Detection robot for water supply pipe tunnel

Abstract

The detection robot for the water supply pipe tunnel comprises a walking mechanism, and the walking mechanism comprises a base; the data processing module comprises a signal box arranged at the top of the base; the radar detection module is arranged at the top of the signal box, and the radar detection module is connected with the data processing module; the dual-light monitoring module is arranged in front of the signal box, and the dual-light monitoring module is connected with the data processing module; the cable winding and unwinding module is arranged at the rear end of the walking mechanism, and the cable winding and unwinding module is connected with the data processing module. The detection robot for the water supply pipe tunnel is compact in structure, patrol inspection can be conducted in a pipe tunnel project, manpower and material resources are saved, and the time cost is reduced; precision and efficiency of pipe tunnel potential safety hazard detection are improved, coverage is wide, and daily safe operation of a long-distance water supply pipe tunnel project is effectively guaranteed.

Description

Technical Field

[0001] This application is used in the technical field of mobile robots, and particularly relates to a detection robot for water supply pipelines and tunnels. Background Art

[0002] To ensure the safety of urban water supply and regulate the unbalanced development of water resources between different river basins, it is necessary to construct long-distance water supply pipelines and tunnel projects. However, as the operation time increases, long-distance water supply pipeline and tunnel projects are prone to dangerous conditions such as local collapses, uneven settlement along the line, large cross-section deformation failures, pipeline cracking and leakage, accumulation of rock and soil and debris, as well as corrosion, erosion, and dissolution of the tunnel wall. Therefore, it is necessary to regularly carry out a full-line safety assessment of long-distance water supply pipeline and tunnel projects.

[0003] Currently, the detection of potential safety hazards in long-distance water supply pipeline and tunnel projects still mainly relies on traditional technical methods. First, tools such as tape measures, compasses, and cameras are used for the preliminary measurement and description of potential safety hazards, and then non-destructive testing and core drilling are carried out on key risk areas based on the preliminary detection results. However, due to the complex internal hydraulic environment of long-distance water supply pipeline and tunnel projects, traditional potential safety hazard detection work is time-consuming, laborious, has a narrow coverage, many links, and requires a large amount of resources. On the one hand, it is restricted by the subjective abilities such as the knowledge and experience of on-site inspectors, and on the other hand, it is restricted by the limitation of point-by-point measurement, and it is often impossible to control the overall representativeness of the detection results. In addition, due to the limited detection time of long-distance water supply pipelines and tunnels, in actual work, the method of segmental detection and segmental repair is often adopted, resulting in some disease defects not being discovered in time, and problems gradually accumulating, finally causing various adverse consequences such as pipeline settlement, fracture, pipe burst, and tunnel collapse and blockage. Summary of the Utility Model

[0004] The purpose of this application is to at least solve one of the technical problems existing in the prior art, and provide a detection robot for water supply pipelines and tunnels, which can detect potential hazards in long-distance water supply pipeline and tunnel projects.

[0005] The technical solution adopted by this application to solve its technical problems is:

[0006] A detection robot for water supply pipelines and tunnels, comprising

[0007] A traveling mechanism, the traveling mechanism includes a base;

[0008] A data processing module, the data processing module includes a signal box arranged on the top of the base;

[0009] A radar detection module, the radar detection module is arranged on the top of the signal box, and the radar detection module is connected to the data processing module;

[0010] Dual - light monitoring module, the dual - light monitoring module is arranged in front of the signal box, and the dual - light monitoring module is connected to the data processing module;

[0011] Cable winding and unwinding module, the cable winding and unwinding module is arranged at the rear end of the traveling mechanism, and the cable winding and unwinding module is connected to the data processing module.

[0012] In some embodiments of the present application, wheels are installed on the base, and a driving module for driving the wheels to rotate is provided on the base.

[0013] In some embodiments of the present application, the radar detection module includes a lidar, a first column, and a first mounting plate. The lidar is arranged on the top of the first mounting plate, and a radar plug is provided at the rear end of the lidar.

[0014] In some embodiments of the present application, a first cable channel is provided inside the first column, and a first cable hole and a second cable hole communicating with the first cable channel are formed on the outer side wall of the first column. The first cable hole is located at the top of the first column, and the second cable hole is located at the bottom of the first column.

[0015] In some embodiments of the present application, a first mounting seat is provided at the bottom of the first column, and the first mounting seat is arranged on the signal box.

[0016] In some embodiments of the present application, a protection coil is sleeved on the outer periphery of the first column. The protection coil covers the second cable hole, and the bottom of the protection coil abuts against the top of the signal box.

[0017] In some embodiments of the present application, the cable winding and unwinding module includes a cable, a fixed clamp, and a winding and unwinding shaft. The fixed clamp is arranged at the rear end of the signal box, the winding and unwinding shaft is installed on the base, and the cable is wound around the winding and unwinding shaft.

