Pipeline detection robot

Abstract

The embodiment of the utility model provides a pipeline detection robot, which relates to the technical field of pipeline detection and comprises a robot body, a detection device, a first mechanical arm, a second mechanical arm, a first track, a second track, a plurality of first rollers and a plurality of second rollers. According to the pipeline inspection robot, movement of the pipeline inspection robot is achieved, the pipeline inspection robot is supported through the first mechanical arm and the second mechanical arm, the pipeline inspection robot is assisted to move so as to cross obstacles and pits, a pipeline is detected through the detection device, pipeline inspection is achieved, manual inspection is not needed, and the working efficiency is improved.

Description

Technical Field

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

[0002] Buildings such as hotels are usually equipped with pipes for ventilation, drainage, etc., and the pipes need to be inspected regularly to ensure that the pipes are unobstructed and to eliminate cracks in the pipes.

[0003] In the prior art, workers carry out inspection tools (such as flashlights) manually to inspect pipelines.

[0004] However, in actual production, the inventors found that the prior art has at least the following problems: since the workers use manual methods to inspect the pipelines, the work efficiency is low. Utility Model Content

[0005] The utility model provides a pipeline detection robot, which at least solves the problem of low working efficiency in the prior art due to the manual inspection of pipelines by workers.

[0006] The embodiment of the utility model provides a pipeline inspection robot, comprising: a robot body, a detection device, a first mechanical arm, a second mechanical arm, a first crawler, a second crawler, a plurality of first rollers, and a plurality of second rollers;

[0007] The first robotic arm is disposed on a first side of the robot body;

[0008] The second robotic arm is disposed on a second side of the robot body;

[0009] Each of the first rollers is disposed on a first side of the robot body;

[0010] Each of the second rollers is disposed on the second side of the robot body;

[0011] The first crawler belt is sleeved on the outside of the first roller;

[0012] The second crawler belt is sleeved on the outside of the second roller;

[0013] The detection device is arranged on the robot body.

[0014] Optionally, the pipeline inspection robot also includes a processor, a motor controller, and a motor drive module arranged on the robot body, the first robotic arm includes multiple first sub-robotic arms and multiple first motors, each of the first sub-robotic arms has a corresponding first motor, and the second robotic arm includes multiple second sub-robotic arms and multiple second motors, each of the second sub-robotic arms has a corresponding second motor; the processor is electrically connected to the motor controller and the motor drive module respectively; the motor controller is electrically connected to each of the first motors and each of the second motors respectively; the motor drive module is electrically connected to each of the first motors and each of the second motors respectively; the first motor is connected to the first sub-robotic arm corresponding to the first motor; the second motor is connected to the second sub-robotic arm corresponding to the second motor; the multiple first sub-robotic arms in the first robotic arm are movably connected in sequence; the multiple second sub-robotic arms in the second robotic arm are movably connected in sequence.

[0015] Optionally, the number of the first sub-robotic arms is n, and the first robotic arm also includes a first robotic arm; the number of the second sub-robotic arms is m, and the second robotic arm also includes a second robotic arm, wherein n and m are both positive integers; the i-th first sub-robotic arm is connected to the i+1-th first sub-robotic arm, i is a positive integer less than n; the j-th second sub-robotic arm is connected to the j+1-th second sub-robotic arm, j is a positive integer less than m; the first first sub-robotic arm is connected to the rear of the first side of the robot body; the n-th first sub-robotic arm is connected to the first robotic arm; the first second sub-robotic arm is connected to the rear of the second side of the robot body; and the m-th second sub-robotic arm is connected to the second robotic arm.

[0016] Optionally, the pipeline inspection robot also includes a processor, a motor controller, a motor drive module, multiple third motors and multiple fourth motors arranged on the robot body, each first roller has a corresponding third motor, and each second roller has a corresponding fourth motor; the processor is electrically connected to the motor controller and the motor drive module respectively; the motor controller is electrically connected to each of the third motors and each of the fourth motors respectively; the motor drive module is electrically connected to each of the third motors and each of the fourth motors respectively; the third motor is connected to the first roller corresponding to the third motor; the fourth motor is connected to the second roller corresponding to the fourth motor.

[0017] Optionally, the robot body includes a body and a chassis; the body is movably arranged on the chassis; the first robotic arm is arranged on the first side of the body, and the second robotic arm is arranged on the second side of the body; each of the first rollers is arranged on the first side of the chassis, and each of the second rollers is arranged on the second side of the chassis.

