Underground pipeline hidden danger inspection robot
The underground pipeline hazard inspection robot, which combines a double-ring structure and a sound receiving module, solves the problems of visual recognition being affected by light and internal damage identification, and achieves efficient detection and stable movement of the internal structure of pipelines.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- HARBIN INST OF SURVEYING & MAPPING
- Filing Date
- 2025-06-30
- Publication Date
- 2026-05-15
AI Technical Summary
Existing underground pipeline inspection robots mainly rely on visual recognition, which is affected by ambient light and cannot effectively identify internal structural damage to pipelines, resulting in low inspection accuracy.
The underground pipeline hazard inspection robot adopts a double-ring structure, combining a sound receiving module and a detection module. It generates sound wave signals by striking the pipeline with a rubber hammer, which are collected by the sound receiving module. Combined with pipe wall guidance and auxiliary pipe climbing mechanism, it can adapt to different pipe diameters and uneven pipelines.
It improves the ability to identify internal pipeline damage, solves the problem of detection accuracy under the influence of light, and ensures stable movement of the equipment under different pipe diameters and pipeline conditions.
Smart Images
Figure CN224245750U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the technical field of pipeline inspection equipment, specifically a robot for inspecting hidden dangers in underground pipelines. Background Technology
[0002] Underground pipelines, including drainage, oil and gas, and cable ducts, are a core component of urban infrastructure and are constantly facing the risks of aging, corrosion, and deformation. Manual inspection suffers from low efficiency, numerous blind spots, and poor safety. Therefore, inspection robots designed specifically for underground pipeline inspection have emerged.
[0003] Existing underground pipeline inspection robots generally move along the pipeline, and the inspection method is mainly vision-based. They use camera modules installed on the robot to identify whether the pipeline is damaged or has leaks. However, the identification by the camera module alone cannot determine whether the internal structure of the pipeline is damaged. Furthermore, the camera module is affected by ambient light, which can cause changes in image clarity.
[0004] Therefore, there is an urgent need for a robot to inspect for hidden dangers in underground pipelines in order to solve the above problems. Utility Model Content
[0005] The purpose of this invention is to address the problem that existing underground pipeline inspection robots primarily rely on vision, resulting in images or videos whose clarity is affected by ambient light and which fail to identify internal structural damage. A brief overview of this invention is provided below to offer a basic understanding of certain aspects of it. It should be understood that this overview is not an exhaustive summary of the invention. It is not intended to identify key or essential parts of the invention, nor is it intended to limit its scope.
[0006] The technical solution of this utility model:
[0007] A robot for inspecting underground pipeline hazards includes a first ring body, a second ring body, a pipe wall guiding mechanism, an auxiliary pipe climbing mechanism, a detection module, and a sound receiving module. The first and second ring bodies are arranged around the pipeline to be inspected. Multiple connecting arms are provided between the first and second ring bodies, and each connecting arm is equipped with an auxiliary pipe climbing mechanism. The auxiliary pipe climbing mechanism contacts the pipeline to be inspected, causing the inspection robot to move along the pipeline. A pipe wall guiding mechanism is provided at the bottom of the second ring body. The pipe wall guiding mechanism retracts circumferentially along the pipeline to be inspected and connects with the pipeline. The first ring body is equipped with a detection module and a sound receiving module. The sound emitted by the detection module striking the pipeline to be inspected is collected by the sound receiving module.
[0008] Furthermore, multiple monitoring modules are evenly distributed around the upper circumference of the second ring.
[0009] Furthermore, the detection module includes a mounting base, a push rod, and a rubber hammer. The push rod is mounted on the upper surface of the first ring body through the mounting base, and the extension end of the push rod is connected to the rubber hammer. The rubber hammer intermittently hammers the pipeline to be inspected.
[0010] Furthermore, the pipe wall guiding mechanism includes a first guide block, a second guide block, a third guide block, and a locking rod. One end of the first guide block is movably connected to one end of the second guide block via a pin, and the other end of the first guide block is movably connected to the third guide block via a pin. The other end of the second guide block is movably connected to a locking rod via a pin, and the locking rod passes through the third guide block and is locked by a locking nut.
[0011] Furthermore, the auxiliary pipe-climbing mechanism includes a motor, a pipe-climbing track, a housing, a first connecting rod, a second connecting rod, a buffer conformal rod, and a slider. The motor is mounted on the housing, and the actuator of the motor drives the pipe-climbing track. The housing is connected to the connecting arm through the first and second connecting rods. A slider is provided on the connecting arm, and the slider is connected to the housing through the buffer conformal rod. A buffer spring is provided on the buffer conformal rod.
[0012] Furthermore, the first ring body and the second ring body have the same structure. The first ring body includes a first half ring and a second half ring. The first half ring and the second half ring are connected end to end and fixed at the connection point by bolts.
