All-terrain advancing and drainage pipe network intelligent detection robot

Abstract

The utility model discloses an all-terrain advancing and drainage pipe network intelligent detection robot, and relates to the technical field of robots. In order to solve the problems that wheels of an existing robot slip during flying and are prone to overturning during obstacle crossing, the following technical scheme is provided that the robot comprises a robot body, a mechanical arm and a laser radar, the robot body is connected with spiral propelling wheels through a transmission assembly, and supporting rods are arranged on the spiral propelling wheels; a rack at the upper end of the supporting rod is matched with a gear connected to the robot body, and the spiral propelling wheels rotate and advance through motors arranged at the two ends of the spiral propelling wheels and move in the vertical direction through cooperation of a transmission assembly and the supporting rod. A telescopic supporting assembly is arranged at the bottom of the robot body and makes the robot pass through obstacles through telescopic supporting movement. According to the utility model, the terrain adaptability and stability of the robot are obviously enhanced, the data acquisition precision and efficiency are improved, and the safety and reliability are improved at the same time.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely relates to a full terrain advances and drainage pipe network intelligent detection robot. BACKGROUND

[0002] In the scene involving special operation environment, such as the internal inspection of narrow pipe diameter or small pipeline, and the execution of safety inspection task in high-risk area such as flammable and explosive, the traditional manual direct detection mode is not up to the task due to its complexity and potential safety risk. For this reason, pipeline detection robot and other intelligent detection equipment emerge as the times require and become the key technology to solve this problem. These intelligent equipment can easily obtain the detailed condition of the pipeline interior by virtue of its efficient and accurate detection capability, effectively avoiding the limitations and safety hazards of manual detection.

[0003] However, there are many kinds of defects in the internal drainage pipeline, including but not limited to leakage, corrosion, siltation, cracking and other complex situations, which puts forward very high requirements on the comprehensiveness and accuracy of pipeline detection. At the same time, in order to ensure the detection efficiency, the detection robot also needs to be equipped with efficient advancing structure and accurate detection equipment. However, in actual application, the complex and changeable terrain environment in the pipeline often becomes an important factor restricting the performance of the robot. For example, when encountering a pipeline section with a large slope, the traditional double helix propelling wheel design may slip due to the small contact area of the front and rear ends with the ground, causing the robot to be difficult to advance smoothly, and even be trapped due to terrain restrictions. Especially in the ridge terrain, the robot may quickly turn from one side of the ridge to the other side due to unstable center of gravity, causing the risk of vehicle overturning.

[0004] In addition, the prior art still has many deficiencies in pipeline defect detection, especially for the subtle defects on the internal surface of the pipeline, such as partial cracking, leakage and other problems, which are often difficult to be accurately detected. These problems not only affect the comprehensiveness and accuracy of pipeline detection, but also bring great challenges to the subsequent maintenance and processing work. UTILITY MODEL CONTENT

[0005] The utility model aims at providing a full terrain advances and drainage pipe network intelligent detection robot to solve the problem of slippage when the wheel of the existing robot is in the air and easy overturning when crossing obstacles.

[0006] The technical solution of the utility model to solve the above technical problems is as follows:

[0007] The utility model discloses a kind of all-terrain travel and sewer network intelligent detection robot, it includes: robot body, the top of robot body is equipped with mechanical arm, the end of mechanical arm is equipped with laser radar, the front and rear sides of robot body are connected spiral propelling wheel through transmission assembly, the middle part of spiral propelling wheel is equipped with support rod, the upper end rack of support rod is matched with gear connected on robot body, spiral propelling wheel is rotated forward motion by motor arranged at its both ends, spiral propelling wheel is moved vertically by the cooperation of transmission assembly and support rod;The bottom of robot body is equipped with telescopic support assembly, and telescopic support assembly makes robot pass through obstacle by telescopic support movement.

