Multifunctional pipeline detection robot

Abstract

The utility model discloses a multifunctional pipeline detection robot, and belongs to the technical field of pipeline detection robots. The device comprises a spiral roller robot, wherein the spiral roller robot comprises a floating cabin, a robot main body and a spiral roller; a floating cabin is arranged at the bottom of the robot body, spiral rollers are arranged on the two sides of the floating cabin, and the special function sensor and the spiral roller robot are combined into a whole through a fixing frame. The special function sensor comprises a water quality sensor and a flow velocity sensor. According to the utility model, the single detection distance is long, besides conventional video detection, the water quality detection module and the flow velocity detection module are carried, the water quality information and the water flow velocity in the pipeline can be obtained while video detection is carried out, the detection information is more comprehensive, and the water quality and the flow velocity of each point along the line can be measured in real time while the section shape of the pipe network is collected. And the problems of mixed connection, misconnection and the like of the pipe network can be accurately judged.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline detection robots, and more specifically to a multifunctional pipeline detection robot. Background Art

[0002] As an important infrastructure of the city, the urban drainage network is the lifeline of urban water pollutant transfer. In recent years, various problems of urban drainage networks, such as serious pipeline diseases, mixed connection of rainwater and sewage, confluence of clean and sewage, and imperfect sewage interception, have gradually begun to receive attention. Governments at all levels and relevant work units are also increasing their efforts to detect and investigate urban drainage networks. There are many traditional detection methods, but they are inefficient. With the continuous advancement of science and technology and people's demand for high efficiency, various pipeline detection equipment has emerged at home and abroad. Whether it is domestic or foreign pipeline network detection, it is mainly based on pipeline robots. However, the environment in some underground pipelines is complex. Special areas such as culverts and box culverts with high water levels and thick silt have been relying on manual inspections. Not only is the detection time long, the data is inaccurate, but it is also relatively dangerous. To solve these problems, in recent years, China has developed several water inspection robots for inspection in such environments. The inspection distance is mostly between 200-350m, which cannot meet the requirements of long-distance inspection. At the same time, the robots suitable for non-stop water inspection conditions that take into account high liquid level and medium and low liquid level have single functions and poor inspection efficiency. The performance of inspection robots on the market is uneven, which makes the inspection robots have problems such as travel failures and poor inspection accuracy when working on site, and cannot complete the inspection work efficiently within the limited maintenance time.

[0003] The utility model directly addresses the prominent difficult issues in improving the quality and efficiency of pipeline networks, and aims to solve the problem of detecting defects in drainage pipeline networks in areas that are difficult to excavate due to special working conditions such as blind wells, long-distance culverts, and river-crossing culverts. A non-excavation pipeline inspection robot with high precision, fast detection, and visualization is developed to solve the problem of accurately locating special mixing points, structural defects, and functional defect sites, and provide basic technical parameters for the repair, mixed connection transformation, management and maintenance of drainage pipeline network systems. Utility Model Content

[0004] 1. Technical problems to be solved by the utility model

[0005] In view of the defects and shortcomings of the prior art, the utility model provides a multifunctional pipeline inspection robot. The utility model controls the driving device of the spiral drum through a control system to achieve forward and directional control, and retracts the robot through the joint action of a floating cable and a control system, thereby achieving diverse inspection functions. While collecting the cross-sectional shape of the pipeline network, the utility model can measure the water quality and flow rate at each point along the line in real time, which helps to accurately identify problems such as mixed and wrong connections in the pipeline network.

[0006] 2. Technical solution

[0007] To achieve the above object, the technical solution provided by the present utility model is as follows:

[0008] A multi-functional pipeline inspection robot of the present utility model includes a spiral drum robot, and the spiral drum robot includes a floating cabin, a robot main body and a spiral drum;

[0009] A floating cabin is arranged at the bottom of the robot main body, spiral drums are arranged on both sides of the floating cabin, and a driving mechanism is arranged at the end of the spiral drum;

[0010] A fixed frame is arranged on the spiral drum robot, and the special function sensor is combined with the spiral drum robot into a whole through the fixed frame;

[0011] The special function sensor includes a water quality sensor and a flow rate sensor.

[0012] Furthermore, a control system is arranged inside the robot main body, and the driving mechanism is controlled by the control system.

[0013] Furthermore, two groups of spiral drums are arranged and are respectively installed on both sides of the floating cabin, and the robot main body is arranged at the upper end of the floating cabin.