[0018] Optionally, the pipeline detection robot further includes a processor, and the detection device includes a plurality of sensors; the processor is electrically connected to each of the sensors respectively.

[0019] Optionally, the types of the sensor include image sensors, temperature sensors, humidity sensors, and distance sensors.

[0020] Optionally, the pipeline inspection robot further includes a processor and a network module; the processor is electrically connected to the network module.

[0021] Optionally, the pipeline inspection robot further includes a processor and a plurality of memories; the processor is electrically connected to each of the memories respectively.

[0022] Optionally, the detection device is arranged at the front of the robot body.

[0023] In an embodiment of the utility model, the movement of the pipeline inspection robot is achieved through the cooperation of the first crawler, the second crawler, multiple first rollers and multiple second rollers, and the pipeline inspection robot is supported by the first robotic arm and the second robotic arm to assist the pipeline inspection robot in moving over obstacles and pits, and the pipeline is inspected through the detection device, thereby realizing pipeline inspection without manual inspection and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0025] Figure 1 This is a structural diagram of a pipeline inspection robot provided by an embodiment of the present utility model;

[0026] Figure 2 This is a partial structural diagram of a pipeline inspection robot provided by an embodiment of the present utility model;

[0027] Figure 3 It is a structural diagram of a processor provided by an embodiment of the present utility model;

[0028] Figure 4 It is a schematic diagram of the clock signal architecture provided by an embodiment of the present utility model.

[0029] Reference numerals:

[0030] 10-robot body; 11-body; 12-chassis; 20-detection device; 21-sensor; 30-first robotic arm; 31-first sub-robotic arm; 32-first manipulator; 40-second robotic arm; 41-second sub-robotic arm; 42-second manipulator; 50-first track; 60-second track; 70-first roller; 80-second roller; 90-processor; 91-motor controller; 92-motor drive module; 93-third motor; 94-fourth motor; 95-memory; 96-network module; 97-processor monitor. DETAILED DESCRIPTION

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0032] Reference Figure 1 An embodiment of the present invention provides a pipeline inspection robot, comprising: a robot body 10, a detection device 20, a first robotic arm 30, a second robotic arm 40, a first track 50, a second track 60, a plurality of first rollers 70 and a plurality of second rollers 80; the first robotic arm 30 is arranged on the first side of the robot body 10; the second robotic arm 40 is arranged on the second side of the robot body 10; each of the first rollers 70 is arranged on the first side of the robot body 10; each of the second rollers 80 is arranged on the second side of the robot body 10; the first track 50 is sleeved on the outside of the first roller 70; the second track 60 is sleeved on the outside of the second roller 80; and the detection device 20 is arranged on the robot body 10.

[0033] It should be noted that the detection device 20 is used to perform pipeline detection on the pipeline, and the pipeline detection includes crack detection, temperature, humidity, etc.

[0034] Specifically, the first track 50 and the second track 60 are the same; in some embodiments, the number of the first rollers 70 is the same as the number of the second rollers 80, the first rollers 70 and the second rollers 80 correspond one to one, the first roller 70 and the second roller 80 corresponding to the first roller 70 are the same, the first roller 70 and the second roller 80 corresponding to the first roller 70 are symmetrically arranged on both sides of the pipeline inspection robot, and the first track 50 and the second track 60 are symmetrically arranged on both sides of the pipeline inspection robot.

[0035] The first crawler 50, the second crawler 60, the plurality of first rollers 70 and the plurality of second rollers 80 cooperate to realize the movement of the pipeline inspection robot. The movement of the pipeline inspection robot includes forward movement, backward movement, turning movement, etc., wherein the plurality of first rollers 70 roll forward at the same time, driving the first crawler 50 to roll forward, and the plurality of second rollers 80 roll forward at the same time, driving the second crawler 60 to roll forward, so as to realize the forward movement of the pipeline inspection robot; the plurality of first rollers 70 roll backward at the same time, driving the first crawler 50 to roll backward, and the plurality of second rollers 80 roll backward at the same time, driving the second crawler 60 to roll backward, so as to realize the backward movement of the pipeline inspection robot; the plurality of first rollers 70 roll backward at the same time, driving the first crawler 50 to roll backward, and the plurality of second rollers 80 roll backward at the same time, driving the second crawler 60 to roll backward, so as to realize the backward movement of the pipeline inspection robot; The rollers 70 simultaneously roll in the same direction, driving the first crawler 50 to roll in the same direction, and the multiple second rollers 80 all stop rotating, causing the second crawler 60 to stop rolling, so that the pipeline inspection robot adopts a tank-type on-the-spot U-turn manner and turns in a first direction (for example, to the right); the multiple second rollers 80 simultaneously roll in the same direction, driving the second crawler 60 to roll in the same direction, and the multiple first rollers 70 all stop rotating, causing the first crawler 50 to stop rolling, so that the pipeline inspection robot adopts a tank-type on-the-spot U-turn manner and turns in a second direction (for example, to the left); a tank-type on-the-spot U-turn is a tank U-turn, that is, turning around in place like a tank;

