Pipeline negative-pressure water-carrying detection equipment

Abstract

The utility model discloses negative pressure water-carrying pipeline detection equipment, which relates to the field of pipeline detection robots, and adopts the technical scheme that the negative pressure water-carrying pipeline detection equipment comprises a machine body, a power assembly and a detection assembly, the power assembly and the detection assembly are arranged on the machine body; the machine body is provided with a buoyancy piece; the power assembly comprises a first propeller and a second propeller; the first propeller is used for providing power for floating and diving, and the second propeller is used for providing power for advancing, retreating and transverse moving; the detection assembly comprises a sonar, a lighting device and a camera which are arranged on the machine body. According to the scheme, upward floating, diving, forward moving, backward moving and transverse moving can be achieved, maneuverability is very good, various sonars are arranged to detect the interior of the pipeline, detection accuracy and efficiency are better, the pipeline environment is visually checked through the camera, operation is more convenient, and detection is more targeted.

Description

TECHNICAL FIELD

[0001] The utility model relates to pipeline detection robot field, in particular to pipeline negative pressure water detection equipment. BACKGROUND

[0002] The health of the municipal sewage main rod pipe network is the key to the collection and treatment of urban sewage, due to the restriction of high water level, lack of detection data, the operation status of the pipeline is difficult to accurately obtain, and the connection relationship of the pipe network is also difficult to clarify after a long time, the difficulty of full water dry pipe detection cannot be solved, and finally becomes the "choke point" problem in the operation and maintenance of the drainage pipe network.

[0003] At present, the scheme for monitoring the health of the pipe network, such as the scheme of a sonar rotatable detection robot with publication No. CN215663939U, detects the pipeline by setting propeller and sonar on the robot, but there are some problems in actual use, because the rod pipeline is relatively thick, the robot cannot move horizontally in it, the detection data is not comprehensive, and the environment where the robot is located cannot be intuitively viewed, and the operation is very inconvenient. UTILITY MODEL CONTENT

[0004] To solve the above technical problems, the utility model provides a pipeline negative pressure water detection equipment, which can realize floating, diving, advancing, retreating and transverse movement, has good maneuverability, is provided with various sonars for detecting the pipeline, has better detection accuracy and efficiency, uses a camera to intuitively view the pipeline environment, is more convenient to operate, and has better detection pertinence.

[0005] The utility model solves the technical problems by adopting the following technical scheme: a pipeline negative pressure water detection equipment, comprising a machine body, a power assembly and a detection assembly.

[0006] The power assembly and the detection assembly are arranged on the machine body.

[0007] The machine body is provided with a buoyancy member.

[0008] The power assembly comprises a first propeller and a second propeller.

[0009] The first propeller is used to provide the power for floating and diving, and the second propeller is used to provide the power for advancing, retreating and transverse movement.

[0010] The detection assembly comprises a sonar, an illuminating device and a camera arranged on the machine body.

[0011] The buoyancy member is used to provide buoyancy to the body, so that it can be suspended in water, and the movement of the body in water is provided by the power assembly, wherein the first propeller provides power for ascending and diving, and the second propeller provides power for advancing and retreating and transverse movement, thereby realizing more free movement in water. When used, it can be placed inside the pipeline to detect the inside of the pipeline more efficiently and accurately, and the lighting device and camera can be used to more intuitively view the inside image, which is convenient for controlling the power assembly to move inside the pipeline and more prepared for detecting the pipeline.

[0012] Preferably, the body comprises an upper machine plate and a lower machine plate, and the upper machine plate and the lower machine plate are fixed by a plurality of connecting columns, and a main machine box is arranged between the upper machine plate and the lower machine plate. The main machine box is protected in the upper machine plate and the lower machine plate, which provides overall strength on the one hand and better protects the main machine box on the other hand.

[0013] Preferably, the sonar comprises a two-dimensional image sonar and a cross-section pipeline sonar, the two-dimensional image sonar is arranged at the front of the body, and the cross-section pipeline sonar is arranged at the rear of the body.

