Pipeline detection robot

Abstract

A propelling system of the pipeline detection robot comprises a vertical propelling mechanism installed above the gravity center of a main cabin and a horizontal propelling mechanism installed below the gravity center of the main cabin, the vertical propelling mechanism is installed above the gravity center of the main cabin, and the horizontal propelling mechanism is installed below the gravity center of the main cabin by adjusting the thrust of the vertical propelling mechanism. Accurate control over the robot in the vertical direction can be achieved, so that the robot can easily achieve vertical movement in a high-water-level pipeline, the detection requirements of different depths are met, and the working range of the robot is greatly expanded; the robot not only can avoid obstacles, adjust the detection height or perform deeper detection through ascending and descending, but also is helpful for the robot to quickly escape from a dangerous area in an emergency, the vertical propelling mechanism and the horizontal propelling mechanism work cooperatively, it is ensured that the robot always moves around the gravity center of the robot in the moving process, and the safety of the robot is improved. Therefore, the rollover risk is reduced to the maximum extent, and the detection robot can perform detection in a high-water-level pipeline.

Description

TECHNICAL FIELD

[0001] The utility model relates to pipeline detection technical field more specifically, is related to a pipeline detection robot. BACKGROUND

[0002] Pipeline detection machine is an automated device for detecting and evaluating the internal condition of the pipeline, widely used in oil and gas pipelines, sewers, plastic pipes and other types of pipeline systems. These machines can efficiently and accurately identify defects, corrosion and other potential problems in the pipeline by integrating various sensors and intelligent technology.

[0003] The existing pipeline detection robot has some limitations in environmental adaptability. First, the pipeline detection robot has strict requirements for water level. When the water level in the drainage pipeline is too high, the video detection device may not work normally, or the water level may block the key area, resulting in the inability to obtain effective video images, which will affect the accurate judgment and analysis of the internal condition of the pipeline.

[0004] In addition, there are often silt, foreign matter and other substances in the drainage pipeline, which may adhere to the video device or enter the field of view of the camera, affecting the video quality. This situation will cause the video image to be blurred and the noise interference to increase, making the analysis result inaccurate. INVENTION CONTENTS

[0005] In order to overcome the shortcomings of the prior art, the utility model provides a pipeline detection robot to solve the problem that the existing pipeline detection robot is difficult to detect high water level pipeline.

[0006] The technical scheme of the utility model is as follows: a pipeline detection robot, comprising:

[0007] Main cabin body;

[0008] Propulsion system, the propulsion system includes the vertical propulsion mechanism installed above the main cabin body gravity center and the horizontal propulsion mechanism installed below the main cabin body gravity center, the vertical propulsion mechanism and the horizontal propulsion mechanism cooperate to adjust the spatial position of the main cabin body;

[0009] Tail rotating mechanism, the tail rotating mechanism is arranged at the tail position of the main cabin body, a driving servo motor is arranged in the main cabin body, the driving servo motor and the tail rotating mechanism are connected to drive the tail rotating mechanism to rotate;

[0010] First detection assembly, the first detection assembly includes image sonar and mechanical frame for installing the image sonar, the image sonar is connected with the tail rotating mechanism through the mechanical frame;

[0011] A second detection assembly is arranged at the front end of the main cabin body, and the second detection assembly comprises two front-view lights and a front-view camera, and the two front-view lights are arranged on the two sides of the front-view camera.

[0012] A third detection assembly is arranged on the tail rotating mechanism, and the third detection assembly comprises two rear-view lights and a rear-view camera, and the two rear-view lights are arranged on the two sides of the rear-view camera.

[0013] Further, the vertical propulsion mechanism comprises two first vertical propellers and two second vertical propellers, and the two first vertical propellers and the two second vertical propellers are arranged in a vector symmetry with respect to the center of gravity of the main cabin body.