[0036] The first robotic arm 30 and the second robotic arm 40 both have a retractable structure, such as a folding structure. The first robotic arm 30 and the second robotic arm 40 rotate along a preset angle. The first robotic arm 30 and the second robotic arm 40 cooperate to support the pipeline inspection robot and assist the pipeline inspection robot in moving to cross obstacles and potholes. For example, when encountering an obstacle on the road, the front support of the pipeline inspection robot is lifted, and at the same time, the pipeline inspection robot moves forward through the first crawler 50 and the second crawler 60 to cross the obstacle. When encountering a pothole on the road, the distance between the first side and the second side of the pothole is smaller than the distance between the first crawler 50 and the second crawler 60 of the pipeline inspection robot. 0 or the length of the second crawler 60 in contact with the horizontal ground, the pipeline inspection robot is on the first side of the pit, the pipeline inspection robot supports the first robotic arm 30 and the second robotic arm 40 on the second side of the pit, and then the pipeline inspection robot moves forward through the first crawler 50 and the second crawler 60. After the front of the first crawler 50 and the front of the second crawler 60 reach the second side of the pit, the pipeline inspection robot supports the first robotic arm 30 and the second robotic arm 40 on the first side of the pit. After the entire first crawler 50 and the entire second crawler 60 reach the second side of the pit, the pipeline inspection robot retracts the first robotic arm 30 and the second robotic arm 40.

[0037] In an embodiment of the present utility model, the movement of the pipeline inspection robot is achieved through the cooperation of the first crawler 50, the second crawler 60, the multiple first rollers 70 and the multiple second rollers 80, and the pipeline inspection robot is supported by the first robotic arm 30 and the second robotic arm 40 to assist the pipeline inspection robot in moving over obstacles and pits, and the pipeline is inspected by the detection device 20, thereby realizing pipeline inspection without manual inspection and improving work efficiency.

[0038] Optionally, in some embodiments, the detection device 20 is disposed at the front of the robot body 10 .

[0039] In the embodiment of the present invention, by arranging the detection device 20 at the front of the robot body 10 , it is helpful for the pipeline detection robot to detect the environment in front of the pipeline.

[0040] Optionally, in some embodiments, the pipeline inspection robot further includes a processor 90, a motor controller 91, and a motor drive module 92 provided on the robot body 10, the first robotic arm 30 includes a plurality of first sub-robotic arms 31 and a plurality of first motors, each of the first sub-robotic arm 31 having a corresponding first motor, and the second robotic arm 40 includes a plurality of second sub-robotic arms 41 and a plurality of second motors, each of the second sub-robotic arm 41 having a corresponding second motor; the processor 90 is electrically connected to the motor controller 91 and the motor drive module 92, respectively; the motor controller 91 is electrically connected to each of the first motors and each of the second motors, respectively; the motor drive module 92 is electrically connected to each of the first motors and each of the second motors, respectively; the first motor is connected to the first sub-robotic arm 31 corresponding to the first motor; the second motor is connected to the second sub-robotic arm 41 corresponding to the second motor; the plurality of first sub-robotic arms 31 in the first robotic arm 30 are movably connected in sequence; the plurality of second sub-robotic arms 41 in the second robotic arm 40 are movably connected in sequence.

[0041] Specifically, the number of the first sub-robotic arms 31 is the same as the number of the second sub-robotic arms 41 , the first sub-robotic arms 31 correspond to the second sub-robotic arms 41 one-to-one, and the first sub-robotic arms 31 are identical to the second sub-robotic arms 41 corresponding to the first sub-robotic arms 31 .

[0042] In an embodiment of the present utility model, the processor 90 controls the operation of the motor controller 91 and the motor drive module 92, so that the motor controller 91 controls the operation of all or part of the first motors, and the motor drive module 92 drives all or part of the first motors to work, thereby controlling and driving all or part of the first sub-robotic arms 31 in the first robotic arm 30 to move, so as to realize the extension and rotation of the first robotic arm 30; the processor 90 controls the operation of the motor controller 91 and the motor drive module 92, so that the motor controller 91 controls the operation of all or part of the second motors, and the motor drive module 92 drives all or part of the second motors to work, thereby controlling and driving all or part of the second sub-robotic arms 41 in the second robotic arm 40 to move, so as to realize the extension and rotation of the first robotic arm 30.