[0014] Furthermore, a floating cable interface is arranged on the upper surface of the robot main body, the floating cable interface is externally connected to a floating cable, and one end of the floating cable is connected to a cable reel;

[0015] The floating cable is a lightweight cable that can float on the water surface, can reduce the load of the robot, keep the fuselage stable, and the length of the floating cable is not less than 500 meters.

[0016] Furthermore, an external sensor interface is arranged at the top of the robot main body, the special function sensors are respectively connected to the external sensor interface through connecting wires, and the connecting wires are fixedly attached to the robot main body;

[0017] The special function sensor can adjust the vertical distance according to the water depth of the pipeline to achieve precise measurement, and the special function sensor can synchronously measure the water quality and flow rate conditions of each point in the pipe network.

[0018] Furthermore, fixed frames are arranged at both the front end and the rear end of the spiral drum robot;

[0019] The water quality sensor is installed at the tail of the spiral drum robot through the fixed frame;

[0020] A measurement component is carried on the spiral drum robot, and the measurement component includes a high-definition camera, a sonar detector, and a two-dimensional laser side scanner. The high-definition camera, the sonar detector, and the two-dimensional laser side scanner are respectively connected to the control system;

[0021] The sonar detector and the special function sensor are respectively detachably connected to the fixed frame.

[0022] Further, a two-dimensional laser side scanner is installed at the front end of the robot body, a high-definition camera is arranged on the top of the robot body, and a rear-view camera is arranged at the rear end of the robot body.

[0023] Further, a flow velocity sensor height adjusting rod is arranged at the bottom of the spiral drum robot. The upper end of the flow velocity sensor height adjusting rod is connected to the spiral drum robot through the fixed frame. A locking screw is arranged on the rod body of the flow velocity sensor height adjusting rod. The bottom of the flow velocity sensor height adjusting rod is assembled with the flow velocity sensor through a flow velocity meter fixing part.

[0024] Further, the longitudinal section of the flow velocity meter fixing part is U-shaped. There are two groups of flow velocity sensor height adjusting rods. The two ends of the flow velocity meter fixing part are respectively fixed to the flow velocity sensor height adjusting rods, and the flow velocity sensor is installed on the flow velocity meter fixing part.

[0025] 3. Beneficial effects

[0026] Adopting the technical solution provided by the present utility model, compared with the prior art, it has the following beneficial effects:

[0027] The present utility model realizes the diversity of detection functions. While collecting the cross-sectional shape of the pipeline network, it can measure the water quality and flow velocity at each point along the line in real time, which helps to accurately identify problems such as misconnections in the pipeline network.

[0028] The whole robot of the present utility model relies on the buoyancy of the floating cabin. The driving device of the spiral drum is controlled through the control system to realize the control of forward movement and direction. The robot is retrieved through the combined action of the floating cable and the control system. Each component can be installed, disassembled and adjusted as needed, which is convenient, fast and efficient. It realizes the measurement of pipeline water quality and flow velocity in addition to the measurement of pipeline shape parameters, realizes the measurement of large-diameter pipelines, water levels under various working conditions and long distances. Through the control system and software analysis system, pipeline defects and misconnection conditions can be accurately determined. Combining the shape parameters and water quality and water volume parameters at fixed points of the pipeline can save a large amount of re-measurement costs and improve the detection efficiency. Brief description of the drawings

[0029] Figure 1 It is the side view of the present utility model;

[0030] Figure 2 It is the tail structure diagram of the present utility model;

[0031] Figure 3 It is the top view of the present utility model.

[0032] In the figure: 1. Floating cabin; 2. Floating cable interface; 3. External sensor socket; 4. High-definition camera; 5. Two-dimensional laser side scanner; 6. Robot main body; 7. Sonar detector; 8. Flow velocity sensor; 9. Flow velocity sensor fixing screw; 10. Flow velocity sensor height adjustment rod; 11. Screw drum; 12. Rear-view camera; 13. Water quality sensor; 14. Fixed frame; 15. Current meter fixing part; 16. Floating cable. Detailed implementation mode

[0033] The following further describes the present utility model in conjunction with the accompanying drawings and embodiments:

[0034] Embodiment 1

[0035] From Figures 1-3 It can be seen that a multi-functional pipeline detection robot in this embodiment includes a screw drum robot, and the screw drum robot includes a floating cabin 1, a robot main body 6 and a screw drum 11;

[0036] A floating cabin 1 is arranged at the bottom of the robot main body 6, screw drums 11 are arranged on both sides of the floating cabin 1, and a driving mechanism is arranged at the end of the screw drum 11; a control system is arranged inside the robot main body 6, and the driving mechanism is controlled by the control system.