[0008] As preferred, the telescopic support assembly includes fixed blocks symmetrically arranged at the bottom of the robot body, a cross bar is arranged between the two fixed blocks, and telescopic support legs are arranged on the cross bar.

[0009] As preferred, the gear includes two split gears symmetrically arranged, and the two split gears are respectively matched with the two sides of the upper end rack of the support rod.

[0010] As preferred, the transmission assembly includes a main power motor arranged inside the robot body, the output end of the main power motor drives a transmission rod fixed on the robot body to rotate through a worm gear assembly, and the both ends of the transmission rod are connected with the outer ends of the spiral propelling wheel through arc-shaped rods.

[0011] As preferred, the top of the robot body is provided with a high-definition camera at the front end.

[0012] As preferred, the front end of the robot body is provided with a plurality of illuminating lamps.

[0013] As preferred, the bottom of the robot body is provided with a fixed support, and a sonar is arranged on the fixed support.

[0014] The utility model has the following beneficial effects:

[0015] 1. Improve the climbing and obstacle-crossing ability: by arranging a four-wheel structure, hinging between the front and rear wheels, and hinging the front end of the front wheel and the rear end of the rear wheel to the arc-shaped rods, the wheels can be flexibly adjusted in angle to adapt to different slopes and obstacles. The motor drives the arc-shaped rods to move, and then drives the spiral propelling wheels to rotate. This design not only improves the driving force of the wheels, but also enhances the grip of the wheels on different terrains, effectively prevents the wheels from slipping, and ensures the stability of the vehicle body when climbing and crossing obstacles.

[0016] 2. Enhance the step terrain passability: when encountering a step terrain, the support rods below the vehicle body can be rotated to be vertical and elongated to support and lift the vehicle body, so that the front wheels can be smoothly lifted and crossed over the step. This design enables the robot to easily cope with complex terrains, especially when it needs to cross higher steps or obstacles, which has a significant advantage.

[0017] 3. Three-dimensional modeling and defect detection: Through the extension and rotation of the on-board mechanical arm, the laser radar can collect point cloud data close to the inner wall of the pipeline. After analysis and processing of these data, three-dimensional modeling can be performed to accurately detect defects on the pipeline wall surface, such as cracks, corrosion, deformation, etc. This high-precision data acquisition and analysis method not only improves the detection efficiency, but also reduces the risk of missed and false detection.

[0018] 4. Intelligent detection and analysis: Combined with cloud computing platform, big data analysis system and artificial intelligence algorithm, the collected data can be deeply mined and analyzed to further improve the intelligent level of detection tasks. Through real-time monitoring and early warning system, potential safety hazards can be found in time to provide strong technical support for the maintenance and repair of the pipeline.

[0019] 5. Reduce the risk of operation: The robot can complete the detection task autonomously, reducing the workload of manual intervention and operators, and reducing the risk of operators entering dangerous areas. At the same time, through real-time communication and remote control device, the operator can remotely monitor and control the working state of the robot to ensure the safe performance of the task. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a structural schematic view of the full-terrain advancing and drainage pipe network intelligent detection robot of the utility model;

[0021] Figure 2 is an internal schematic view of the full-terrain advancing and drainage pipe network intelligent detection robot of the utility model;

[0022] Figure 3 is a side view of the full-terrain advancing and drainage pipe network intelligent detection robot of the utility model;

[0023] Figure 4 is a telescopic support assembly structure diagram of the full-terrain advancing and drainage pipe network intelligent detection robot of the utility model;

[0024] Figures 1 to 4 The reference signs shown in the drawings represent: robot body 1, mechanical arm 2, laser radar 3, high-definition camera 4, illuminating lamp 5, sonar 6, arc-shaped rod 7, spiral propelling wheel 8, support rod 9, external shell 10, transmission rod 11, main power motor 12, gear 13, telescopic support assembly 14, fixed block 141, cross rod 142, telescopic support leg 143, fixed support 15. DETAILED DESCRIPTION

[0025] The technical solutions of the utility model will be described clearly and completely in connection with the drawings. Obviously, the described embodiments are only some of the embodiments of the utility model, not all. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the utility model.