[0014] Further, the horizontal propulsion mechanism comprises a first horizontal propeller and a second horizontal propeller, and the first horizontal propeller and the second horizontal propeller are arranged on the two side walls of the main cabin body, respectively, and the first horizontal propeller and the second horizontal propeller are arranged in a symmetry with respect to the main cabin body.

[0015] Further, the two first vertical propellers are arranged on the two side walls of the front end of the main cabin body, the included angle between the thrust axis of each first vertical propeller and the Z-axis direction is 20°, and the intersection point of the thrust axes of the two first vertical propellers is located above the center of gravity; the two second vertical propellers are arranged on the two side walls of the rear end of the main cabin body, the included angle between the thrust axis of each second vertical propeller and the Z-axis direction is 20°, and the intersection point of the thrust axes of the two second vertical propellers is located below the center of gravity.

[0016] Further, a pipeline sonar is arranged at the front end of the main cabin body, and when the main cabin body moves along the extension direction of the pipeline, the pipeline sonar can perform annular scanning on the pipeline along the pipeline cross section.

[0017] Further, a Doppler log is installed at the bottom of the main cabin body, and when the main cabin body travels along the inner wall of the pipeline, the Doppler log emits an acoustic wave signal to the inner wall of the pipeline, the acoustic wave signal is reflected by the inner wall of the pipeline and is received by the receiving system of the Doppler log, and the moving speed of the main cabin body is calculated.

[0018] Further, a main control unit is arranged in the main cabin body, and the main control unit comprises a control circuit board, and the propulsion system, the tail rotating mechanism, the first detection assembly, the second detection assembly and the third detection assembly are electrically connected with the control circuit board.

[0019] Further, the main cabin body is internally provided with a power battery, and the power battery is electrically connected to the propulsion system, the tail rotating mechanism, the first detection component, the second detection component and the third detection component respectively.

[0020] Further, the main cabin body is internally provided with an inertial navigation module, and the inertial navigation module is used for drawing a travel path of the main cabin body and calculating a coordinate position of the main cabin body.

[0021] Further, the mechanical frame comprises a first hinge piece, a second hinge piece and a central rotating shaft, the first hinge piece and the second hinge piece are both provided with a rotating connection sleeve, and both are hinged on the central rotating shaft through the rotating connection sleeve respectively, the first hinge piece is fixedly connected with the tail rotating mechanism, and the second hinge piece is fixedly connected with the image sonar, the first hinge piece is provided with a first protruding part, the first protruding part is provided with a first through hole, the second hinge piece is provided with a second protruding part, the second protruding part is provided with an arc-shaped through hole extending along the extending direction of the second protruding part, and the first through hole and the arc-shaped through hole are correspondingly arranged to pass through the fastener.

[0022] The utility model has the advantages that:

[0023] (1) The pipeline detection robot provided by the utility model comprises a vertical propulsion mechanism installed above the gravity center of the main cabin body and a horizontal propulsion mechanism installed below the gravity center of the main cabin body. The vertical propulsion mechanism is installed above the gravity center of the main cabin body, and the accurate control of the vertical direction of the robot can be realized by adjusting the thrust size, so that the robot can easily realize vertical movement in a high water level pipeline, adapt to detection requirements of different depths, greatly expand the working range of the robot, and help the robot quickly escape from a dangerous area in an emergency by ascending and descending to avoid obstacles, adjusting the detection height or carrying out more in-depth detection in the high water level pipeline. Secondly, the horizontal propulsion mechanism is installed below the gravity center of the main cabin body, and the spatial position of the main cabin body is adjusted by cooperation of the vertical propulsion mechanism and the horizontal propulsion mechanism, so that the robot can keep a good balance state when vertically or horizontally moving, the vertical propulsion mechanism and the horizontal propulsion mechanism work cooperatively to ensure that the robot always revolves around the gravity center during movement, thereby minimizing the risk of rollover, and enabling the detection robot to detect in the high water level pipeline.

