Four-footed wading obstacle crossing robot and system for three-dimensional detection of pipeline

Abstract

The utility model provides a four-footed wading obstacle crossing robot for three-dimensional pipeline detection, which comprises a robot main body, a controller and a wireless communication module in physical line connection with the controller, and further comprises a three-dimensional laser radar sensor, a lighting device, a camera device and at least one electric propeller device, the three-dimensional laser radar sensor, the lighting device, the camera device and the electric propeller devices are all installed on the robot body, and the controller is in physical line connection with the three-dimensional laser radar sensor, the lighting device, the camera device and the electric propeller devices. The utility model further provides a four-footed wading obstacle-crossing robot system for three-dimensional detection of the pipeline. The four-footed wading obstacle-crossing robot system comprises any one of the four-footed wading obstacle-crossing robots for three-dimensional detection of the pipeline and communication master station equipment, according to the utility model, the measurement reliability of the pipeline three-dimensional detection robot in coping with the complex environment of the pipeline and the wading obstacle crossing ability in the pipeline are improved at the same time.

Description

TECHNICAL FIELD

[0001] The utility model relates to pipeline detection robot technical field, concretely relates to a four-foot wading robot for pipeline three-dimensional detection and system. BACKGROUND

[0002] The underground pipeline is laid on the underground for transmitting liquid, gas or other medium, and the rain and sewage pipeline is an important kind of underground pipeline, and its accurate coordinate position and operation safety are very important, and the current commonly used detection methods have CCTV detection means (the core principle of the CCTV detection means is that the robot carries a camera to carry out image acquisition and transmit data in real time), QV detection means (the core principle of the QV detection means is that the periscope is used to cooperate with the camera to carry out pipeline detection), etc., wherein the CCTV detection means is mainly used, the detection means can record and save the internal image video of the detected object, but cannot accurately position and obtain the complete underground pipeline position information, and if the water accumulation, excessive silt, steep slope and special complex structure pipeline are encountered, the limitations of the CCTV detection means and the QV detection means are highlighted; the effective distance of the QV detection means is limited, the robot cannot smoothly pass through the pipeline through the CCTV detection means, so that the detection of the whole pipeline system cannot be completed.

[0003] When facing the complex pipeline environment and high-standard pipeline measurement requirements, the existing pipeline detection robot is prone to have the defects of obstacle crossing difficulty, measurement interference by the environment and ineffective feedback when measuring. UTILITY MODEL CONTENTS

[0004] Therefore, it is necessary to propose a four-foot wading robot for pipeline three-dimensional detection and system to overcome the shortcomings in the background art and solve the technical problem of how to improve the measurement reliability of the pipeline three-dimensional detection robot in the complex pipeline environment and the wading obstacle ability in the pipeline.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical solutions:

[0006] The utility model provides a four foot wading robot for pipeline three-dimensional detection is used for carrying out three-dimensional detection to pipeline, this four foot wading robot includes robot main body, controller and with the wireless communication module of controller physical line connection, wireless communication module is used for with the communication of pipeline outside one communication host equipment carries out the communication, and the robot main body is the electric drive four foot walking machine that is equipped with four walking leg joint mechanism, this four foot wading robot still includes three-dimensional laser radar sensor, lighting device, camera device and at least one electric propeller device, three-dimensional laser radar sensor, lighting device, camera device and each electric propeller device all are installed on the electric drive four foot walking machine, and the controller respectively with three-dimensional laser radar sensor, lighting device, camera device, each electric propeller device carries out physical line connection,

[0007] Three-dimensional laser radar sensor is used for obtaining the three-dimensional point cloud model of pipeline,

[0008] Lighting device is used for illuminating pipeline,

[0009] Camera device is used for video shooting to pipeline,

[0010] Electric propeller device is used for making electric drive four foot walking machine in the pipeline filled with liquid carries out navigation propulsion.

[0011] Further, the four foot wading robot further comprises:

[0012] Gyroscope sensor, which is physically connected to the controller, is used for detecting the attitude of the electric drive four foot walking machine.