[0026] Please refer to Figures 1-2 The utility model provides a kind of all-terrain and drainage pipe network intelligent detection robot, to solve the problem of insufficient stability of two-wheel spiral propulsion structure in complex terrain, limited climbing and obstacle-crossing ability and low detection accuracy inside pipe in prior art.The following is the detailed description of the specific embodiment of the utility model.

[0027] First, the all-terrain and drainage pipe network intelligent detection robot provided by the utility model mainly includes robot body 1.Robot body 1 is the load-bearing main body of the whole robot, and its design is solid and durable, which can adapt to various complex environments.The material of robot body 1 is preferably high-strength alloy to ensure its stability and durability under harsh conditions.Various electronic components and control modules are also provided inside robot body 1 for intelligent control and operation of the robot.

[0028] A mechanical arm 2 is provided on the top of robot body 1.The mechanical arm 2 is a key component for accurate detection inside the pipe.The mechanical arm 2 can be folded and stretched and swing around the shaft.By controlling the extension and rotation of mechanical arm 2, the laser radar 3 connected to the end of mechanical arm 2 can be attached to the inner wall of the pipe, so as to accurately collect point cloud data.The laser radar 3 can generate a three-dimensional image of the inside of the pipe by emitting laser and receiving the reflected signal, providing data support for subsequent defect analysis and three-dimensional modeling.

[0029] To ensure the stability and accuracy of mechanical arm 2, the joint part of mechanical arm 2 is driven by high-precision servo motor and position feedback is performed by precise sensor to realize accurate position control.In addition, the material of mechanical arm 2 is also preferably lightweight high-strength material to reduce the overall weight and improve the motion flexibility.

[0030] A high-definition camera 4 is also provided on the top front end of robot body 1.The high-definition camera 4 is used to capture images inside the pipe in real time, providing intuitive visual feedback for the operator.The resolution of high-definition camera 4 is preferably 1080P or higher to ensure the clarity and detail of the image.At the same time, high-definition camera 4 also has night vision and waterproof function to adapt to various complex environments.

[0031] To illuminate the inside of the pipeline, ensure that the high-definition camera 4 and the lidar 3 can work normally, the front end of the robot body 1 is also provided with a plurality of illuminating lamps 5. The illuminating lamp 5 adopts high-brightness LED light source, which can provide sufficient light, and ensure that every corner of the inside of the pipeline can be illuminated. The number and layout of the illuminating lamp 5 are optimized according to the size and shape of the pipeline to achieve the best lighting effect.

[0032] Referring to Figure 4 At the bottom of the robot body 1, a telescopic support assembly 14 is arranged. The telescopic support assembly 14 is a key component to realize the robot climbing and obstacle crossing. The telescopic support assembly 14 includes fixed blocks 141 symmetrically arranged at the bottom of the robot body 1, and a crossbar 142 arranged between the two fixed blocks 141. The crossbar 142 is provided with telescopic support legs 143, which are driven to realize telescopic movement by a motor. When the robot encounters a large slope or obstacle, the telescopic support assembly 14 can be extended and supported on the ground, thereby increasing the stability and climbing ability of the robot.

[0033] In order to further improve the stability and climbing ability of the robot, the crossbar 142 of the telescopic support assembly 14 can also be driven to rotate by the motor inside the fixed block 141. By rotating the crossbar 142, the direction and angle of the telescopic support leg 143 can be adjusted to better adapt to complex terrain. At the same time, the telescopic length of the telescopic support leg 143 can also be adjusted as needed to ensure the stability and passability of the robot under different terrains.