[0043] Optionally, in some embodiments, the number of the first sub-robotic arms 31 is n, and the first robotic arm 30 also includes a first robotic arm 32; the number of the second sub-robotic arms 41 is m, and the second robotic arm 40 also includes a second robotic arm 42, wherein n and m are both positive integers; the i-th first sub-robotic arm 31 is connected to the i+1-th first sub-robotic arm 31, i is a positive integer less than n; the j-th second sub-robotic arm 41 is connected to the j+1-th second sub-robotic arm 41, j is a positive integer less than m; the first first sub-robotic arm 31 is connected to the rear of the first side of the robot body 10; the n-th first sub-robotic arm 31 is connected to the first robotic arm 32; the first second sub-robotic arm 41 is connected to the rear of the second side of the robot body 10; and the m-th second sub-robotic arm 41 is connected to the second robotic arm 42.

[0044] Specifically, the first robot 32 and the second robot 42 are the same.

[0045] For example, the number of first sub-robotic arms 31 is 3, and the number of second sub-robotic arms 41 is 3. The first first sub-robotic arm 31 is movably connected to the rear of the first side of the robot body 10, the first first sub-robotic arm 31 is movably connected to the second first sub-robotic arm 31, the second first sub-robotic arm 31 is movably connected to the third first sub-robotic arm 31, and the third first sub-robotic arm 31 is movably connected to the first manipulator 32; the first second sub-robotic arm 41 is movably connected to the rear of the second side of the robot body 10, the first second sub-robotic arm 41 is movably connected to the second second sub-robotic arm 41, the second second sub-robotic arm 41 is movably connected to the third second sub-robotic arm 41, and the third second sub-robotic arm 41 is movably connected to the second manipulator 42.

[0046] In an embodiment of the present utility model, the i-th first sub-robotic arm 31 moves relative to the i+1-th first sub-robotic arm 31, and the first first sub-robotic arm 31 moves relative to the first side of the robot body 10, so that the first robotic arm 30 moves and is supported on the ground by the first robotic arm 32, so as to support the pipeline inspection robot; the j-th second sub-robotic arm 41 moves relative to the j+1-th second sub-robotic arm 41, and the first second sub-robotic arm 41 moves relative to the second side of the robot body 10, so that the second robotic arm 40 moves and is supported on the ground by the second robotic arm 42, so as to support the pipeline inspection robot.

[0047] Optionally, in some embodiments, the pipeline inspection robot further includes a processor 90, a motor controller 91, a motor drive module 92, a plurality of third motors 93 and a plurality of fourth motors 94 arranged on the robot body 10, each of the first rollers 70 has a corresponding third motor 93, and each of the second rollers 80 has a corresponding fourth motor 94; the processor 90 is electrically connected to the motor controller 91 and the motor drive module 92, respectively; the motor controller 91 is electrically connected to each of the third motors 93 and each of the fourth motors 94, respectively; the motor drive module 92 is electrically connected to each of the third motors 93 and each of the fourth motors 94, respectively; the third motor 93 is connected to the first roller 70 corresponding to the third motor 93; the fourth motor 94 is connected to the second roller 80 corresponding to the fourth motor 94.

[0048] In an embodiment of the present utility model, the processor 90 controls the operation of the motor controller 91 and the motor drive module 92, so that the motor controller 91 controls the operation of all or part of the third motors 93, and the motor drive module 92 drives all or part of the third motors 93 to work, thereby controlling and driving all or part of the first rollers 70 to rotate, thereby driving the first crawler 50 to rotate; the processor 90 controls the operation of the motor controller 91 and the motor drive module 92, so that the motor controller 91 controls the operation of all or part of the fourth motors 94, and the motor drive module 92 drives all or part of the fourth motors 94 to work, thereby controlling and driving all or part of the second rollers 80 to rotate, thereby driving the second crawler 60 to rotate.

[0049] Optionally, in some embodiments, the robot body 10 includes a body 11 and a chassis 12; the body 11 is movably arranged on the chassis 12; the first robotic arm 30 is arranged on the first side of the body 11, and the second robotic arm 40 is arranged on the second side of the body 11; each of the first rollers 70 is arranged on the first side of the chassis 12, and each of the second rollers 80 is arranged on the second side of the chassis 12.