[0014] The two-dimensional image sonar can emit a single-frequency narrow-band acoustic pulse signal to transmit the entire detection area, which is used for pipeline defect positioning, navigation, defect image acquisition and measurement. It can provide an overview of the inspected area, simplify the interpretation of the image scene, facilitate the identification of spatial relationships, and provide higher resolution and signal-to-noise ratio overall results than single sonar images.

[0015] The cross-section pipeline sonar excites acoustic pulses to the tunnel wall section and receives reflections from the target, and detects the apparent profile of the target according to the principles of underwater acoustics.

[0016] The use of two kinds of sonars can more accurately detect the internal conditions of the pipeline, with higher detection efficiency and better accuracy.

[0017] Preferably, the first propeller is provided with a group on each side of the body, and the axis of the first propeller is vertically arranged. The forward and reverse rotation of the first propeller can well realize the lifting and lowering action, and the arrangement of a group on each side facilitates the control of the balance of the body.

[0018] Preferably, the second propeller is provided with a group on each side of the body, and the second propeller in the same group comprises two, the axis of the second propeller is horizontally arranged and is inclined to the front-rear axis of the body, and the included angle between the axes of the second propellers in the same group is 80-100 degrees. The two groups of inclined second propellers can well realize the complex actions of advancing and retreating in the horizontal plane and transverse movement.

[0019] Preferably, the front part of the machine body is provided with a steering engine, and the output end of the steering engine is provided with the two-dimensional image sonar.

[0020] Preferably, the front part of the machine body is provided with a slot, and the two-dimensional image sonar is located in the slot, and the two ends of the slot are connected through a plurality of protection rods.

[0021] Preferably, the lighting device and the camera are arranged on the front part of the machine body.

[0022] Preferably, the ground station and the metering winch are arranged, the ground station is electrically connected with one end of the cable, and the other end of the cable is electrically connected with the main box after winding through the metering winch.

[0023] Preferably, the metering winch comprises a frame, a winch body and a metering device, the winch body is rotatably arranged on the frame, a guide rod is arranged on one side of the winch body, the two ends of the guide rod are arranged on the frame, a moving table is slidably connected with the guide rod, and the metering device is arranged on the moving table.

[0024] The guide rod can make the metering device automatically adapt to the position of the cable on the winch body.

[0025] The utility model discloses the beneficial effects of the following:

[0026] The power assembly can make the machine body move conveniently in water, realize floating, diving, advancing, retreating and transverse moving, and has good maneuverability. DRAWINGS

[0027] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only four of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0028] Figure 1 The schematic diagram of the detection equipment of the embodiment of the present application is shown in the figure.

[0029] Figure 2 This is a schematic diagram of a testing device without an upper plate according to an embodiment of the present utility model;

[0030] Figure 3 This is a schematic diagram of a meter-counting winch according to an embodiment of the present utility model;

[0031] Figure 4 This is a diagram showing the overall structure of an embodiment of the present utility model;

[0032] The components include: 1. Body; 2. Upper plate; 3. Lower plate; 4. Connecting column; 5. Buoyancy component; 6. First propeller; 7. Second propeller; 8. Two-dimensional image sonar; 9. Servo motor; 10. Protective rod; 11. Lighting device; 12. Cable; 13. Cross-section pipe sonar; 14. Main unit box; 15. Winch body; 16. Guide rod; 17. Frame; 18. Moving platform; 19. Meter counter. Detailed Implementation

[0033] To enhance understanding of this utility model, it will be described in further detail below with reference to the accompanying drawings and embodiments. These embodiments are only used to explain this utility model and do not limit the scope of protection of this utility model.

[0034] Example

[0035] like Figure 1 and Figure 4 As shown, the pipeline negative pressure water detection equipment includes a body 1, a power component, and a detection component; the power component and the detection component are disposed on the body 1; the body 1 is provided with a buoyancy component 5; combined with Figure 2 As shown, the power assembly includes a first propeller 6 and a second propeller 7; the first propeller 6 is used to provide power for surfacing and diving, and the second propeller 7 is used to provide power for forward, backward and lateral movement; the detection assembly includes a sonar, a lighting device 11 and a camera disposed on the body 1.