[0034] On the front and rear sides of the robot body 1, screw propulsion wheels 8 are connected through transmission assemblies. The screw propulsion wheels 8 are provided with a motor inside, which can independently drive the rotation of the wheels. This design enables the robot to maintain contact with the ground and prevent slipping when climbing or crossing obstacles. The screw propulsion wheel 8 is a key component for the robot to realize all-terrain movement. The middle part of the screw propulsion wheel 8 is provided with a support rod 9, and the upper end rack of the support rod 9 is matched with a gear 13 connected to the robot body 1. By controlling the rotation of the gear 13, the support rod 9 and the screw propulsion wheel 8 can be driven to move vertically. This design enables the robot to lift the front or rear wheels when encountering steps or vertical obstacles, thereby smoothly crossing the obstacles.

[0035] The specific structure of the gear 13 includes two split gears symmetrically arranged, which are matched with the two sides of the upper end rack of the support rod 9. This design can ensure the stable movement of the support rod 9 in the vertical direction and prevent the deflection caused by unilateral force. At the same time, the two split gears are fixed on the robot body 1 through a rod to ensure the stability and reliability.

[0036] The specific structure of the transmission assembly includes a main power motor 12 arranged inside the robot body 1. The output end of the main power motor 12 drives the transmission rod 11 fixed on the robot body 1 to rotate through a worm gear assembly. The two ends of the transmission rod 11 are connected to the outer ends of the spiral propelling wheels 8 through the arc-shaped rods 7. When the main power motor 12 starts, the worm gear assembly converts the rotary motion of the motor into the rotary motion of the transmission rod 11. The motion of the transmission rod 11 is further converted into the up-down motion of the spiral propelling wheels 8 through the arc-shaped rods 7. This design enables the robot to move stably on the horizontal ground and has certain climbing and obstacle-crossing ability.

[0037] Referring to Figure 3 At the bottom of the robot body 1, a fixed support 15 is also arranged. The fixed support 15 is provided with a sonar 6. The sonar 6 is used to detect obstacles and terrain changes around the robot, and provides real-time environmental information for the robot. Through the detection data of the sonar 6, the robot can intelligently plan the route and avoid collision. At the same time, the sonar 6 can also be used to detect the water and silt conditions inside the pipeline, providing important reference information for the operator.

[0038] In order to ensure the stability and safety of the robot in complex environment, the utility model also sets up multiple protection measures. First, the outside of the robot body 1 is provided with a solid external shell 10 to protect the internal electronic elements and control module from the damage of external environment. The material of the external shell 10 is preferably high-strength alloy or composite material to ensure its impact resistance and durability.

[0039] Secondly, the battery pack and power management system are arranged inside the robot body 1. The battery pack provides continuous power supply for the robot, and the power management system is used to monitor the power and state of the battery pack and timely remind the operator to replace the battery when the power is insufficient. In addition, the power management system can also intelligently adjust the output power of the battery according to the working load and travel speed of the robot to prolong the service life of the battery.

[0040] Finally, the robot is also provided with a wireless communication module and a remote control device. The wireless communication module is used to realize real-time communication and data transmission between the robot and the operator. The remote control device is used to remotely control the travel and operation of the robot. Through the combination of the wireless communication module and the remote control device, the operator can real-time understand the working state and environmental information of the robot and accurately control and operate it.

[0041] In practical applications, the all-terrain advancing and sewer network intelligent detection robot provided by the utility model can be widely applied to detection and maintenance work in various sewer networks, underground pipelines and tunnels and other complex environments. By carrying high-definition cameras, laser radars and sonars and other sensor devices, the robot can realize comprehensive monitoring and analysis of the internal and surrounding environment of the pipeline. At the same time, through the cooperative work of the mechanical arm and the screw propulsion wheel and other moving parts, the robot can flexibly adapt to various complex terrains and obstacles, realizing efficient, accurate and safe detection tasks.