[0037] In an environment with complex water quality, due to a lot of impurities and the relatively large weight of the robot, if the propeller propulsion method is adopted, the power consumption is relatively large and it is easy to be entangled by sundries and damaged. Therefore, the method of electronic speed control plus propeller is not adopted.

[0038] The driving method selects the method of driving the screw drum 11 by a DC motor. The motor has a larger torque and a relatively moderate speed, which is more suitable for the pipeline environment;

[0039] Two groups of screw drums 11 are arranged and respectively installed on both sides of the floating cabin 1, and the robot main body 6 is arranged at the upper end of the floating cabin 1;

[0040] A fixed frame 14 is arranged on the screw drum robot, and special function sensors are combined with the screw drum robot into a whole through the fixed frame 14;

[0041] The special function sensors include a water quality sensor 13 and a flow velocity sensor 8.

[0042] A floating cable interface 2 is arranged on the upper surface of the robot main body 6, the floating cable interface 2 is externally connected to a floating cable 16, and one end of the floating cable 16 is connected to a cable reel;

[0043] The floating cable 16 is a lightweight cable that can float on the water surface, which can reduce the load of the robot and keep the fuselage stable. The length of the floating cable 16 is not less than 500 meters.

[0044] When the robot body 6 is working, the driving mechanism drives the spiral drum 11 to rotate and drives the robot body 6 forward. During the forward movement, the floating cable 16 is pulled and released. When the robot body 6 retreats, the cable drum rotates to retract the floating cable 16 and the robot body 6 simultaneously.

[0045] Since the equipment is traveling on the water surface, a floating cable 16 needs to be designed according to the power supply scheme to prevent the cable from sinking to the bottom of the water due to gravity and causing resistance to the equipment.

[0046] An external sensor interface 3 is provided on the top of the robot body 6, and the special function sensors are connected to the external sensor interface 3 through connecting wires, and the connecting wires are fitted and fixed to the robot body 6;

[0047] Special function sensors can adjust the vertical distance according to the water depth of the pipeline to achieve accurate measurement. Special function sensors can synchronously measure the water quality and flow rate at each point in the pipeline network.

[0048] The front and rear ends of the spiral drum robot are both provided with fixed frames 14;

[0049] The water quality sensor 13 is installed at the tail of the spiral drum robot through a fixed frame 14;

[0050] The spiral drum robot is equipped with a measuring component, which includes a high-definition camera 4, a sonar detector 7, and a two-dimensional laser side scanner 5. The high-definition camera 4, the sonar detector 7, and the two-dimensional laser side scanner 5 are respectively connected to the control system;

[0051] The sonar detector 7 and the special function sensor are respectively detachably connected to the fixed frame 14;

[0052] The sonar detector 7 is mounted on the front of the spiral drum robot through a fixed frame 14;

[0053] A two-dimensional laser side scanner 5 is installed at the front end of the robot body 6, a high-definition camera 4 is arranged on the top of the robot body 6, and the high-definition camera 4 can adjust the angle. A rear-view camera 12 is arranged at the rear end of the robot body 6.

[0054] A flow rate sensor height adjustment rod 10 is provided at the bottom of the spiral drum robot. The upper end of the flow rate sensor height adjustment rod 10 is connected to the spiral drum robot through a fixed frame 14. A locking screw 9 is provided on the rod body of the flow rate sensor height adjustment rod 10. The bottom of the flow rate sensor height adjustment rod 10 is assembled with the flow rate sensor 8 through a flow meter fixing part 15.

[0055] The longitudinal section of the current meter fixing part 15 is U-shaped. There are two groups of height adjustment rods 10 for the current sensor. The two ends of the current meter fixing part 15 are respectively fixed to the height adjustment rods 10 for the current sensor, and the current sensor 8 is installed on the current meter fixing part 15.

[0056] A detection method for a multi-functional pipeline detection robot, the steps of which are as follows:

[0057] Step 1: When in use, first determine the detection parameters required for the pipeline. Assemble the measurement components and special function sensors according to the parameters, connect the cable reel, and dock the aviation plug of the robot main body 6 with the floating cable 16. Tighten the nut to complete the connection. Among them, the installation height of the current sensor 8 is adjusted according to the water level of the on-site culvert pipeline.

