Water supply pipeline detection robot with flexible traction

Abstract

The utility model discloses a water supply pipeline detection robot with flexible traction, which adopts a flexible power parachute, a shell and a hydrophone, the flexible power parachute is sleeved outside the shell, two ends of the flexible power parachute are respectively and flexibly connected with the outer wall of the shell, and the hydrophone is arranged in the tail part of the shell and can extend out of the shell. The robot hydrophone provided by the utility model extends out of the robot from the inside of the shell through the sound listening hole at the tail part, and the contact surface with water is large enough, so that the signal receiving sensitivity of the hydrophone can be fully ensured; the flexible power parachute is connected with the robot shell through four front ropes and four rear ropes, compared with other robot umbrellas which are fixed to umbilical cables through the rear ropes, the motion state of the robot can be better stabilized, and the robot can be helped to enter a pipeline needing to be detected by means of power of water flow in a complex pipeline and avoid obstacles such as a valve. And a bent pipeline is easy to pass through.

Description

Technical Field

[0001] The utility model relates to the technical field of water supply pipeline detection, and in particular discloses a water supply pipeline detection robot with flexible traction. Background Art

[0002] The water supply pipeline inspection robot is used to collect information inside the pipeline and can inspect the water supply pipeline without stopping the water supply. The instrument is equipped with a high-definition camera to obtain clear images inside the pipe. It also uses a hydrophone and signal processing. The detection accuracy is higher than that of ground leak detection, and it can determine the pipeline location and leakage point.

[0003] Disadvantages of existing water supply pipeline inspection robots:

[0004] 1. Most existing water supply pipeline inspection robots rely on power equipment for power, or are composed of multiple flexible connected devices. These robots are difficult to inspect in complex pipelines and are prone to getting stuck at bends or valves.

[0005] 2. The leak detection of water supply pipeline inspection robots mainly relies on hydrophones to collect sound signals. Most water supply pipeline inspection robots’ hydrophones do not effectively come into contact with water, which greatly reduces the sensitivity of the hydrophones in collecting signals.

[0006] Therefore, the above-mentioned defects of the existing water supply pipeline inspection robots are technical problems that need to be solved urgently. Utility Model Content

[0007] The utility model provides a water supply pipeline detection robot with flexible traction, aiming to solve the above-mentioned defects of the existing water supply pipeline detection robots.

[0008] One aspect of the utility model relates to a water supply pipe inspection robot with flexible traction, comprising a flexible power parachute, a shell and a hydrophone. The flexible power parachute is sleeved on the outside of the shell and the two ends of the flexible power parachute are flexibly connected to the outer wall of the shell respectively. The hydrophone is installed in the tail of the shell and can extend out of the shell.

[0009] Furthermore, a sound listening hole is provided at the rear of the shell, and the hydrophone extends from the cavity of the shell to the outside of the shell through the sound listening hole.

[0010] Furthermore, the flexible powered parachute includes a parachute body, a first flexible connector and a second flexible connector. The large end of the parachute body is connected to the rear outer wall of the shell through multiple first flexible connectors, and the small end of the parachute body is connected to the front outer wall of the shell through multiple second flexible connectors.

[0011] Furthermore, both the first flexible connector and the second flexible connector are connected by ropes.

[0012] Furthermore, the shell is provided with a main circuit board, a fill light, a camera and an electromagnetic wave transmitting device, and the main circuit board is electrically connected to the hydrophone, the fill light, the camera and the electromagnetic wave transmitting device respectively.

[0013] Furthermore, the hydrophone includes an inertial navigation attitude sensor and a sound sensor, and the main circuit board is electrically connected to the inertial navigation attitude sensor and the sound sensor respectively.

[0014] Furthermore, the main circuit board includes a control module and a power carrier module, and the control module is electrically connected to the power carrier module, the hydrophone, the fill light, the camera and the electromagnetic wave transmitting device respectively.

[0015] Furthermore, the control module includes a microprocessor, which is electrically connected to the power carrier module, the hydrophone, the fill light, the camera and the electromagnetic wave transmitting device respectively.