[0024] (2) The utility model provides a pipeline detection robot, tail rotation mechanism sets up in the tail position of main cabin body, be provided with drive servo motor in main cabin body, drive servo motor and tail rotation mechanism are connected to drive tail rotation mechanism rotation, first detection subassembly includes image sonar and the mechanical frame for installing image sonar, and mechanical frame and tail rotation mechanism articulate, design like this, make image sonar can rotate with tail rotation mechanism, and the robot can drive image sonar through rotating tail rotation mechanism to scan the environment in pipeline comprehensively under the condition of not changing own advancing direction, moreover, through the rotation of tail rotation mechanism, not only can realize all -round detection to the inner wall of pipeline, ensure to detect the inside of pipeline without blind angle, but also can adjust the angle of image sonar according to the actual size of pipeline, to reach optimal detection angle, maximize the detection ability and resolution of image sonar, to obtain clear image and accurate depth measurement data, help to reduce the false alarm and the leakage of report in the detection process, improve the accuracy and reliability of detection.

[0025] (3) The utility model provides a pipeline detection robot still includes second detection subassembly and third detection subassembly, second detection subassembly sets up in the front end of main cabin body, and second detection subassembly includes two forward looking light and forward looking camera, and two forward looking light distributes in the both sides of forward looking camera, third detection subassembly sets up on tail rotation mechanism, and third detection subassembly includes two rear -viewing lamp and rear -viewing camera, and two rear -viewing lamp distributes in the both sides of rear -viewing camera, design like this, in high water level pipeline detection, due to the restriction of water flow and line of sight, traditional single direction detection often is difficult to cover pipeline inner wall area comprehensively, and the robot passes through the design of front and rear detection subassembly, not only has strengthened the detection field of vision, has improved the comprehensiveness of detection, can effectively capture and record the pipeline wall surface of the front of detection robot and the pipeline wall surface of rear, provides detailed data support for subsequent pipeline maintenance and analysis, secondly, in pipeline detection, due to the shape, size and internal barrier of pipeline are different, traditional fixed detection device often is difficult to respond, and the detection robot provided by the application can realize all -round detection to the inner wall of pipeline through the combination of tail rotation mechanism and third detection subassembly, improve the adaptability and flexibility of robot, whether it is straight pipeline or curved pipeline, the robot can select optimal detection angle and position according to actual situation, to be able to stably provide high -quality image information, provides accurate judgment basis for detection personnel. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical scheme in the utility model, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description, obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creative labor.

[0027] Figure 1 It is the front view of the pipeline detection robot in the embodiment of the utility model;

[0028] Figure 2 It is the bottom view of the pipeline detection robot in the embodiment of the utility model;

[0029] Figure 3 It is the one of the three-dimensional structure schematic view of the pipeline detection robot in the embodiment of the utility model;

[0030] Figure 4 It is the two of the three-dimensional structure schematic view of the pipeline detection robot in the embodiment of the utility model;

[0031] Figure 5 It is Figure 4 The A partial enlarged schematic view of;

[0032] Figure 6 It is the internal structure schematic view of the pipeline detection robot in the embodiment of the utility model;

[0033] Figure 7 It is the arrangement schematic view of the vertical propeller in the embodiment of the utility model;

[0034] Figure 8 It is the installation angle schematic view of two first vertical propellers in the embodiment of the utility model;

[0035] Figure 9 It is the installation angle schematic view of two second vertical propellers in the embodiment of the utility model.

[0036] In the drawing, 1, main cabin body;2, propulsion system;21, vertical propulsion mechanism;211, first vertical propeller;212, second vertical propeller;22, horizontal propulsion mechanism;221, first horizontal propeller;222, second horizontal propeller;3, tail rotation mechanism;4, first detection assembly;41, image sonar;42, mechanical frame;421, first hinge piece;4211, first convex part;422, second hinge piece;4221, second convex part;423, center rotating shaft;5, second detection assembly;51, forward-looking lamp;52, forward-looking camera;6, third detection assembly;61, rear-view lamp;62, rear-view camera;7, pipeline sonar;8, Doppler log;9, power battery;10, inertial navigation module. DETAILED DESCRIPTION

[0037] The embodiments of the present application will be further described in conjunction with the drawings and examples. The detailed description of the following examples and drawings are used to exemplarily illustrate the principles of the present application, but cannot be used to limit the scope of the present application, that is, the present application is not limited to the described examples.