[0018] In some embodiments of the present application, a main board is provided inside the signal box. One end of the cable is connected to the main board, and the other end of the cable is used to connect to a ground control station.

[0019] In some embodiments of the present application, the dual - light monitoring module includes a second mounting seat. A second mounting plate is provided on the second mounting seat, and a dual - light camera is provided on the second mounting plate. The second mounting seat is arranged at the front end of the signal box.

[0020] In some embodiments of the present application, a second column is provided between the second mounting seat and the second mounting plate. A second cable channel is provided inside the second column, and a third cable hole communicating with the second cable channel is provided on the second mounting seat.

[0021] One of the technical solutions in the above technical solutions has at least the following advantages or beneficial effects: The inspection robot for water supply pipe tunnels is equipped with a radar detection module and a dual-light monitoring module as pipe tunnel engineering detection instruments at the same time, which can realize the three-dimensional reconstruction of the pipe tunnel structure and the detection, imaging and recognition of different potential safety hazards, with high accuracy and wide coverage. The cable winding and unwinding module is located at the rear end of the traveling mechanism. The cable winding and unwinding module can be connected to the ground control station, and can transmit the sensor data such as attitude, speed, positioning, image, depth, etc. collected by the radar detection module and the dual-light monitoring module to the ground control center. The data processing module can process the collected data in real time. The signal box is located below the radar detection module. The traveling mechanism, data processing module, radar detection module, dual-light monitoring module and cable winding and unwinding module of the inspection robot for water supply pipe tunnels are connected to form an integral structure with a compact structure, which can replace manual inspection inside the pipe tunnel project, greatly saving manpower, material resources and time costs, improving the accuracy and efficiency of pipe tunnel potential safety hazard detection, and taking a short time, having high accuracy, wide coverage and strong adaptability for the whole line of the long-distance water supply pipe tunnel project to carry out potential safety hazard detection, effectively ensuring the daily safe operation of the long-distance water supply pipe tunnel project.

[0022] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned by practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0024] Figure 1 is a top view of an embodiment of the present application;

[0025] Figure 2 is a left view of an embodiment of the present application;

[0026] Figure 3 is a three-dimensional view of the radar detection module in an embodiment of the present application;

[0027] Figure 4 is a three-dimensional view of the dual-light monitoring module in an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] This part will describe in detail the specific embodiments of the present application. The preferred embodiments of the present application are shown in the drawings. The function of the drawings is to supplement the description of the text part of the specification, enabling people to intuitively and vividly understand each technical feature and the overall technical solution of the present application, but it should not be construed as a limitation on the protection scope of the present application.

[0029] In this application, when directions (up, down, left, right, front, and back) are described, it is only for the convenience of describing the technical solutions of this application, rather than indicating or implying that the technical features referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to this application.

[0030] In this application, the meaning of "a number of" is one or more, the meaning of "a plurality of" is two or more, and "greater than", "less than", "exceeding", etc. are understood not to include the recited number; "above", "below", "within", etc. are understood to include the recited number. In the description of this application, if "first" and "second" are described, they are only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0031] In this application, unless otherwise clearly defined, terms such as "arranged", "installed", "connected", etc. should be understood in a broad sense. For example, they can be directly connected, or indirectly connected through an intermediate medium; they can be fixedly connected, or detachably connected, or integrally formed; they can be mechanically connected, or electrically connected or capable of communicating with each other; they can be the communication inside two components or the interaction relationship between two components. Those skilled in the art can reasonably determine the specific meanings of the above terms in this application in combination with the specific content of the technical solutions.

[0032] An embodiment of this application provides a detection robot for a water supply pipe tunnel. Refer to Figures 1 to 4 , which includes a traveling mechanism 100, a data processing module, a radar detection module 300, a dual-light monitoring module 400, and a cable winding and unwinding module 500. The traveling mechanism 100 includes a base 110. The data processing module includes a signal box 200 provided on the top of the base 110. The radar detection module 300 is provided on the top of the signal box 200. The radar detection module 300 is connected to the data processing module. The dual-light monitoring module 400 is provided in front of the signal box 200. The dual-light monitoring module 400 is connected to the data processing module. The cable winding and unwinding module 500 is provided at the rear end of the traveling mechanism 100. The cable winding and unwinding module 500 is connected to the data processing module.