[0036] In this design, the buoyancy component 5 provides buoyancy to the body 1, enabling it to suspend in the water. The movement of the body 1 in the water is provided by the power unit, where the first propeller 6 provides the power for buoyancy and descent, and the second propeller 7 provides the power for forward, backward, and lateral movement, thus achieving greater freedom of movement in the water. When in use, it can be placed inside a pipe to utilize sonar for more efficient and accurate detection. Furthermore, the use of the lighting device 11 and camera allows for a more intuitive view of the internal audio-visual environment, facilitating the control of the power unit's movement within the pipe.

[0037] The camera is not shown in the diagram; it is located below one of the lighting devices 11, between the upper board 2 and the lower board 3. The lighting device 11 uses an LED light.

[0038] The body 1 includes an upper machine plate 2 and a lower machine plate 3, which are fixed by a plurality of connecting columns 4, and a main machine box 14 is arranged between the upper machine plate 2 and the lower machine plate 3. The main machine box 14 is protected in the upper machine plate 2 and the lower machine plate 3, which provides overall strength on the one hand and better protection for the main machine box 14 on the other hand. The buoyancy member 5 is a floating plate arranged on the upper machine plate 2, which can make the body 1 float in water, so that the first propeller 6 can more easily drive the body 1 to move up and down. The first propeller 6 is arranged between the upper machine plate 2 and the lower machine plate 3, and the upper machine plate 2 and the lower machine plate 3 are provided with window holes for the first propeller 6.

[0039] The sonar includes a two-dimensional image sonar 8 arranged at the front of the body 1 and a cross-section pipeline sonar 13 arranged at the rear of the body 1.

[0040] The two-dimensional image sonar 8 can transmit a single-frequency narrow-band acoustic pulse signal to transmit the entire detection area, which is used for pipeline defect positioning, navigation, defect image acquisition and measurement. It can provide an overview of the inspected area, simplify the interpretation of the image scene, facilitate the identification of spatial relationships, and provide higher resolution and signal-to-noise ratio overall results than single sonar images.

[0041] The cross-section pipeline sonar 13 excites acoustic pulses to the tunnel inner wall section and receives the reflection of the target, and detects the apparent profile of the target according to the principles of underwater acoustics.

[0042] The use of two kinds of sonars can more accurately detect the internal conditions of the pipeline, with higher detection efficiency and better accuracy.

[0043] The first propeller 6 is arranged on both sides of the body 1, and the axis of the first propeller 6 is vertically arranged. The forward and reverse rotation of the first propeller 6 can well realize the lifting action, and the arrangement of one group on each side also facilitates the control of the balance of the body 1.

[0044] The second propeller 7 is arranged on both sides of the body 1, and each group includes two second propellers 7. The axis of the second propeller 7 is horizontally arranged and inclined relative to the front-rear axis of the body 1, and the included angle between the axes of the second propellers 7 in the same group is 100 degrees. The two groups of inclined second propellers 7 can well realize complex actions such as forward and backward movement and lateral movement in the horizontal plane.

[0045] The front of the body 1 is provided with a rudder 9, and the output end of the rudder 9 is provided with the two-dimensional image sonar 8. The rudder 9 can drive the two-dimensional image sonar 8 to rotate in a direction, so as to more comprehensively detect the inside of the pipeline.

[0046] The front part of the body 1 is provided with a slot, the two-dimensional image sonar 8 is located in the slot, and the two ends of the slot are connected through a plurality of protection rods 10. The two-dimensional image sonar 8 can be protected from external collision damage.

[0047] The lighting device 11 and the camera are arranged on the front part of the body 1. It is convenient to view the front condition when moving.

[0048] In combination Figure 3 As shown, a ground station and a metering winch are included, one end of the cable 12 is electrically connected with the ground station, the other end of the cable 12 is electrically connected with the main box 14 after winding through the metering winch. It is convenient to operate the ground station on the ground, and the body 1 is controlled and information is transmitted through the cable 12, wherein the metering winch can more conveniently release the cable, and the length of the released cable is measured to obtain the distance of the body 1 moving in the pipeline.