[0038] In order to better understand the present application, the present application will be further described in conjunction with the drawings and embodiments:

[0039] Referring to Figure 1 The pipeline detection robot provided by the present application comprises a main cabin body 1, a propulsion system 2, a tail rotating mechanism 3, a first detection assembly 4, a second detection assembly 5 and a third detection assembly 6.

[0040] Specifically, the propulsion system 2 comprises a vertical propulsion mechanism 21 installed above the gravity center of the main cabin body 1 and a horizontal propulsion mechanism 22 installed below the gravity center of the main cabin body 1. The vertical propulsion mechanism 21 is installed above the gravity center of the main cabin body 1, and by adjusting the thrust size, the vertical direction of the robot can be accurately controlled, so that the robot can easily realize vertical movement in the high water level pipeline, adapt to detection requirements of different depths, and greatly expand the working range of the robot.

[0041] In actual application process, when the robot provided by the present embodiment performs detection work in the high water level pipeline, the robot not only can avoid obstacles, adjust detection height or perform more in-depth detection by rising and falling, but also helps the robot to quickly escape from the dangerous area in emergency.

[0042] It is worth mentioning that the pipeline detection robot provided by the present embodiment installs the horizontal propulsion mechanism 22 below the gravity center of the main cabin body 1, adjusts the spatial position of the main cabin body 1 by cooperating the vertical propulsion mechanism 21 and the horizontal propulsion mechanism 22, and ensures that the robot can maintain a good balance state when moving in the pipeline. The vertical propulsion mechanism 21 and the horizontal propulsion mechanism 22 work cooperatively to ensure that the robot always revolves around its gravity center during movement, thereby minimizing the risk of rollover, so that the detection robot can perform detection in the high water level pipeline.

[0043] In some embodiments, the vertical propulsion mechanism 21 comprises two first vertical propellers 211 and two second vertical propellers 212, and the two first vertical propellers 211 and the two second vertical propellers 212 are arranged in vector symmetry with respect to the gravity center of the main cabin body 1.

[0044] Specifically, the two first vertical thrusters 211 and the two second vertical thrusters 212 are arranged in a vector symmetrical manner relative to the center of gravity of the main cabin body 1, which helps to achieve force balance and improve the stability of the robot, and reduce the rolling or yaw caused by the imbalance of the moment. When the robot needs to perform forward and backward pitching or left and right pitching, the two first vertical thrusters 211 and the two second vertical thrusters 212 can generate equal and opposite moments in the horizontal direction to maintain the balance of the robot, so that the robot can realize multi-directional motion such as ascending, descending, forward and backward pitching, and left and right pitching.

[0045] In some embodiments, the horizontal propulsion mechanism 22 includes a first horizontal thruster 221 and a second horizontal thruster 222, which are respectively arranged on the two side walls of the main cabin body 1 and are symmetrically arranged relative to the main cabin body 1. In this way, the robot can realize multi-directional motion such as forward movement, backward movement, left and right turning, etc.

[0046] In some embodiments, the two first vertical thrusters 211 are arranged on the two side walls of the front end of the main cabin body 1, and the included angle between the thrust axis of each first vertical thruster 211 and the Z-axis direction is 20°. The intersection point of the thrust axes of the two first vertical thrusters 211 is located above the center of gravity of the main cabin body 1. The two second vertical thrusters 212 are arranged on the two side walls of the rear end of the main cabin body 1, and the included angle between the thrust axis of each second vertical thruster 212 and the Z-axis direction is 20°. The intersection point of the thrust axes of the two second vertical thrusters 212 is located below the center of gravity of the main cabin body 1. Due to the intersection point of the thrust axes of the two first vertical thrusters 211 being located above the center of gravity, and the intersection point of the thrust axes of the two second vertical thrusters 212 being located below the center of gravity of the main cabin body 1, this design can effectively balance the forward and backward pitching and left and right pitching of the main cabin body 1, thereby improving the stability of the robot.