[0016] The beneficial effects achieved by the utility model are:

[0017] The utility model provides a water supply pipe inspection robot with flexible traction, which adopts a flexible power parachute, a shell and a hydrophone. The flexible power parachute is sleeved on the outside of the shell and the two ends of the flexible power parachute are flexibly connected to the outer wall of the shell respectively. The hydrophone is installed in the tail of the shell and can extend out of the shell. In the water supply pipe inspection robot with flexible traction provided by the utility model, the robot hydrophone extends out of the shell from the inside of the shell through the sound listening hole at the tail. The contact surface with water is large enough to fully ensure the sensitivity of the hydrophone in receiving signals. The flexible power parachute is connected to the robot shell by four ropes at the front and back. Compared with other robot parachute rear ropes fixed on the umbilical cable, it can better stabilize the movement state of the robot. In complex pipelines, it can help the robot enter the pipeline to be inspected with the help of the power of the water flow, avoid obstacles such as valves, and easily pass through curved pipelines. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of a first embodiment of a water supply pipeline inspection robot with flexible traction according to the present utility model;

[0019] Figure 2 This is a side structural diagram of an embodiment of a water supply pipeline inspection robot with flexible traction according to the present utility model;

[0020] Figure 3 This is a schematic diagram of the three-dimensional structure of the second embodiment of a water supply pipe inspection robot with flexible traction according to the present utility model.

[0021] Description of Figure Numbers:

[0022] 10. Flexible powered parachute; 20. Shell; 30. Hydrophone; 21. Sound listening hole; 11. Parachute body; 12. First flexible connector; 13. Second flexible connector. DETAILED DESCRIPTION

[0023] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0024] like Figure 1 and Figure 2 As shown, the first embodiment of the present invention provides a water supply pipeline inspection robot with flexible traction, comprising a flexible paramotor 10, a housing 20, and a hydrophone 30. The flexible paramotor 10 is sleeved outside the housing 20, with both ends of the flexible paramotor 10 flexibly connected to the outer wall of the housing 20. The hydrophone 30 is installed in the rear portion of the housing 20 and can extend outside the housing 20. In this embodiment, the flexible paramotor 10 and the hydrophone 30 can use existing equipment.

[0025] In the above structure, see Figures 1 to 3 In this embodiment of the flexible traction water supply pipe inspection robot, a sound hole 21 is defined at the rear end of the housing 20, through which the hydrophone 30 extends from the housing 20 cavity. The hydrophone 30 extends from the housing 20 through the sound hole 21, leaving a sufficiently large contact surface with water to ensure sufficient sensitivity in receiving signals.

[0026] Further, see Figures 1 to 3 The water supply pipe inspection robot with flexible traction provided in this embodiment has a flexible powered parachute 10 including an umbrella body 11, a first flexible connector 12, and a second flexible connector 13. The large end of the umbrella body 11 is connected to the rear outer wall of the shell 20 through multiple first flexible connectors 12, and the small end of the umbrella body 11 is connected to the front outer wall of the shell 20 through multiple second flexible connectors 13. Preferably, in this embodiment, the first flexible connector 12 and the second flexible connector 13 are both connected by connecting ropes. The water supply pipe inspection robot with flexible traction provided by the utility model has a flexible powered parachute connected to the robot shell by four ropes at the front and back, compared to other robot parachutes whose rear ropes are fixed on the umbilical cable, which can better stabilize the robot's motion state, and can help the robot enter the pipeline to be inspected in complex pipelines with the help of the power of water flow, avoid obstacles such as valves, and easily pass through curved pipelines.

[0027] Preferably, see Figures 1 to 3The flexible traction water supply pipe inspection robot provided in this embodiment has a housing 20 equipped with a main circuit board, a fill light, a camera, and an electromagnetic wave transmitter. The main circuit board is electrically connected to a hydrophone 30, the fill light, the camera, and the electromagnetic wave transmitter. Specifically, the hydrophone 30 includes an inertial navigation attitude sensor and an acoustic sensor, and the main circuit board is electrically connected to the inertial navigation attitude sensor and the acoustic sensor, respectively. The flexible traction water supply pipe inspection robot provided in this embodiment uses the inertial navigation attitude sensor and the acoustic sensor to collect pipeline attitude information and water flow sound information, respectively, achieving a high degree of automation.

