature sensor (143) and a humidity sensor (144); wherein the output ports of the air pressure sensor (141), the posture sensor (142), the temperature sensor (143) and the humidity sensor (144) are all connected to pins 29 and 30 of the robot controller U1, and the robot controller U1 transmits information by serial port polling.

7. The underground pipeline detection robot system according to claim 2, characterized in that: The cable vehicle unit (200) comprises a cable main controller U11, and a serial port to network port module (210) connected to the cable main controller U11, a cable power module (220), a touch screen module (230), and an environment acquisition module (240).

8. The underground pipeline detection robot system according to claim 7, characterized in that: The serial port to network port module 210 includes a transceiver YD11, an optocoupler U41, voltage stabilizing diodes D41, D51 and D61, a resistor R221 and resistors R241 to R311, and a signal output conversion interface H41; The two ends of the resistor R221 are respectively connected to the 41 pin of the cable main controller U11 and the 4 pin of the transceiver YD11; the two ends of the resistor R241 are respectively connected to the 43 pin of the cable main controller U11 and the 1 pin of the transceiver YD11; one end of the resistor R271 is connected to the power supply, and the other end is connected to the 3 and 2 pins of the transceiver YD11; one end of the resistor R301 is connected to the power supply, and the other end is connected to the positive electrode of the light-emitting diode in the optocoupler U41, and the cathode of the light-emitting diode in the optocoupler U41 is connected to the 41 pin of the cable main controller U11; the collector of the transistor in the optocoupler U41 is connected to the 3 and 2 pins of the transceiver YD11, and the emitter collector of the transistor is grounded; One end of the resistor R281 is connected to the 7-pin of the transceiver YD11, and the other end is connected to the resistor R261, the cathode of the voltage stabilizing diodes D41 and D61, and the 3-pin of the signal output conversion interface H41 in sequence; One end of the resistor R291 is connected to the 6th pin of the transceiver YD11, and the other end is connected to the resistor R311, the anode of the voltage-stabilizing diode D41, the cathode of the voltage-stabilizing diode D51 and the 4th pin of the signal output conversion interface H41 in sequence; The resistor R251 is connected in parallel with the Zener diode D41; the anodes of the Zener diodes D51 and D61 are grounded; the other end of the resistor R26 is grounded; and the other end of the resistor R311 is connected to the power supply.

9. The underground pipeline detection robot system according to claim 8, characterized in that: The cable power module (220) comprises a transceiver YD21, an optical coupler U51, resistors R371 to R401, resistors R421 to R441, resistors R461 and R471, voltage stabilizing diodes D81, D91 and D101, and power interfaces H51 and H61; The two ends of the resistor R371 are respectively connected to the 16th pin of the cable main controller U11 and the 4th pin of the transceiver YD21; the two ends of the resistor R381 are respectively connected to the 17th pin of the cable main controller U11 and the 1st pin of the transceiver YD21; one end of the resistor R421 is connected to the power supply, and the other end is connected to the 3rd and 2nd pins of the transceiver YD21; one end of the resistor R461 is connected to the power supply, and the other end is connected to the positive electrode of the light-emitting diode in the optocoupler U51, and the cathode of the light-emitting diode in the optocoupler U51 is connected to the 15th pin of the cable main controller U11; the collector of the transistor in the optocoupler U51 is connected to the 3rd and 2nd pins of the transceiver YD21, and the emitter collector of the transistor is grounded; One end of the resistor R431 is connected to the 7-pin of the transceiver YD21, and the other end is connected to the resistor R401, the cathode of the voltage stabilizing diodes D81 and D101, and the 3-pin of the power interface H51 in sequence; One end of the resistor R441 is connected to the 6th pin of the transceiver YD21, and the other end is connected to the resistor R471, the anode of the voltage-stabilizing diode D81, the cathode of the voltage-stabilizing diode D91 and the 4th pin of the power interface H51 in sequence; Resistor R391 is connected in parallel with Zener diode D81; anodes of Zener diodes D91 and D101 are grounded; the other end of resistor R401 is grounded; the other end of resistor R471 is connected to the power supply; pins 3 and 4 of power interface H61 are connected to pins 3 and 4 of power interface H51 respectively.

10. The underground pipeline detection robot system according to claim 9, characterized in that: The touch screen module (230) comprises an interface P8, a fuse F1, a capacitor C221 and a transient suppression diode TVS1; one end of the fuse F1 is connected to pin 4 of the interface P8, and the other end is connected to a power supply; the capacitor C221 and the transient suppression diode TVS1 are connected in parallel, and the two ends of the parallel connection are respectively connected to the power supply and ground; pins 3 and 2 of the interface P8 are respectively connected to pins 29 and 30 of the cable main controller U11; and pin 1 of the interface P8 is grounded; The environment acquisition module (240) comprises an interface P9, a fuse F2, a capacitor C231 and a transient suppression diode TVS2; one end of the fuse F2 is connected to pin 4 of the interface P9, and the other end is connected to a power supply; the capacitor C231 and the transient suppression diode TVS2 are connected in parallel, and the two ends of the parallel connection are respectively connected to the power supply and ground; pins 3 and 2 of the interface P9 are respectively connected to pins 53 and 54 of the cable main controller U11; and pin 1 of the interface P9 is grounded.

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