[0050] It should be noted that the vehicle body 11 can rotate in a horizontal direction relative to the chassis 12 .

[0051] In the embodiment of the present invention, the vehicle body 11 is rotated in the horizontal direction relative to the chassis 12 , which facilitates the first robotic arm 30 and the second robotic arm 40 on the vehicle body 11 to move in a wider range.

[0052] Optional, see Figure 2 In some embodiments, the pipeline inspection robot further includes a processor 90 , and the inspection device 20 includes a plurality of sensors 21 ; the processor 90 is electrically connected to each of the sensors 21 .

[0053] In the embodiment of the present invention, the processor 90 controls the sensor 21 in the detection device 20 to operate, so that the sensor 21 detects the pipeline.

[0054] Optionally, in some embodiments, types of the sensor 21 include image sensors, temperature sensors, humidity sensors, and distance sensors.

[0055] Specifically, the image sensor may be an infrared sensor, which is suitable for collecting environmental images in a working environment with relatively dim light.

[0056] In an embodiment of the present utility model, an image sensor is used to collect an environmental image of the pipeline to identify pipeline cracks and record the environmental image; a temperature sensor is used to collect the ambient temperature of the pipeline, a humidity sensor is used to collect the ambient humidity of the pipeline, and a distance sensor is used to measure the size of the pipeline.

[0057] Optionally, in some embodiments, the pipeline inspection robot further includes a processor 90 and a network module 96 ; the processor 90 is electrically connected to the network module 96 .

[0058] Specifically, the network module 96 may be a wireless network module 96, such as a Wi-Fi (a wireless network communication technology) module.

[0059] In the embodiment of the present invention, the network module 96 is controlled by the processor 90 to interact with external devices, which is conducive to uploading the detection data collected by the pipeline detection robot to the external device.

[0060] Optionally, in some embodiments, the pipeline inspection robot further includes a processor 90 and a plurality of memories 95 ; the processor 90 is electrically connected to each of the memories 95 .

[0061] Specifically, the types of the memory 95 include Double-Data-Rate Three Synchronous Dynamic Random Access Memory (DDR3 SDRAM), Embedded Multi Media Card (eMMC), etc.

[0062] In some embodiments, the processor 90 is provided with a processor monitor 97 (PMON). It should be noted that the processor monitor 97 is an open source monitoring program with basic input and output system (BIOS) and boot loader functions, and is mainly used in embedded systems.

[0063] In the embodiment of the present invention, the processor 90 controls the memory 95 to operate, so that the memory 95 stores the pipeline detection data collected by the pipeline detection robot.

[0064] Optional, see Figure 2In some embodiments, the pipeline inspection robot further includes a processor 90, a motor controller 91, a motor drive module 92, two third motors 93, two fourth motors 94, a network module 96, two memories 95, and three sensors 21, all of which are arranged on the robot body 10. The network module 96 is a Wi-Fi module, the three sensors 21 include an infrared sensor, a temperature sensor, and a humidity sensor, and the two memories 95 include a double data rate triple synchronous dynamic random access memory and an embedded multimedia card. The processor 90 is electrically connected to the motor controller 91 via a universal asynchronous receiver / transmitter (UART) terminal 901 of the processor 90, and the motor controller 91 is electrically connected to the first robotic arm 30, the second robotic arm 40, each third motor 93, and each fourth motor 94, respectively. The processor 90 is electrically connected to the first robotic arm 30, the second robotic arm 40, each third motor 93, and each fourth motor 94, respectively. The processor 90 is electrically connected to the first robotic arm 30, the second robotic arm 40, each third motor 93, and each fourth motor 94, respectively. The processor 90 is electrically connected to the motor drive module 92 through the general-purpose input / output (GPIO) terminal 903 of the processor 90, and is electrically connected to each sensor 21. The processor 90 is electrically connected to the network module 96 through the peripheral component interconnect express (PCIE) terminal 904 of the processor 90. The processor 90 is electrically connected to a memory 95 (embedded multimedia card) through the embedded multimedia card terminal 905 of the processor 90, and is electrically connected to another memory 95 (double data rate triple synchronous dynamic random access memory) through the media converter (MC) terminal 906 of the processor 90. The processor 90 is electrically connected to the processor monitor 97 (PMON) through the serial peripheral interface (SPI) 907 of the processor 90. Monitor) interaction, the processor monitor 97 can be set in the memory 95 of the pipeline inspection robot.