[0047] Referring to Figures 7-9As shown, specifically, the two first vertical thrusters 211 located on the two side walls of the front end of the main cabin body 1 are vertical thruster T1 and vertical thruster T2 respectively, the two second vertical thrusters 212 located on the two side walls of the rear end of the main cabin body 1 are vertical thruster T3 and vertical thruster T4 respectively, the angle between the thrust axis of the vertical thruster T1 and the Z-axis direction is 20°, the angle between the thrust axis of the vertical thruster T2 and the Z-axis direction is 20°, and the intersection point of the thrust axis of the vertical thruster T1 and the thrust axis of the vertical thruster T2 is located above the center of gravity of the main cabin body 1; the angle between the thrust axis of the vertical thruster T3 and the Z-axis direction is 20°, the angle between the thrust axis of the vertical thruster T4 and the Z-axis direction is 20°, and the intersection point of the thrust axis of the vertical thruster T3 and the thrust axis of the vertical thruster T4 is located below the center of gravity of the main cabin body 1. When the main cabin body 1 is disturbed by external disturbances such as fluid resistance or wind force, by setting the angle between the thrust axis and the Z-axis direction to be 20°, a larger lateral thrust and torque can be generated in the horizontal plane, and the vertical thruster can adjust the thrust to offset these disturbances, maintain the stable attitude of the main cabin body 1, and enable the main cabin body 1 to maintain high anti-interference capability in complex environment, thereby enabling the main cabin body 1 to have hovering function.

[0048] Referring to Figure 1 and Figure 2 As shown, the tail rotating mechanism 3 is arranged at the tail position of the main cabin body 1, a driving servo motor is arranged in the main cabin body 1, the driving servo motor is connected with the tail rotating mechanism 3 to drive the tail rotating mechanism 3 to rotate, the first detection assembly 4 includes an image sonar 41 and a mechanical frame 42 for mounting the image sonar 41, and the image sonar 41 is connected with the tail rotating mechanism 3 through the mechanical frame 42; in this way, the image sonar 41 can rotate with the tail rotating mechanism 3, so that the robot can comprehensively scan the environment in the pipeline by rotating the tail rotating mechanism 3 to drive the image sonar 41 without changing the forward direction of the robot, and through the rotation of the tail rotating mechanism 3, not only the omnidirectional detection of the inner wall of the pipeline can be realized to ensure that the inner part of the pipeline is detected without dead angle, but also the angle of the image sonar can be adjusted according to the actual size of the pipeline to achieve the optimal detection angle, so as to maximize the detection ability and resolution of the image sonar, thereby obtaining clear images and accurate depth measurement data, which helps to reduce false positives and omissions in the detection process and improve the accuracy and reliability of the detection.

[0049] Referring to Figure 3As shown, the second detection assembly 5 is arranged at the front end of the main cabin body 1, the second detection assembly 5 comprises two front view lights 51 and a front view camera 52, and the two front view lights 51 are distributed on the two sides of the front view camera 52; the third detection assembly 6 is arranged on the tail rotating mechanism 3, the third detection assembly 6 comprises two rear view lights 61 and a rear view camera 62, and the two rear view lights 61 are distributed on the two sides of the rear view camera 62. In this way, in the detection of the high water level pipeline, due to the limitation of water flow and line of sight, the traditional single direction detection is often difficult to fully cover the inner wall area of the pipeline, and the robot can effectively capture and record the pipeline wall in front of the detection robot and the pipeline wall behind the detection robot through the design of the front and rear detection assemblies, thereby providing detailed data support for subsequent pipeline maintenance and analysis. Secondly, in the pipeline detection, due to the different shapes, sizes and internal obstacles of the pipeline, the traditional fixed detection device is often difficult to cope with, and the detection robot provided by the application can realize omnidirectional detection of the inner wall of the pipeline through the combination of the tail rotating mechanism 3 and the third detection assembly 6, and improve the adaptability and flexibility of the robot. Whether it is a straight pipeline or a curved pipeline, the robot can select the best detection angle and position according to the actual situation, so as to stably provide high-quality image information and provide accurate judgment basis for the detection personnel.