[0013] Accelerometer sensor, which is physically connected to the controller, is used for detecting the motion acceleration of the electric drive four foot walking machine.

[0014] Further, the four foot wading robot further comprises:

[0015] Tracing probe, which is physically connected to the controller, is used for emitting electromagnetic wave signals.

[0016] Further, the electric propeller device comprises a propeller, a driving motor and a motor driving module. The propeller is axially connected to the driving motor. The driving motor is electrically connected to the motor driving module. The motor driving module is physically connected to the controller.

[0017] Further, each electric propeller device is installed on the tail of the electric drive four foot walking machine.

[0018] Further, the number of the electric propeller devices installed on the tail of the electrically-driven four-legged walking machine is two; the two electric propeller devices are respectively located on the left and right sides of the tail of the electrically-driven four-legged walking machine, so as to facilitate the left and right steering of the electrically-driven four-legged walking machine in water.

[0019] Further, the three-dimensional laser radar sensor, the lighting device and the camera device are all installed on the top of the electrically-driven four-legged walking machine; the installation height of the electric propeller device is lower than the installation height of the three-dimensional laser radar sensor, the lighting device and the camera device.

[0020] Further, the tracer probe is installed on the top of the electrically-driven four-legged walking machine; the installation height of the electric propeller device is lower than the installation height of the tracer probe.

[0021] Further, the electrically-driven four-legged walking machine is provided with a sealed cavity or a combination of sealed cavities for floating the electrically-driven four-legged walking machine on the water in the pipeline.

[0022] The utility model also provides a four-legged water-crossing and obstacle-surmounting robot system for pipeline three-dimensional detection, which comprises:

[0023] The four-legged water-crossing and obstacle-surmounting robot for pipeline three-dimensional detection according to any one of the above;

[0024] The communication master station device is a remote controller; the remote controller is provided with a mode switching button; the mode switching button is used for switching the four-legged water-crossing and obstacle-surmounting robot to operate in a land walking mode or a water navigation mode.

[0025] The utility model has the advantages of:

[0026] The utility model also improves the measurement reliability of the pipeline three-dimensional detection robot in complex pipeline environments and the water-crossing and obstacle-surmounting capability in the pipeline; compared with the traditional CCTV detection method, the utility model has stronger obstacle-surmounting capability and will not cause the problems of wheel jamming or skidding, so that the device cannot move forward; the device can also move forward in various complex environments and can also move forward in water in the pipeline, realizes amphibiousness, and can obtain complete pipeline detection data. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 Fig. 2 is a structure schematic view of a right visual direction of the four-legged water-crossing and obstacle-surmounting robot for pipeline three-dimensional detection according to the utility model;

[0028] Figure 2 Fig. 3 is a three-dimensional structure schematic view of the four-legged water-crossing and obstacle-surmounting robot for pipeline three-dimensional detection according to the utility model;

[0029] Figure 3The utility model relates to a kind of four-foot wading robot for pipeline three-dimensional detection when the stereoscopic structure schematic diagram of pipeline;

[0030] Figure 4 The utility model relates to a kind of four-foot wading robot for pipeline three-dimensional detection the stereoscopic structure schematic diagram of remote controller of its system;

[0031] Mark explanation:

[0032] Electric four-foot walking machine 100;Walking leg joint mechanism 10;Three-dimensional laser radar sensor 1;Lighting device 2;Camera device 3;Electric propeller device 4;Tracing probe 5;Remote controller 200;Mode switching button 20;Pipeline 300. Specific embodiment

[0033] To make the purpose, technical scheme and advantage of the utility model more clear, the technical scheme of the utility model will be further clearly and completely described below in conjunction with the utility model embodiment.It needs to be explained that the described embodiment is only a part of the embodiment of the utility model, not all the embodiment.Based on the embodiment in the utility model, all other embodiments obtained by the person skilled in the art without making creative labor belong to the scope of the utility model protection.