[0049] The metering winch comprises a rack 17, a winch body 15 and a metering device 19, the winch body 15 is rotationally arranged on the rack 17, a guide rod 16 is arranged on one side of the winch body 15, both ends of the guide rod 16 are arranged on the rack 17, a moving table 18 is slidingly matched with the guide rod 16, and the metering device 19 is arranged on the moving table 18.

[0050] The guide rod 16 can make the metering device 19 automatically adapt to the position of the cable 12 on the winch body 15.

[0051] The beneficial effects of the utility model are as follows:

[0052] The power assembly can make the body 1 move very conveniently in water, can realize floating, diving, advancing, retreating and transverse moving, the maneuverability is very good, and two sonars are arranged to detect the pipeline, and the detection accuracy and efficiency are better.

[0053] The ground station and the circuit structure of the main box in the scheme are prior art, and will not be described here, and the invention point of the scheme lies in the arrangement of the mechanical structure.

[0054] The technical features of the above embodiments can be combined arbitrarily, in order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, it should be considered that it is within the scope of the description.

[0055] The above embodiments only express several implementation manners of the application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the utility model patent. It should be pointed out that for ordinary skilled persons in the art, without departing from the concept of the application, a number of modifications and improvements can be made, which all belong to the protection scope of the application. Therefore, the protection scope of the patent of the application should be subject to the appended claims.

Claims

1. A pipeline negative pressure water detection apparatus, characterized by, The utility model relates to a kind of unmanned underwater vehicle, including body (1), power assembly and detection assembly; The power assembly and the detection assembly are arranged in the body (1); The body (1) is provided with a buoyancy member (5); The power assembly includes a first propeller (6) and a second propeller (7); The first propeller (6) is used to provide power for surfacing and diving, and the second propeller (7) is used to provide power for advancing and retreating. The detection assembly includes a sonar, a lighting device (11) and a camera arranged in the body (1).

2. The pipeline negative pressure water detection apparatus of claim 1, wherein: The body (1) includes an upper machine plate (2) and a lower machine plate (3), and the upper machine plate (2) and the lower machine plate (3) are fixed by a plurality of connecting columns (4). A main machine box (14) is arranged between the upper machine plate (2) and the lower machine plate (3).

3. The pipeline negative pressure water detection apparatus of claim 2, wherein: The sonar includes a two-dimensional image sonar (8) and a cross-sectional pipeline sonar (13). The two-dimensional image sonar (8) is arranged at the front of the body (1), and the cross-sectional pipeline sonar (13) is arranged at the rear of the body (1).

4. The pipeline negative pressure water detection apparatus of claim 3, wherein: Each side of the body (1) is provided with a group of first propellers (6), and the axial lines of the first propellers (6) are vertically arranged.

5. The pipeline negative pressure water detection apparatus of claim 4, wherein: Each side of the body (1) is provided with a group of second propellers (7), and each group of second propellers (7) includes two second propellers (7). The axial lines of the second propellers (7) in the same group are inclined to the front-rear axis of the body (1) and form an angle of 80-100 degrees.

6. The pipeline negative pressure water detection apparatus of claim 3, wherein: The front of the body (1) is provided with a rudder (9), and the output end of the rudder (9) is provided with the two-dimensional image sonar (8).

7. The pipeline negative pressure water detection apparatus of claim 3, wherein: The front of the body (1) is provided with a slot, and the two-dimensional image sonar (8) is located in the slot. The two ends of the slot are connected by a plurality of protection rods (10).

8. The pipeline negative pressure water detection apparatus of claim 7, wherein: The lighting device (11) and the camera are arranged at the front of the body (1).

9. The pipeline negative pressure water detection apparatus of claim 3, wherein: The ground station is electrically connected to one end of a cable (12), and the other end of the cable (12) is electrically connected to the main machine box (14) after winding through a metering winch.

10. The pipeline negative pressure water detection apparatus of claim 9, wherein: The metering winch includes a rack (17), a winch body (15) and a metering device (19). The winch body (15) is rotatably arranged in the rack (17). A guide rod (16) is arranged on one side of the winch body (15). The two ends of the guide rod (16) are arranged in the rack (17). The guide rod (16) is slidably connected with a moving table (18), and the metering device (19) is arranged in the moving table (18).

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