[0050] In some embodiments, the pipeline detection robot further comprises a pipeline sonar 7, which is arranged at the front end of the main cabin body 1, and can perform annular scanning on the pipeline along the pipeline section when the main cabin body 1 moves along the extension direction of the pipeline.

[0051] When the pipeline detection robot detects in the pipeline, the pipeline sonar is located at the front end of the main cabin body 1 and can realize annular scanning on the pipeline along the pipeline section, quickly covering the entire pipeline section and preliminarily screening out possible abnormal areas; due to the characteristics of strong penetration and wide detection range of the sonar technology, the pipeline can be preliminarily screened in a short time, thereby improving the detection efficiency; when the pipeline sonar finds an abnormality at a certain section, the abnormal area can be immediately located, thereby providing an accurate target position for subsequent image sonar observation and confirmation, which helps to reduce the blindness in the detection process and improve the detection efficiency, and the image sonar can realize detailed detection of the tiny defects to display the results more intuitively and clearly.

[0052] It is worth mentioning that pipeline sonar obtains information about the internal conditions of a pipeline by sending sound wave signals and receiving their reflected waves. When the pipeline sonar performs a circular scan of the pipeline cross-section, it emits sound wave signals along the circumference of the pipeline. These sound wave signals are reflected when they encounter obstacles (such as silt) inside the pipeline. The reflected waves are received by the sonar equipment and converted into image data. When there is silt at the bottom of the pipeline, the sound wave signals are reflected by the silt surface, forming specific echo signals. These echo signals are received by the sonar equipment, processed, and converted into image data, thus displaying the outline of the silt on the scanned image. Through image processing algorithms, useful information such as the outline and area of ​​the silt can be extracted from the image. After extracting the silt outline, the volume or area of ​​the silt can be estimated by integral calculation. The integral calculation process usually involves cumulative summation of the image data point by point or region by region. Since this application does not involve improvements to the image processing algorithm, it will not be described in detail here. Those skilled in the art can obtain the algorithm from the prior art to calculate the volume or area of ​​the silt based on this.

[0053] In some embodiments, the main cabin 1 is also equipped with a laser measurement module. When the robot moves inside the pipe, it can scan the size of the pipe using the pipe sonar, and at the same time, it can use the laser measurement module on the main cabin 1 to measure the size of objects in front of it, thereby displaying the size of the objects. This allows the robot to simultaneously obtain information about the size of the pipe and detailed information about the objects in front of it.

[0054] See Figure 2 As shown, in some embodiments, the pipeline inspection robot provided by this utility model also includes a Doppler log 8. The Doppler log 8 is installed at the bottom of the main body 1. When the main body 1 moves along the inner wall of the pipeline, the Doppler log 8 emits sound wave signals to the inner wall of the pipeline. After the sound wave signals are reflected by the inner wall of the pipeline, they are received by the receiving system of the Doppler log 8 and the moving speed of the main body 1 is calculated.

[0055] Specifically, the Doppler log 8 uses the Doppler frequency shift between the emitted sound waves and the reflected waves from the inner wall of the pipe (or particles in the water layer) to measure the robot's speed relative to the inner wall of the pipe. When the robot moves, the Doppler log 8 emits sound wave signals towards the inner wall of the pipe. These sound wave signals are reflected by the inner wall of the pipe and received by the receiving system of the Doppler log 8. Since there is relative motion between the robot and the inner wall of the pipe, the received reflected sound wave signals will undergo a Doppler frequency shift, that is, the frequency of the signal will change. This frequency change is proportional to the speed of the robot, and the speed of the robot can be calculated by measuring the frequency change.