[0034] It needs to be understood that the orientation or position relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right" etc.is based on the orientation or position relationship shown in the drawing, only for the convenience of describing the utility model and simplifying the description, and not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, so it cannot be understood as the limitation of the utility model.

[0035] The terms "first", "second", "third", "fourth" etc.are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features.Thus, the "first", "second", "third", "fourth" features can explicitly or implicitly include one or more features.

[0036] Embodiment

[0037] As Figures 1-4 shown:

[0038] The embodiment provides a four-legged wading and obstacle-crossing robot for pipeline three-dimensional detection, which is used for three-dimensional detection of a pipeline 300, and comprises a robot main body, a controller and a wireless communication module in physical circuit connection with the controller, the wireless communication module is used for communication with a communication master station device outside the pipeline 300, the robot main body is an electrically-driven four-legged walking machine 100 provided with four walking leg joint mechanisms 10, and the four-legged wading and obstacle-crossing robot further comprises a three-dimensional laser radar sensor 1, an illuminating device 2, a camera device 3 and at least one electric screw propeller device 4; the three-dimensional laser radar sensor 1, the illuminating device 2, the camera device 3 and each electric screw propeller device 4 are all mounted on the electrically-driven four-legged walking machine 100, and the controller is in physical circuit connection with the three-dimensional laser radar sensor 1, the illuminating device 2, the camera device 3 and each electric screw propeller device 4 respectively.

[0039] The three-dimensional laser radar sensor 1 is used for acquiring a three-dimensional point cloud model of the pipeline 300.

[0040] The illuminating device 2 is used for illuminating the pipeline 300.

[0041] The camera device 3 is used for video shooting of the pipeline 300.

[0042] The electric screw propeller device 4 is used for propelling the electrically-driven four-legged walking machine 100 to navigate in the pipeline 300 filled with liquid.

[0043] Optimally, the four-legged wading and obstacle-crossing robot further comprises:

[0044] A gyroscope sensor in physical circuit connection with the controller and used for detecting the posture of the electrically-driven four-legged walking machine 100.

[0045] An accelerator sensor in physical circuit connection with the controller and used for detecting the motion acceleration of the electrically-driven four-legged walking machine 100.

[0046] Optimally, the four-legged wading and obstacle-crossing robot further comprises:

[0047] A tracer probe 5 in physical circuit connection with the controller and used for emitting electromagnetic wave signals.

[0048] Optimally, the electric screw propeller device 4 comprises a screw propeller, a driving motor and a motor driving module.

[0049] The screw propeller is in shaft connection with the driving motor, and the driving motor is in electrical connection with the motor driving module.

[0050] The motor driving module is in physical circuit connection with the controller.

[0051] Optimally, each electric propeller device 4 is installed on the tail of the electrically-driven quadruped walking machine 100.

[0052] Optimally, the number of electric propeller devices 4 installed on the tail of the electrically-driven quadruped walking machine 100 is two; the two electric propeller devices 4 are respectively located on the left and right sides of the tail of the electrically-driven quadruped walking machine 100, so as to facilitate the left and right steering of the electrically-driven quadruped walking machine 100 when wading.

[0053] Optimally, the three-dimensional laser radar sensor 1, the lighting device 2, and the camera device 3 are all installed on the top of the electrically-driven quadruped walking machine 100; the installation height of the electric propeller device 4 is lower than that of the three-dimensional laser radar sensor 1, the lighting device 2, and the camera device 3.

[0054] Optimally, the tracer probe 5 is installed on the top of the electrically-driven quadruped walking machine 100; the installation height of the electric propeller device 4 is lower than that of the tracer probe 5.

[0055] Optimally, the electrically-driven quadruped walking machine 100 is provided with a sealed cavity or a combination of sealed cavities for floating the electrically-driven quadruped walking machine 100 on the water in the pipeline 300.

[0056] Specifically, a plurality of servo motors are connected to the walking leg joint mechanism 10 to give the walking leg joint mechanism 10 driving force, thereby driving the electrically-driven quadruped walking machine 100 to move forward and backward and turn.