[0058] Step 2: Connect the cable to the robot. The cable reel is connected to 220 AC power. The PC is connected to the cable reel by wire. Fasten the climbing buckle. Start the robot main body 6 and open the software to check whether the functions of the robot lens, lights, etc. are normal.

[0059] Step 3: Perform the operation of going down the well. Pass the cable through the multi-section wire-passing pulley to prevent mechanical damage to the cable caused by friction on the pipe wall during the detection process. The multi-section wire-passing pulley can ensure that the floating cable 16 will not cause mechanical damage to the cable even when it bends at a 90-degree angle at the bottom of the inspection well. The detection robot is smoothly lowered into the inspection well or culvert through the pulley and the fixed locking rope.

[0060] Step 4: Operate instructions such as the robot moving forward, backward, and turning. Check whether the robot is ready for functions. Control the measurement behavior of the robot according to the handheld control terminal and the cable.

[0061] Its measurement behaviors include: the high-definition camera 4 observes the internal environment above the water surface of the pipeline, and the two-dimensional laser side scanner 5 scans the contour above the water surface of the pipeline; the sonar detector 7 detects the underwater contour and siltation conditions.

[0062] The water quality sensor 13 is an ammonia nitrogen sensor, which is used to measure the ammonia content in water.

[0063] To a certain extent, the level of ammonia nitrogen content in the water body can reflect the degree of eutrophication of the water body. The water quality sensor 13 selects ions in the water by using a PVC membrane, and then measures the ammonia content in the water. The measurement accuracy of the sensor is significantly improved through the built-in compensation algorithm unit; this sensor has high accuracy, long service life, and strong anti-interference ability, meeting the detection requirements.

[0064] The current sensor 8 is used to measure the water flow rate in the culvert; it can understand the sewage volume situation in the culvert and provide a basis for formulating drainage pipeline network renovation and repair plans.

[0065] This application uses a Doppler current meter to measure the water flow velocity. This method has a high degree of automation and accuracy and can perform dynamic detection following the robot.

[0066] Step Five: Recover the inspection robot to the ground. Pay attention to the reverse speed during recovery, timely retract and release the cable, and save the instrument according to the maintenance methods of the robot and sensors.

[0067] The developed equipment prototype was tested in the culvert. After testing, the equipment operates stably on the water surface. After advancing 500 m and then being recovered, all functions are normal. The cable can float on the water surface, the pulling force of the robot is sufficient, the battery power is sufficient after running the whole journey, the video image on the software is clear and stable, the water quality concentration and water flow velocity can be displayed in real time, and the collected information can be saved in real time.

[0068] Taking the inspection example of the box culvert in Ruyigou, Ma'anshan as an example, the designed width of this box culvert is 5 m, the height is 1.5 m, and the inspection length is 500 m. During the inspection process, the internal condition of the box culvert can be clearly observed, and the ammonia nitrogen data and water flow velocity can be detected in real time. After inspection, it is found that there are some defects in this box culvert. The main defects are a few obstacles, corrosion and peeling of the top material of the box culvert, and a few hidden branch pipes. The other parts are the same as the design, and no obvious defects are found.

[0069] This utility model realizes the diversity of detection functions. While collecting the cross-sectional shape of the pipeline network, it can measure the water quality and flow velocity at each point along the line in real time, which helps to accurately identify problems such as misconnections in the pipeline network.

[0070] The whole robot of this utility model relies on the buoyancy of the floating cabin 1, controls the driving device of the spiral drum 11 through the control system to realize the control of forward movement and direction, and retrieves the robot through the combined action of the floating cable and the control system.

[0071] Each component of this utility model can be installed, disassembled and adjusted as needed, which is convenient, fast and efficient to use. It realizes the measurement of pipeline water quality and flow velocity in addition to the measurement of pipeline shape parameters, realizes the measurement of large-diameter pipelines, water levels under various working conditions, and long distances. Through the control system and software analysis system, pipeline defects and misconnection conditions can be accurately determined. Combining the shape parameters and water quality and quantity parameters of pipeline fixed points can save a large amount of re-measurement costs and improve the detection efficiency.

[0072] The equipment of this utility model combines a variety of sensors and can perform more comprehensive detection. At the same time, sensor interfaces are reserved, and different sensors can be replaced for use according to different requirements in the later stage.