[0065] Optional, see Figure 3In some embodiments, the processor 90 includes two processor cores 90 X1, a first-level crossbar switch X2, two second-level caches (Cache) X3, a second-level crossbar switch X4, a memory controller (MC, Memory Controller) X5, two boot modules X6, three Peripheral Component Interconnect Express interface modules X7, a direct memory access module X8, a security module (SE, Security Element) X9, a display module X10, a Universal Serial Bus (USB) module X11, a Serial Advanced Technology Attachment (SATA) module X12, a Gigabit Media Access Controller (GMAC, Gigabit Media Access Controller) module X13, an audio module X14, a memory module X15, an encryption and decryption module X16, a miscellaneous device (Miscellaneous devices) module X17, a north bridge network module 96X18, and a south bridge network module 96X19, wherein the two boot modules X6 include a serial peripheral interface module, a local input and output module (LIO, Local I / O), the display module X10 includes a graphics processing unit (GPU), a display controller (DC), and a video processing unit (VPU). The audio module X14 includes a high-definition audio (HAD) unit and an integrated circuit internal audio bus (I2S) unit. The memory module X15 includes a secure digital input and output (SDIO) unit and an embedded multimedia card unit.

[0066] The first-level cross switch X2 is electrically connected to the two processor cores X1, the two second-level caches X3 and the north bridge network module 96X18 respectively. The second-level cross switch X4 is electrically connected to the two second-level caches X3, the memory controller X5, the two boot modules X6 and the north bridge network module 96X18 respectively. The north bridge network module 96X18 is electrically connected to the three peripheral component interconnect express interface modules X7, the direct memory access module X8, the security module X9, the display module X10 and the south bridge network module 96X19 respectively. The south bridge network module 96X19 is electrically connected to the universal serial bus module X11, the serial advanced technology attachment module X12, the gigabit media access controller module X13, the audio module X14, the memory module X15, the encryption and decryption module X16 and the miscellaneous device module X17 respectively.

[0067] Optional, see Figure 4 In some embodiments, a clock signal architecture adapted for the processor 90 includes six independent phase-locked loops (PLLs), including a first phase-locked loop Y1, a second phase-locked loop Y7, a third phase-locked loop Y9, a fourth phase-locked loop Y12, a fifth phase-locked loop Y23, and a sixth phase-locked loop Y26. Each phase-locked loop can provide up to three sets of clock outputs that are interdependent in frequency. The reference clock signal received by the reference clock signal terminal Y101 is input to the first phase-locked loop Y1, the second phase-locked loop Y7, the third phase-locked loop Y9, the fourth phase-locked loop Y12, the fifth phase-locked loop Y23, and the sixth phase-locked loop Y26.

[0068] The clock signals generated by the first phase-locked loop Y1 include a clock signal Y2 of the gigabit media access controller, a clock signal Y3 of the first universal serial bus, a clock signal Y4 of the second universal serial bus, a clock signal Y5 of the serial advanced technology attachment, and a clock signal Y6 of the high-speed input / output (RapidIO), and the clock signals are output to the first physical layer interface Y32 and the second physical layer interface Y33.

[0069] The clock signals generated by the second phase-locked loop Y7 include the clock signal Y8 of the video processing unit and the display controller, the clock signal Y10 of the graphics processor 90, and the clock signal of the double data rate triple synchronous dynamic random access memory Y11;

[0070] The clock signals generated by the third phase-locked loop Y9 include the clock signal Y10 of the graphics processor 90, the clock signal of the double data rate triple synchronous dynamic random access memory Y11, and the clock signal Y15 of the input and output crossbar (Ioxbar, I / OCrossbar);

[0071] The clock signals generated by the fourth phase-locked loop Y12 include a clock signal Y13 for generating high-definition audio (HAD), a clock signal Y14 for the embedded multimedia card, a clock signal Y16 for the cache, a clock signal Y17 for the crossbar switch, a clock signal Y18 for the first processor 90 core, a clock signal Y19 for the second processor 90 core, a clock signal Y20 for the encryption and decryption module, a clock signal Y21 for the 32-bit single-transmitter processor 90 core, and a clock signal Y22 for the integrated circuit's built-in audio bus;

[0072] The clock signal generated by the fifth phase-locked loop Y23 includes a clock signal Y24 of the physical interface of the High-Definition Multimedia Interface (HDMI) and a clock signal of the first pixel unit;

[0073] The clock signal generated by the sixth phase-locked loop Y26 includes the clock signal of the second pixel unit;