[0057] Specifically, the three-dimensional laser radar sensor 1 collects three-dimensional point cloud through 360-degree rotation, and collects massive point cloud data of the pipeline 300 through rotation of the three-dimensional laser radar sensor 1; one set of strip point cloud data can be collected in one rotation, and as the whole machine continuously advances to the deep part of the pipeline 300, point cloud collection of the whole pipeline 300 is completed; a pipeline three-dimensional point cloud model can be generated through laser point cloud filtering and resampling in the industry.

[0058] Specifically, the gyroscope sensor and the accelerometer sensor are two parts of an inertial navigation measurement system, which can measure three-dimensional attitude and acceleration; when the whole machine is in motion, the attitude and motion speed will change constantly, and after fusion of the inertial navigation data and the laser point cloud data, high-precision point cloud model data can be obtained.

[0059] Specifically, the camera device 3 can record videos and take photos, and can record video data and obtain characteristic photos of the detected pipeline; the camera device 3 can be operated by sending instructions through a remote controller workstation.

[0060] Specifically, the mechanical limbs of the electrically-driven quadruped walking machine 100, i.e., the four walking leg joint mechanisms 10, have strong obstacle climbing function, and can easily move forward not only on flat ground but also in mud or on steep slopes, pipe mispositioning and other obstacles.

[0061] Specifically, after switching modes, the walking leg joint mechanism 10 will automatically retract to reduce the resistance of water wading and sailing.

[0062] Specifically, the wireless communication module corresponds to the remote controller 200 for communication, and the wireless communication module is a WiFi or Bluetooth module.

[0063] Specifically, the tracking probe 5 can autonomously emit electromagnetic signals, and a receiver on the ground receives electromagnetic induction signals to obtain the burial depth and positioning data of the pipeline 300.

[0064] The quadruped water wading and obstacle climbing robot for pipeline three-dimensional detection of the embodiment overcomes the problems of unstable positioning of the pipeline detection robot in rain and sewage pipes and the problem of being easily disturbed by the environment; can accurately obtain the coordinate position and three-dimensional point cloud model of the rain and sewage pipes, and can also overcome the technical difficulties of poor obstacle climbing ability of the traditional CCTV detection method and the inability to completely detect the pipeline, thereby providing a reliable mechanical and electrical hardware foundation for safe detection of underground pipelines and providing protection for obtaining complete three-dimensional coordinate information of the pipeline and construction safety for the pipeline detection project.

[0065] The quadruped water wading and obstacle climbing robot for pipeline three-dimensional detection of the embodiment has three-dimensional laser point cloud collection function, inertial navigation measurement function and video recording function, can integrally complete the collection of accurate positioning data and recording of videos, and solves the problem that the traditional CCTV detection method cannot be positioned; by increasing the tracking probe, the detection data of the pipeline can also be obtained on the ground, the error and error of pipeline detection are reduced, and accurate positioning data are more likely to be obtained.

[0066] The embodiment further proposes a quadruped water wading and obstacle climbing robot system for pipeline three-dimensional detection, which comprises:

[0067] The quadruped water wading and obstacle climbing robot for pipeline three-dimensional detection as claimed in any one of the above;

[0068] The communication master station device is the remote controller 200; the remote controller 200 is provided with a mode switching button 20; the mode switching button 20 is used to switch the control of the quadruped water wading and obstacle climbing robot to the land walking mode or the water wading and sailing mode.

[0069] The above-described embodiments only express several implementation manners of the present application, the description is relatively specific and detailed, but cannot be understood as the limitation of the scope of the present application patent. It should be pointed out that, for ordinary skilled persons in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the present application patent should be subject to the appended claims.