[0028] Further, see Figures 1 to 3 The flexible traction water supply pipe inspection robot provided in this embodiment has a main circuit board including a control module and a power carrier module. The control module is electrically connected to the power carrier module, hydrophone 30, fill light, camera, and electromagnetic wave transmitter. The control module includes a microprocessor, which is electrically connected to the power carrier module, hydrophone 30, fill light, camera, and electromagnetic wave transmitter. The flexible traction water supply pipe inspection robot provided in this embodiment controls the power carrier module, hydrophone 30, fill light, camera, and electromagnetic wave transmitter respectively through the microprocessor, and transmits the pipeline posture information and water flow sound information detected by the hydrophone 30 to the host computer and host computer through the power carrier module, resulting in a high degree of automation.

[0029] like Figures 1 to 3 As shown, the working principle of the water supply pipe inspection robot with flexible traction provided in this embodiment is as follows:

[0030] 1. Flexible paramotor

[0031] The flexible powered parachute consists of a parachute body and four parachute ropes at the front and back. The front four parachute ropes are connected to the front shell of the robot, and the rear four parachute ropes are connected to the rear shell. They are connected by screws. The parachute body is stably set on the robot through 8 connecting ropes, so that the parachute body is not easy to shake under the impact of water flow in the pressure pipe, so as to ensure the stable operation of the robot, especially to ensure the stability and clarity of the video image.

[0032] 2. Shell

[0033] The shell contains (main circuit board, fill light, camera head and electromagnetic wave transmitting device).

[0034] Main technical parameters:

[0035] 1. Host power input: AC220V; output: DC48V; slave power input: DC48V; output DC12V.

[0036] 2. Communication method: OFDM (Orthogonal Frequency Division Multiplexing).

[0037] 3. Transmission bandwidth: Network port 10Mpbs, RS485: 9600, 8-N-1.

[0038] 4. Communication distance: 500m.

[0039] 5. Camera: 5 million pixels.

[0040] 6. Fill light: bandwidth 20hz-50khz, sensitivity: -175dB re1V / μPA.

[0041] 7. LED fill light: input DC12V.

[0042] The robot communication system's master station is housed in a waterproof enclosure and includes a switching power supply, carrier module, and filter. The master station's power supply is AC220V, and the switching power supply output is DC48V / 1.3A. The carrier signal port serves as both a carrier communication port and a DC48V power output for the slave devices. The robot communication system's slave devices include cameras, hydrophones, attitude sensors, and carrier modules. Power input is DC12-48V, and signal output is a carrier signal. The power port serves as both a power supply and a carrier signal output.

[0043] 3. Hydrophone

[0044] The robot mainly collects the sound and posture information of the water flow in the pipe. This information is transmitted to the host computer through the UDP (User Datagram Protocol) and the power carrier module.

[0045] Attitude information is obtained through an inertial measurement unit (IMU) sensor. IMU data primarily includes acceleration (x, y, and z axes), angular acceleration (x, y, and z axes), and attitude angles (pitch, roll, and heading).

[0046] Sound data is in PCM format: mono, 16K sampling rate, 16 data bits, and uses G711 A-law encoding. The robot collects IMU and sound data and sends it to the host computer via the UDP protocol. The robot acts as the UDP client, and the host PC acts as the UDP server. A UDP packet for IMU data contains approximately 10 frames of IMU data, and a UDP packet for sound contains approximately 50ms of sound data. The robot device runs a TCP server to receive commands from the host computer, primarily to configure basic device information. To send UDP data to the host computer, the device needs to know the host computer's IP address and receiving port number. This information is configured through the TCP server, and other device information also requires similar configuration.

[0047] The robot's control module also includes control over the fill light and electromagnetic wave transmitter, and also uses the UDP protocol for data transmission.

[0048] The water supply pipe inspection robot with flexible traction provided in this embodiment has the following advantages:

[0049] 1. Advantages of hydrophone in full contact with water:

[0050] The robot hydrophone 30 extends out of the shell 20 through the tail listening hole 21, and the contact surface with water is large enough to fully ensure the sensitivity of the hydrophone 30 in receiving signals.

[0051] like Figures 1 to 3 As shown: a sound listening hole 21 is opened next to the cable of the robot tail cover. When the hydrophone 30 is extended out of the cavity, the black rubber surface of the hydrophone 30 is fully in contact with water, thereby ensuring sound sensitivity.