[0074] In addition, the reference clock signal is used as the clock signal Y30 of the serial peripheral interface, the local input and output interface, the clock signal Y31 of the stable counter, the clock signal Y28 of the miscellaneous device, and the clock signal Y29 of the LPC (a microcontroller), wherein the clock signal Y29 of the LPC (a microcontroller) is output through the output terminal Y108; the reference clock signal is also used as the physical interface Y34 of the first universal serial bus, the physical interface Y35 of the second universal serial bus, the physical interface Y36 of the third universal serial bus, the physical interface Y38 of the serial advanced technology attachment, the pseudo random generator (PRG, Pseudorandom generator a clock signal of a pseudo-random generator (PRG) Y39; a first differential clock signal is input into the physical interface Y37 of the fourth universal serial bus through the first differential clock signal receiving terminal Y102; a second differential clock signal is input into the physical interface Y38 of the serial advanced technology attachment through the second differential clock signal receiving terminal Y103; a third differential clock signal is input into the pseudo-random generator Y39 through the third differential clock signal receiving terminal Y104; the pseudo-random generator Y39 outputs the fourth differential clock signal through the differential clock signal transmitting terminal Y105; the pseudo-random generator Y39 is electrically connected to the physical interface Y40 of the first peripheral component interconnect express, the physical interface Y41 of the second peripheral component interconnect express, and the physical interface Y42 of the third peripheral component interconnect express; a fifth differential clock signal is input into the physical interface Y41 of the second peripheral component interconnect express through the fifth differential clock signal receiving terminal Y106; and a sixth differential clock signal is input into the physical interface Y42 of the third peripheral component interconnect express through the sixth differential clock signal receiving terminal Y107.

[0075] When encountering a water leakage problem in a room of a building, finding and treating the leak consumes manpower and takes a long time. In addition, for a small space, workers cannot enter and cannot determine the leak point. The pipeline detection robot provided by the embodiment of the utility model can continuously detect the leak point according to the direction of the pipeline waterway, and upload the image of the pipeline and the location of the leak point to the mobile phone through the network module 96.

[0076] The pipeline inspection robot of the embodiment of the present utility model is suitable for waterway inspection, and is particularly suitable for waterway inspection with narrow inspection channels, complex routes, diverse pipelines, and slender spaces. It can automatically complete regular and irregular inspection tasks, can replace manual labor to complete conventional regular inspections, and can also complete designated inspections in areas that are inaccessible to humans.

[0077] The pipeline detection robot of the embodiment of the present invention can improve the inspection time and efficiency for building leakage, reduce costs and increase efficiency. Specifically: (1) The pipeline detection robot can conduct inspections autonomously without manual intervention, thereby greatly improving the inspection efficiency; the pipeline detection robot can work 24 hours a day without interruption, avoiding the need for rest time during manual inspection, thereby ensuring that the building facilities are maintained and serviced in a timely manner; (2) Using robots for inspections can reduce labor costs; the pipeline detection robot can complete tasks autonomously, reducing the manpower and time costs required for manual inspections; the pipeline detection robot inspection can also reduce errors and missed inspections caused by human factors, thereby reducing maintenance costs; (3) The pipeline detection robot can conduct inspections in dangerous or difficult-to-reach areas, avoiding safety hazards that may be encountered during manual inspections; in addition, the pipeline detection robot can also carry out comprehensive inspections and diagnoses of building facilities by carrying a variety of sensors 21 and equipment, thereby improving the safety and reliability of the facilities; (4) Through the pipeline detection robot inspection, problems with building facilities can be discovered and solved in a timely manner, thereby ensuring the comfort and satisfaction of building users. In addition, pipeline inspection robots can provide buildings with more comprehensive and accurate facility maintenance and management recommendations through data analysis and technical support, thereby improving the service quality of the buildings.

[0078] To sum up, in the embodiment of the present utility model, the movement of the pipeline inspection robot is realized by the cooperation of the first crawler 50, the second crawler 60, the multiple first rollers 70 and the multiple second rollers 80, and the pipeline inspection robot is supported by the first robotic arm 30 and the second robotic arm 40 to assist the pipeline inspection robot in moving over obstacles and pits, and the pipeline is inspected by the detection device 20, thereby realizing pipeline inspection without manual inspection and improving work efficiency.

[0079] Finally, it should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprise" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article, or terminal device that includes a list of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements that are inherent to such process, method, article, or terminal device.