[0042] In specific operation, the operator can send the robot into the internal pipeline to be detected through the remote control device. Then, the internal pipeline is monitored and scanned in real time through the high-definition camera and laser radar and other devices. When encountering obstacles or complex terrains, the operator can bypass the obstacles or overcome the terrain restrictions by adjusting the advancing route and posture of the robot. At the same time, the operator can also detect the water accumulation and silt conditions in the internal pipeline through the sonar and other devices, and clean and maintain the pipeline as needed.

[0043] In the detection process, the robot can also accurately measure and analyze the defects in the internal pipeline as needed. Through the point cloud data collected by the laser radar, the three-dimensional image and model of the internal pipeline can be generated. Then, the three-dimensional image and model are processed and analyzed by using professional software, and the defect size and position information in the internal pipeline can be accurately measured. These information can provide important reference for subsequent maintenance and reconstruction work.

[0044] In addition, the all-terrain advancing and sewer network intelligent detection robot provided by the utility model can also be integrated and linked with other intelligent devices and systems. For example, the robot can be combined with cloud computing platforms, big data analysis systems, artificial intelligence algorithms and the like to realize intelligent monitoring and analysis of the internal and surrounding environment of the pipeline. Through intelligent means and methods, the efficiency and accuracy of the detection task can be further improved, and the labor intensity and risk of the operator can be reduced.

[0045] In summary, the all-terrain advancing and sewer network intelligent detection robot provided by the utility model has the advantages of simple structure, comprehensive function, strong adaptability and high intelligent degree. By carrying various sensor devices and moving parts, the robot can realize comprehensive, accurate and safe detection and maintenance of the pipeline in complex environments. At the same time, through the integration and linkage with other intelligent devices and systems, the efficiency and accuracy of the detection task can be further improved. Therefore, the utility model has broad application prospect and market value.

[0046] The above merely describes preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An all-terrain traveling and sewer network intelligent detection robot, characterized in that, Include: The robot body (1), the top of the robot body (1) is provided with a mechanical arm (2), the end of the mechanical arm (2) is provided with a laser radar (3), the front and back of the robot body (1) are connected by transmission assembly Screw propulsion wheel (8), the middle part of the screw propulsion wheel (8) is provided with a support rod (9), the upper end rack of the support rod (9) is matched with the gear (13) connected to the robot body (1), the screw propulsion wheel (8) is rotated by the motor arranged at both ends thereof to move forward, the screw propulsion wheel (8) moves vertically through the cooperation of the transmission assembly and the support rod (9); The bottom of the robot body (1) is provided with a telescopic support assembly (14), which makes the robot pass through the obstacle through telescopic support movement.

2. The all-terrain travelling and sewer network intelligent inspection robot according to claim 1, characterized in that, The telescopic support assembly (14) includes fixed blocks (141) symmetrically arranged at the bottom of the robot body (1), and a cross bar (142) is arranged between the two fixed blocks (141), and the cross bar (142) is provided with telescopic support legs (143).

3. The all-terrain travelling and sewer network intelligent inspection robot according to claim 1, wherein, The gear (13) includes two split gears symmetrically arranged, and the two split gears are respectively matched with the two sides of the upper end rack of the support rod (9).

4. The all-terrain travelling and sewer network intelligent inspection robot according to claim 1, wherein, The transmission assembly includes a driving motor (12) arranged inside the robot body (1), the output end of the driving motor (12) drives the transmission rod (11) fixed on the robot body (1) to rotate through the worm gear assembly, and the two ends of the transmission rod (11) are connected with the outer end of the screw propulsion wheel (8) through the arc-shaped rod (7).

5. The all-terrain travelling and sewer network intelligent inspection robot according to claim 1, wherein, The top of the robot body (1) is provided with a high-definition camera (4).

6. The all-terrain travelling and sewer network intelligent inspection robot according to claim 1, wherein, The front end of the robot body (1) is provided with a plurality of illuminating lamps (5).

7. The all-terrain travelling and sewer network intelligent inspection robot according to claim 1, wherein, The bottom of the robot body (1) is provided with a fixed support (15), and the fixed support (15) is provided with a sonar (6).

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