[0033] The inspection robot for water supply pipe tunnels is equipped with a radar detection module 300 and a dual-light monitoring module 400 as pipe tunnel engineering detection instruments. It can achieve three-dimensional reconstruction of the pipe tunnel structure and detect, image, and identify different potential safety hazards with high precision and wide coverage. The cable winding and unwinding module 500 is located at the rear end of the walking mechanism 100. The cable winding and unwinding module 500 can be connected to the ground control station and transmit sensor data such as attitude, speed, positioning, images, and depth collected by the radar detection module 300 and the dual-light monitoring module 400 to the ground operation center. The data processing module can process the collected data in real time. The signal box 200 is located below the radar detection module 300. The walking mechanism 100, data processing module, radar detection module 300, dual-light monitoring module 400, and cable winding and unwinding module 500 of this inspection robot for water supply pipe tunnels are connected to form an integrated structure, which is compact. It can replace manual inspection inside the pipe tunnel project, greatly saving labor, material resources, and time costs, improving the accuracy and efficiency of detecting potential safety hazards in the pipe tunnel. It takes a short time, has high precision, wide coverage, and strong adaptability to conduct comprehensive detection of potential safety hazards along the entire long-distance water supply pipe tunnel project, effectively ensuring the daily safe operation of the long-distance water supply pipe tunnel project.

[0034] In some embodiments, wheels 120 are installed on the base 110. A driving module for driving the rotation of the wheels 120 is provided on the base 110. The driving module serves as the support structure and power device of this inspection robot for water supply pipe tunnels. Adopting a four-wheel independent drive chassis structure, it can adapt to the wet and rough working environment of long-distance pipe tunnels. The driving module is located at the bottom of the base 110. There are 4 wheels 120. This inspection robot for water supply pipe tunnels adopts a four-wheel independent drive chassis structure, which can ensure that the wheels can maintain good contact with the ground in a rough and pitted environment, automatically keep its own posture stable to adapt to the wet and rough working environment of long-distance pipe tunnels, and can also carry out a certain degree of wading operation.

[0035] The walking mechanism 100 includes a new type of strengthened chassis, a robot chassis, and a battery assembly. The robot chassis is fixedly connected to the top center of the new type of strengthened chassis by bolts, and the battery assembly is fixedly connected to the center of the robot chassis by bolts.

[0036] In some embodiments, the radar detection module 300 includes a lidar 310, a first column 320, and a first mounting plate 330. The lidar 310 is provided on the top of the first mounting plate 330. A radar plug 311 is provided at the rear end of the lidar 310. Specifically, the lidar 310 is a 3D lidar, which can use multiple groups of laser emission and reception pairs to simultaneously perform precise ranging and accurately scan the position in the three-dimensional space with high precision and full coverage. It can achieve three-dimensional reconstruction of the pipe tunnel structure and detect, image, and identify different potential safety hazards.

[0037] In some embodiments, a first cable channel is provided inside the first upright column 320. A first cable hole 321 and a second cable hole 322 that communicate with the first cable channel are formed on the outer side wall of the first upright column 320. The first cable hole 321 is located at the top of the first upright column 320, and the second cable hole 322 is located at the bottom of the first upright column 320. Specifically, the first upright column 320 is a hollow steel pipe structure. Setting the cable holes can facilitate cable management, make the cables neat and orderly, protect the cables, reduce cable wear, improve the safety of the inspection robot for water supply pipe tunnels, prevent the cables from being damaged, and facilitate the installation and maintenance of the inspection robot for water supply pipe tunnels, thereby improving work efficiency.

[0038] In some embodiments, a first mounting seat 340 is provided at the bottom of the first upright column 320, and the first mounting seat 340 is arranged on the signal box 200.

[0039] In some embodiments, a coil protector 323 is sleeved on the outer periphery of the first upright column 320. The coil protector 323 covers the second cable hole 322, and the bottom of the coil protector 323 abuts against the top of the signal box 200. The coil protector 323 is a tower-shaped coil protector and is sleeved between the first upright column 320 and the housing hole of the signal box 200.

[0040] In some embodiments, the cable winding and unwinding module 500 includes a cable 530, a fixed clamp 510, and a winding and unwinding shaft 520. The fixed clamp 510 is arranged at the rear end of the signal box 200, the winding and unwinding shaft 520 is installed on the base 110, the cable 530 is wound around the winding and unwinding shaft 520. The cable winding and unwinding module 500 is provided with an automatic cable arranging and tension control structure, and the length of the cable carried is not less than 500 m, and the cable 530 can be automatically and orderly wound and unwound according to the requirements of the inspection operation of the pipe tunnel project.

[0041] In some embodiments, a main board is provided inside the signal box 200. One end of the cable 530 is connected to the main board, and the other end of the cable 530 is used to connect to the ground control station. The sensor data such as attitude, speed, positioning, image, and depth collected by the inspection robot are transmitted to the ground through the data lines inside the cable 530.