[0080] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0081] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A pipeline inspection robot, characterized in that: include: A robot body (10), a detection device (20), a first mechanical arm (30), a second mechanical arm (40), a first crawler (50), a second crawler (60), a plurality of first rollers (70), and a plurality of second rollers (80); The first robotic arm (30) is disposed on a first side of the robot body (10); The second robotic arm (40) is disposed on a second side of the robot body (10); Each of the first rollers (70) is disposed on a first side of the robot body (10); Each of the second rollers (80) is disposed on a second side of the robot body (10); The first crawler belt (50) is sleeved on the outside of the first roller (70); The second crawler belt (60) is sleeved on the outside of the second roller (80); The detection device (20) is arranged on the robot body (10).

2. The pipeline inspection robot according to claim 1, characterized in that: The pipeline inspection robot further comprises a processor (90), a motor controller (91), and a motor drive module (92) arranged on the robot body (10); the first robotic arm (30) comprises a plurality of first sub-robotic arms (31) and a plurality of first motors, each of the first sub-robotic arms (31) having a corresponding first motor; the second robotic arm (40) comprises a plurality of second sub-robotic arms (41) and a plurality of second motors, each of the second sub-robotic arms (41) having a corresponding second motor; The processor (90) is electrically connected to the motor controller (91) and the motor drive module (92) respectively; The motor controller (91) is electrically connected to each of the first motors and each of the second motors respectively; The motor drive module (92) is electrically connected to each of the first motors and each of the second motors respectively; The first motor is connected to a first sub-mechanical arm (31) corresponding to the first motor; The second motor is connected to a second sub-mechanical arm (41) corresponding to the second motor; The plurality of first sub-mechanical arms (31) in the first mechanical arm (30) are movably connected in sequence; The plurality of second sub-mechanical arms (41) in the second mechanical arm (40) are movably connected in sequence.

3. The pipeline inspection robot according to claim 2, characterized in that: The number of the first sub-manipulators (31) is n, and the first manipulator (30) further includes a first manipulator (32); the number of the second sub-manipulators (41) is m, and the second manipulator (40) further includes a second manipulator (42), wherein n and m are both positive integers; The i-th first sub-manipulator (31) is connected to the i+1-th first sub-manipulator (31), where i is a positive integer less than n; The jth second sub-manipulator (41) is connected to the j+1th second sub-manipulator (41), where j is a positive integer less than m; The first sub-mechanical arm (31) is connected to the rear portion of a first side of the robot body (10); The nth first sub-manipulator arm (31) is connected to the first manipulator (32); The first of the second sub-mechanical arms (41) is connected to the rear portion of the second side of the robot body (10); The mth second sub-manipulator arm (41) is connected to the second manipulator (42).

4. The pipeline inspection robot according to claim 1, characterized in that: The pipeline inspection robot further comprises a processor (90), a motor controller (91), a motor drive module (92), a plurality of third motors (93), and a plurality of fourth motors (94) arranged on the robot body (10); each of the first rollers (70) has a corresponding third motor (93), and each of the second rollers (80) has a corresponding fourth motor (94); The processor (90) is electrically connected to the motor controller (91) and the motor drive module (92) respectively; The motor controller (91) is electrically connected to each of the third motors (93) and each of the fourth motors (94); The motor drive module (92) is electrically connected to each of the third motors (93) and each of the fourth motors (94); The third motor (93) is connected to the first roller (70) corresponding to the third motor (93); The fourth motor (94) is connected to the second roller (80) corresponding to the fourth motor (94).

5. The pipeline inspection robot according to claim 1, characterized in that: The robot body (10) includes a body (11) and a chassis (12); The vehicle body (11) is movably arranged on the chassis (12); The first mechanical arm (30) is arranged on a first side of the vehicle body (11), and the second mechanical arm (40) is arranged on a second side of the vehicle body (11); Each of the first rollers (70) is disposed on a first side of the chassis (12), and each of the second rollers (80) is disposed on a second side of the chassis (12).

6. The pipeline inspection robot according to claim 1, characterized in that: The pipeline detection robot further includes a processor (90), and the detection device (20) includes a plurality of sensors (21); The processor (90) is electrically connected to each of the sensors (21).

7. The pipeline inspection robot according to claim 6, characterized in that: The types of the sensor (21) include image sensors, temperature sensors, humidity sensors, and distance sensors.

8. The pipeline inspection robot according to claim 1, characterized in that: The pipeline inspection robot further includes a processor (90) and a network module (96); The processor (90) is electrically connected to the network module (96).

9. The pipeline inspection robot according to claim 1, characterized in that: The pipeline inspection robot further includes a processor (90) and a plurality of memories (95); The processor (90) is electrically connected to each of the memories (95).

10. The pipeline inspection robot according to claim 1, characterized in that: The detection device (20) is arranged at the front of the robot body (10).

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