[0056] See Figure 6As shown, in some embodiments, a main control unit is arranged in the main cabin body 1, the main control unit includes a control circuit board, the propulsion system 2, the tail rotating mechanism 3, the first detection assembly 4, the second detection assembly 5 and the third detection assembly 6 are all electrically connected with the control circuit board. Specifically, a power battery 9 is arranged in the main cabin body 1, and the power battery 9 is electrically connected to the propulsion system 2, the tail rotating mechanism 3, the first detection assembly 4, the second detection assembly 5 and the third detection assembly 6 respectively.

[0057] Referring to Figure 6 As shown, in some embodiments, an inertial navigation module 10 is arranged in the main cabin body 1, and the inertial navigation module 10 is used to draw the travel path of the main cabin body 1 and calculate the coordinate position of the main cabin body 1.

[0058] Referring to Figure 5 As shown, in some embodiments, the mechanical frame 42 includes a first hinge piece 421, a second hinge piece 422 and a center rotating shaft 423, the first hinge piece 421 and the second hinge piece 422 both have a rotating connection sleeve, and both are hinged on the center rotating shaft 423 through the respective rotating connection sleeves, the first hinge piece 421 and the tail rotating mechanism 3 are fixedly connected, the second hinge piece 422 and the image sonar 41 are fixedly connected, the first hinge piece 421 is provided with a first protruding part 4211, the first protruding part 4211 is provided with a first through hole, the second hinge piece 422 is provided with a second protruding part 4221, the second protruding part 4221 is provided with an arc-shaped through hole arranged along the extension direction of the second protruding part 4221, and the first through hole and the arc-shaped through hole are correspondingly arranged for the fastener to pass through.

[0059] Specifically, the design of the mechanical frame 42 allows the adjustment of the included angle between the first hinge piece 421 and the second hinge piece 422 by adjusting the position of the fastener in the arc-shaped through hole, thereby adjusting the inclination angle of the image sonar 41, so that the inclination angle of the image sonar 41 can be freely adjusted to adapt to different monitoring requirements and working environments.

[0060] It should be understood that those skilled in the art can make improvements or changes according to the above description, and all these improvements and changes shall belong to the protection scope of the appended claims of the utility model.

[0061] The above exemplary description of the utility model patent is combined with the drawings, obviously the implementation of the utility model patent is not limited by the above manner, as long as various improvements or direct applications of the utility model patent concept and technical scheme to other occasions are made, all of which are within the protection scope of the utility model.

Claims

1. A pipe inspection robot, characterized by, Comprise: The main cabin body (1); Propulsion system (2), the propulsion system (2) comprises vertical propulsion mechanism (21) installed above the center of gravity of the main cabin body (1) and horizontal propulsion mechanism (22) installed below the center of gravity of the main cabin body (1), the vertical propulsion mechanism (21) and the horizontal propulsion mechanism (22) cooperate to adjust the spatial position of the main cabin body (1); The vertical propulsion mechanism (21) comprises two first vertical propellers (211) and two second vertical propellers (212), two first vertical propellers (211) are arranged on the two side walls of the front end of the main cabin body (1), two second vertical propellers (212) are arranged on the two side walls of the rear end of the main cabin body (1); Two first vertical propellers (211) and two second vertical propellers (212) are arranged in vector symmetry with respect to the center of gravity of the main cabin body (1), the intersection point of the thrust axis of two first vertical propellers (211) is located above the center of gravity of the main cabin body (1), and the intersection point of the thrust axis of two second vertical propellers (212) is located below the center of gravity of the main cabin body (1).