[0042] In some embodiments, the dual-light monitoring module 400 includes a second mounting seat 410. A second mounting plate 420 is provided on the second mounting seat 410, and a dual-light camera 440 is provided on the second mounting plate 420. The second mounting seat 410 is arranged at the front end of the signal box 200, and a wire passing adapter seat and a wire pressing block are provided on the second mounting seat 410.

[0043] The dual-spectrum camera is a dual-spectrum pan-tilt camera. A dual-spectrum pan-tilt plug is installed at the rear end of the dual-spectrum pan-tilt. By combining infrared radiation imaging and visible light reflection imaging technologies, and comprehensively utilizing the unique advantages of the good detail description ability of visible light, the all-weather and fully passive observation ability of infrared, and the relatively long detection distance, etc., it can greatly improve the detection probability of the system for potential safety risks in pipeline tunnel projects and enhance the overall detection ability of the system.

[0044] In some embodiments, a second column 430 is provided between the second mounting seat 410 and the second mounting plate 420. A second cable channel is provided inside the second column 430. A third cable hole communicating with the second cable channel is provided on the second mounting seat 410. The second column 430 functions to increase the height. The second column 430 is a thin-walled steel pipe structure. The second mounting seat 410 and the second mounting plate 420 are respectively installed in cooperation with the bottom and the top of the second column 430 through bolt connection.

[0045] The inspection robot for water supply pipelines is used to detect, image, fuse, intelligently identify, and build a safety hazard database for different potential safety risks in long-distance water supply pipeline projects, so as to ensure the daily safe operation of long-distance water supply pipeline projects, be able to achieve digital management and monitoring of engineering safety hazard detection, greatly save manpower and material resources, and is applicable to the water conservancy and hydropower industries.

[0046] In the description of this specification, the description with reference to terms such as "example", "embodiment", or "some embodiments" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0047] Certainly, the present invention is not limited to the above embodiments. Those skilled in the art can make equivalent deformations or substitutions without departing from the spirit of the present application, and these equivalent deformations or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. A detection robot for a water supply pipe tunnel, characterized in that, including a traveling mechanism, the traveling mechanism including a base; a data processing module, the data processing module including a signal box provided on the top of the base; a radar detection module, the radar detection module being provided on the top of the signal box, and the radar detection module being connected to the data processing module; a dual-light monitoring module, the dual-light monitoring module being provided in front of the signal box, and the dual-light monitoring module being connected to the data processing module; a cable winding and unwinding module, the cable winding and unwinding module being provided at the rear end of the traveling mechanism, and the cable winding and unwinding module being connected to the data processing module.

2. The inspection robot for a water supply pipe tunnel according to claim 1, characterized in that, Wheels are installed on the base, and a driving module for driving the wheels to rotate is provided on the base.

3. The inspection robot for a water supply pipe tunnel according to claim 1, wherein, The radar detection module includes a lidar, a first column, and a first mounting plate. The lidar is provided on the top of the first mounting plate, and a radar plug is provided at the rear end of the lidar.

4. The inspection robot for a water supply pipeline tunnel according to claim 3, characterized in that A first cable channel is provided in the first column, and a first cable hole and a second cable hole communicating with the first cable channel are formed in the outer side wall of the first column. The first cable hole is located at the top of the first column, and the second cable hole is located at the bottom of the first column.

5. The inspection robot for a water supply tunnel according to claim 4, characterized in that, A first mounting seat is provided at the bottom of the first column, and the first mounting seat is provided on the signal box.

6. The inspection robot for a water supply pipe tunnel according to claim 5, characterized in that A protection coil is sleeved on the outer periphery of the first column, the protection coil covers the second cable hole, and the bottom of the protection coil abuts against the top of the signal box.

7. The inspection robot for a water supply pipe tunnel according to claim 1, characterized in that, The cable winding and unwinding module includes a cable, a fixing clamp, and a winding and unwinding shaft. The fixing clamp is provided at the rear end of the signal box, the winding and unwinding shaft is installed on the base, and the cable is wound around the winding and unwinding shaft.

8. The inspection robot for a water supply pipe tunnel according to claim 7, characterized in that, A main board is provided in the signal box. One end of the cable is connected to the main board, and the other end of the cable is used for connecting to a ground control station.

9. The inspection robot for a water supply pipe tunnel according to claim 1, characterized in that, The dual-light monitoring module includes a second mounting seat. A second mounting plate is provided on the second mounting seat, and a dual-light camera is provided on the second mounting plate. The second mounting seat is provided at the front end of the signal box.

10. The inspection robot for a water supply pipe tunnel according to claim 9, characterized in that, A second column is provided between the second mounting seat and the second mounting plate. A second cable channel is provided in the second column, and a third cable hole communicating with the second cable channel is provided on the second mounting seat.

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