[0073] The single detection distance of this utility model is long, not less than 500 m. The traditional detection equipment generally has a short detection distance, and the single detection distance is only 200 - 350 m.

[0074] In addition to the conventional video detection, the utility model is also equipped with a water quality detection module and a flow velocity detection module, which can obtain the water quality information and water flow velocity in the pipeline while performing video detection, and the detection information is more comprehensive.

[0075] The above is a schematic description of the utility model and its implementation manners. The description is not restrictive. What is shown in the drawings is only one of the implementation manners of the utility model, and the actual structure is not limited thereto. Therefore, if those of ordinary skill in the art are inspired by it and design similar structural manners and embodiments without creative work without departing from the creative purpose of the utility model, they shall fall within the protection scope of the utility model.

Claims

1. A multifunctional pipeline inspection robot, including a spiral drum robot, characterized in that: The spiral drum robot comprises a floating cabin (1), a robot body (6) and a spiral drum (11); A floating cabin (1) is arranged at the bottom of the robot body (6), spiral drums (11) are arranged on both sides of the floating cabin (1), and a driving mechanism is arranged at the end of the spiral drum (11); The spiral drum robot is provided with a fixed frame (14), and the special function sensor is combined with the spiral drum robot through the fixed frame (14) to form a whole; The special function sensor comprises a water quality sensor (13) and a flow rate sensor (8).

2. The multifunctional pipeline inspection robot according to claim 1, characterized in that: A control system is arranged inside the robot body (6), and the driving mechanism is controlled by the control system.

3. The multifunctional pipeline inspection robot according to claim 1, characterized in that: The spiral rollers (11) are provided in two groups and are respectively installed on both sides of the floating cabin (1), and the robot body (6) is arranged at the upper end of the floating cabin (1).

4. The multifunctional pipeline inspection robot according to claim 2, characterized in that: The upper surface of the robot body (6) is provided with a floating cable interface (2), the floating cable interface (2) is externally connected to a floating cable (16), and one end of the floating cable (16) is connected to a cable reel; The floating cable (16) is a lightweight cable that can float on the water surface, thereby reducing the weight of the robot and maintaining the stability of the robot body. The length of the floating cable (16) is not less than 500 meters.

5. The multifunctional pipeline inspection robot according to claim 4, characterized in that: An external sensor interface (3) is provided on the top of the robot body (6), and the special function sensors are connected to the external sensor interface (3) via connecting wires, and the connecting wires are fitted and fixed to the robot body (6); Special function sensors can adjust the vertical distance according to the water depth of the pipeline to achieve accurate measurement. Special function sensors can synchronously measure the water quality and flow rate at each point in the pipeline network.

6. The multifunctional pipeline inspection robot according to claim 5, characterized in that: The front end and the rear end of the spiral drum robot are both provided with a fixed frame (14); The water quality sensor (13) is installed at the tail of the spiral drum robot through a fixed frame (14); The spiral drum robot is equipped with a measuring component, which includes a high-definition camera (4), a sonar detector (7), and a two-dimensional laser side scanner (5). The high-definition camera (4), the sonar detector (7), and the two-dimensional laser side scanner (5) are respectively connected to the control system; The sonar detector (7) and the special function sensor are respectively detachably connected to the fixed frame (14).

7. The multifunctional pipeline inspection robot according to claim 6, characterized in that: A two-dimensional laser side scanner (5) is installed at the front end of the robot body (6), a high-definition camera (4) is arranged on the top of the robot body (6), and a rear-view camera (12) is arranged at the rear end of the robot body (6).

8. The multifunctional pipeline inspection robot according to claim 7, characterized in that: A flow velocity sensor height adjustment rod (10) is arranged at the bottom of the spiral drum robot, the upper end of the flow velocity sensor height adjustment rod (10) is connected to the spiral drum robot via a fixed frame (14), a locking screw (9) is arranged on the rod body of the flow velocity sensor height adjustment rod (10), and the bottom of the flow velocity sensor height adjustment rod (10) is assembled with the flow velocity sensor (8) via a flow meter fixing piece (15).

9. The multifunctional pipeline inspection robot according to claim 8, characterized in that: The longitudinal section of the velocity meter fixing part (15) is U-shaped, two groups of flow velocity sensor height adjustment rods (10) are provided, two ends of the velocity meter fixing part (15) are respectively fixed to the flow velocity sensor height adjustment rods (10), and the flow velocity sensor (8) is installed on the velocity meter fixing part (15).

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