2. A pipeline inspection robot as claimed in claim 1, characterised in that: It also includes a tail rotating mechanism (3), which is arranged at the tail position of the main cabin body (1), a driving servo motor is arranged in the main cabin body (1), and the driving servo motor and the tail rotating mechanism (3) are connected to drive the tail rotating mechanism (3) to rotate.

3. A pipe inspection robot as claimed in claim 2, characterised in that: The horizontal propulsion mechanism (22) comprises a first horizontal propeller (221) and a second horizontal propeller (222), the first horizontal propeller (221) and the second horizontal propeller (222) are respectively located on the two side walls of the main cabin body (1), and the first horizontal propeller (221) and the second horizontal propeller (222) are arranged symmetrically with respect to the main cabin body (1).

4. A pipe inspection robot as claimed in claim 3, characterised in that: It also includes a first detection assembly (4), a second detection assembly (5) and a third detection assembly (6), the first detection assembly (4) comprises an image sonar (41) and a mechanical frame (42) for mounting the image sonar (41), the image sonar (41) is connected with the tail rotating mechanism (3) through the mechanical frame (42); The second detection assembly (5) is arranged at the front end of the main cabin body (1), the second detection assembly (5) comprises two front view lights (51) and a front view camera (52), two front view lights (51) are distributed on both sides of the front view camera (52), and the third detection assembly (6) is arranged on the tail rotating mechanism (3), the third detection assembly (6) comprises two rear view lights (61) and a rear view camera (62), two rear view lights (61) are distributed on both sides of the rear view camera (62).

5. A pipe inspection robot as claimed in claim 1, characterized in that: It also includes a pipeline sonar (7), which is arranged at the front end of the main cabin body (1), when the main cabin body (1) moves along the extension direction of the pipeline, the pipeline sonar (7) can scan the pipeline in a ring shape along the pipeline section.

6. A pipe inspection robot as claimed in claim 1, characterized in that: Also included is a Doppler pinger (8) mounted on the bottom of the main cabin body (1), which emits acoustic wave signals to the inner wall of the pipeline when the main cabin body (1) travels along the inner wall of the pipeline, and the acoustic wave signals are reflected by the inner wall of the pipeline and received by the receiving system of the Doppler pinger (8).

7. A pipe inspection robot as claimed in claim 4, characterised in that: A main control unit is arranged in the main cabin body (1), which includes a control circuit board, and the propulsion system (2), the tail rotating mechanism (3), the first detection assembly (4), the second detection assembly (5) and the third detection assembly (6) are all electrically connected to the control circuit board.

8. A pipe inspection robot as claimed in claim 4, characterised in that: A power battery (9) is arranged in the main cabin body (1), and the power battery (9) is electrically connected to the propulsion system (2), the tail rotating mechanism (3), the first detection assembly (4), the second detection assembly (5) and the third detection assembly (6) respectively.

9. A pipe inspection robot as claimed in claim 4, characterised in that: An inertial navigation module (10) is arranged in the main cabin body (1), which is used to draw the travel path of the main cabin body (1) and calculate the coordinate position of the main cabin body (1).

10. A pipe inspection robot as claimed in claim 4, characterised in that: The mechanical frame (42) includes a first hinge piece (421), a second hinge piece (422) and a central rotating shaft (423), the first hinge piece (421) and the second hinge piece (422) are both provided with a rotating connection sleeve, and both are hinged to the central rotating shaft (423) through the rotating connection sleeve, the first hinge piece (421) is fixedly connected with the tail rotating mechanism (3), and the second hinge piece (422) is fixedly connected with the image sonar (41), the first hinge piece (421) is provided with a first protrusion (4211), the first protrusion (4211) is provided with a first through hole, the second hinge piece (422) is provided with a second protrusion (4221), the second protrusion (4221) is provided with an arc-shaped through hole extending along the extension direction of the second protrusion (4221), and the first through hole and the arc-shaped through hole are correspondingly arranged to pass through the fastener.

Images