[0052] 2. Advantages of the fixed position of the flexible powered parachute: The flexible powered parachute 10 is connected to the robot shell through four ropes at the front and back. Compared with other robot parachutes whose rear ropes are fixed on the umbilical cable, it can better stabilize the movement state of the robot. In complex pipelines, it can help the robot enter the pipeline that needs to be inspected with the help of the power of the water flow, avoid obstacles such as valves, and easily pass through curved pipelines.

[0053] 3. The front of the robot is arc-shaped, and the external force is evenly distributed, which can effectively reduce water flow resistance and make passage smoother.

[0054] 4. The robot shell 20 is made of metal and coated with food-grade materials on the outside to avoid contamination of the water quality in the water supply pipe.

[0055] The water supply pipe inspection robot with flexible traction provided in this embodiment, compared with the prior art, adopts a flexible power parachute, a shell and a hydrophone. The flexible power parachute is sleeved on the outside of the shell and the two ends of the flexible power parachute are flexibly connected to the outer wall of the shell respectively. The hydrophone is installed in the tail of the shell and can extend out of the shell. In the water supply pipe inspection robot with flexible traction provided in this embodiment, the robot hydrophone extends out of the shell from the inside of the shell through the sound listening hole at the tail. The contact surface with water is large enough to fully ensure the sensitivity of the hydrophone in receiving signals. The flexible power parachute is connected to the robot shell by four ropes at the front and back. Compared with other robot parachute rear ropes fixed on the umbilical cable, it can better stabilize the robot's motion state. In complex pipelines, it can help the robot enter the pipeline to be inspected with the help of the power of the water flow, avoid obstacles such as valves, and easily pass through curved pipelines.

[0056] Although preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they are aware of the basic inventive concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention. Clearly, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, to the extent such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to encompass such changes and modifications.

Claims

1. A water supply pipeline inspection robot with flexible traction, characterized in that: The invention comprises a flexible powered parachute (10), a shell (20) and a hydrophone (30), wherein the flexible powered parachute (10) is sleeved outside the shell (20) and both ends of the flexible powered parachute (10) are flexibly connected to the outer wall of the shell (20), and the hydrophone (30) is installed in the tail of the shell (20) and can extend outside the shell (20).

2. The water supply pipe inspection robot with flexible traction according to claim 1, characterized in that: A sound listening hole (21) is provided at the rear of the shell (20), and the hydrophone (30) extends from the cavity of the shell (20) to the outside of the shell (20) through the sound listening hole (21).

3. The water supply pipe inspection robot with flexible traction according to claim 1, characterized in that: The flexible powered parachute (10) comprises an umbrella body (11), a first flexible connector (12) and a second flexible connector (13); the large end of the umbrella body (11) is connected to the rear outer wall of the shell (20) through a plurality of the first flexible connectors (12); and the small end of the umbrella body (11) is connected to the front outer wall of the shell (20) through a plurality of the second flexible connectors (13).

4. The water supply pipe inspection robot with flexible traction according to claim 3, characterized in that: The first flexible connector (12) and the second flexible connector (13) both adopt connecting ropes.

5. The water supply pipe inspection robot with flexible traction according to claim 1, characterized in that: The housing (20) is provided with a main circuit board, a fill light, a camera and an electromagnetic wave transmitting device, and the main circuit board is electrically connected to the hydrophone (30), the fill light, the camera and the electromagnetic wave transmitting device respectively.

6. The water supply pipe inspection robot with flexible traction according to claim 5, characterized in that: The hydrophone (30) comprises an inertial navigation attitude sensor and a sound sensor, and the main circuit board is electrically connected to the inertial navigation attitude sensor and the sound sensor respectively.

7. The water supply pipe inspection robot with flexible traction according to claim 5, characterized in that: The main circuit board comprises a control module and a power carrier module, and the control module is electrically connected to the power carrier module, the hydrophone (30), the fill light, the camera and the electromagnetic wave transmitting device respectively.

8. The water supply pipeline inspection robot with flexible traction according to claim 7, characterized in that: The control module comprises a microprocessor, and the microprocessor is electrically connected to the power carrier module, the hydrophone (30), the fill light, the camera and the electromagnetic wave transmitting device respectively.

9. The water supply pipeline inspection robot with flexible traction according to claim 1, characterized in that: The housing (20) is made of metal.

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