Claims

1. A four-legged wading and obstacle-crossing robot for three-dimensional detection of a pipeline, for performing three-dimensional detection on a pipeline (300), the four-legged wading and obstacle-crossing robot comprising a robot main body, a controller, and a wireless communication module in physical connection with the controller, the wireless communication module being configured to communicate with a communication master station device outside the pipeline (300), characterized in that, The robot body is an electrically-driven four-legged walking machine (100) provided with four walking leg joint mechanisms (10). The four-legged water-crossing robot further comprises a three-dimensional laser radar sensor (1), an illuminating device (2), a camera device (3), and at least one electric propeller device (4). The three-dimensional laser radar sensor (1), the illuminating device (2), the camera device (3), and each electric propeller device (4) are installed on the electrically-driven four-legged walking machine (100), and a controller is physically connected with the three-dimensional laser radar sensor (1), the illuminating device (2), the camera device (3), and each electric propeller device (4) respectively. The three-dimensional laser radar sensor (1) is used to obtain a three-dimensional point cloud model of the pipeline (300). The illuminating device (2) is used to illuminate the pipeline (300). The camera device (3) is used to take a video of the pipeline (300). The electric propeller device (4) is used to make the electrically-driven four-legged walking machine (100) navigate and propel in the pipeline (300) filled with liquid.

2. The four-legged wading and obstacle crossing robot for three-dimensional detection of pipelines according to claim 1, characterized in that, The four-legged water-crossing robot further comprises: A gyroscope sensor, which is physically connected with the controller and used to detect the posture of the electrically-driven four-legged walking machine (100). An accelerator sensor, which is physically connected with the controller and used to detect the motion acceleration of the electrically-driven four-legged walking machine (100).

3. The four-legged wading and obstacle crossing robot for three-dimensional detection of pipelines according to claim 1, characterized in that, The four-legged water-crossing robot further comprises: A tracer probe (5), which is physically connected with the controller and used to emit electromagnetic wave signals.

4. The four-legged wading and obstacle crossing robot for three-dimensional detection of pipelines according to claim 1, characterized in that, The electric propeller device (4) comprises a propeller, a driving motor, and a motor driving module. The propeller is axially connected with the driving motor. The driving motor is electrically connected with the motor driving module. The motor driving module is physically connected with the controller.

5. The four-legged wading and obstacle crossing robot for three-dimensional detection of pipelines according to claim 1, characterized in that, Each electric propeller device (4) is installed on the tail of the electrically-driven four-legged walking machine (100).

6. The four-legged wading and obstacle crossing robot for three-dimensional detection of pipelines according to claim 5, characterized in that, The number of the electric propeller devices (4) installed on the tail of the electrically-driven four-legged walking machine (100) is two. The two electric propeller devices (4) are respectively located on the left and right sides of the tail of the electrically-driven four-legged walking machine (100), thereby facilitating the adjustment of the left and right steering of the electrically-driven four-legged walking machine (100) during water navigation.

7. The four-legged wading and obstacle crossing robot for three-dimensional detection of pipelines according to any one of claims 1-6, characterized in that, The three-dimensional laser radar sensor (1), the illuminating device (2), and the camera device (3) are all installed on the top of the electrically-driven four-legged walking machine (100). The installation height of the electric propeller device (4) is lower than that of the three-dimensional laser radar sensor (1), the illuminating device (2), and the camera device (3).

8. The four-legged wading and obstacle crossing robot for three-dimensional detection of pipelines according to claim 3, characterized in that, The tracer probe (5) is installed on the top of the electrically-driven four-legged walking machine (100). The installation height of the electric propeller device (4) is lower than that of the tracer probe (5).

9. The four-legged wading and obstacle crossing robot for three-dimensional detection of pipelines according to any one of claims 1-6, characterized in that, The electrically-driven four-legged walking machine (100) is provided with a sealed cavity or a combination of sealed cavities to make the electrically-driven four-legged walking machine (100) float on the water in the pipeline.

10. A quadruped wading and obstacle crossing robot system for three-dimensional inspection of a pipeline, characterized by The four-legged water-crossing robot for three-dimensional detection of a pipeline according to any one of claims 1-9. ​ The application discloses a communication master station device, and the communication master station device is a remote controller (200); the remote controller (200) is provided with a mode switching button (20); the mode switching button (20) is used for switching the land walking mode or the water wading mode of a four-legged water wading obstacle-crossing robot.

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