[0013] Furthermore, a carrier plate is installed on the first ring body and the second ring body respectively, the detection module and the sound receiving module are installed on the carrier plate on the first ring body, and the tube wall guiding mechanism is installed on the carrier plate on the second ring body.
[0014] This utility model has the following beneficial effects:
[0015] 1. The underground pipeline hazard inspection robot of this utility model adopts the combined use of a sound receiving module and a detection module, which can identify internal corrosion and cracks that cannot be observed by sight. The detection depth can reach 80% of the pipe wall thickness, which solves the problem of the detection accuracy of traditional pipeline inspection robots being affected by ambient light. The double ring structure of the first ring and the second ring can distribute the weight of the equipment and prevent the equipment from overturning due to excessive force on a single point.
[0016] 2. The underground pipeline hazard inspection robot of this utility model uses a push rod to drive a rubber hammer to reciprocate and strike the pipeline, ensuring the consistency of the sound wave signal and improving the detection effect.
[0017] 3. The underground pipeline hazard inspection robot of this utility model can be matched with pipe diameter range of DN200-DN600 through the cooperation of the pipe wall guiding mechanism and the auxiliary pipe climbing mechanism. The buffer conformal rod of the auxiliary pipe climbing mechanism can ensure that the climbing track always fits the pipe wall, adapting to and avoiding uneven underground pipelines. Attached Figure Description
[0018] Figure 1 This is an isometric drawing of a robot for inspecting potential underground pipeline hazards;
[0019] Figure 2 This is a schematic diagram of a robot for inspecting potential hazards in underground pipelines;
[0020] Figure 3 This is a schematic diagram of the auxiliary pipe-climbing mechanism;
[0021] Figure 4 This is a schematic diagram of the pipe wall guiding mechanism;
[0022] Figure 5 This is a schematic diagram of the detection module;
[0023] Figure 6 This is a schematic diagram of the first ring.
[0024] In the diagram: 1-Pipe to be inspected, 2-First ring, 3-Second ring, 4-Pipe wall guide mechanism, 5-Monitoring module, 6-Connecting arm, 7-Auxiliary pipe climbing mechanism, 8-Detection module, 9-Receiver module, 10-Bolt, 21-First half ring, 22-Second half ring, 23-Bearing plate, 41-First guide block, 42-Second guide block, 43-Third guide block, 44-Locking rod, 45-Locking nut, 46-Pin, 71-Motor, 72-Pipe climbing track, 73-Outer shell, 74-First connecting rod, 75-Second connecting rod, 76-Buffer conformal rod, 77-Buffer spring, 78-Slider, 81-Mounting base, 82-Push rod, 83-Rubber hammer. Detailed Implementation
[0025] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the present utility model. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the present utility model.
[0026] The connections mentioned in this utility model are divided into fixed connections and detachable connections. Fixed connections (i.e., non-detachable connections) include, but are not limited to, conventional fixed connection methods such as folded connections, riveted connections, adhesive connections, and welded connections. Detachable connections include, but are not limited to, conventional disassembly methods such as threaded connections, snap-fit connections, pin connections, and hinged connections. When a specific connection method is not explicitly defined, it is assumed that at least one existing connection method can always be found to achieve the function, and those skilled in the art can choose according to their needs. For example, a welded connection can be chosen for fixed connections, and a hinged connection can be chosen for detachable connections.
[0027] Example 1, combined with Figures 1-6 This embodiment describes an underground pipeline hazard inspection robot, comprising a first ring body 2, a second ring body 3, a pipe wall guiding mechanism 4, an auxiliary pipe climbing mechanism 7, a detection module 8, and a sound receiving module 9. The first ring body 2 and the second ring body 3 are arranged around the pipeline 1 to be inspected. Multiple connecting arms 6 are provided between the first ring body 2 and the second ring body 3. Each connecting arm 6 is provided with an auxiliary pipe climbing mechanism 7. The auxiliary pipe climbing mechanism 7 contacts the pipeline 1 to be inspected, causing the inspection robot to move along the pipeline 1. The bottom of the second ring body 3 is provided with a pipe wall guiding mechanism 4. The pipe wall guiding mechanism 4 retracts circumferentially along the pipeline 1 to be inspected and connects with the pipeline 1. The first ring body 2 is provided with a detection module 8 and a sound receiving module 9. The sound emitted by the detection module 8 striking the pipeline 1 to be inspected is collected by the sound receiving module 9.
[0028] During installation, the first half-ring 21 and the second half-ring 22 are first wrapped around the outside of the pipeline 1 to be inspected. The first half-ring 21 and the second half-ring 22 are connected and fixed by bolts 10 to form the first ring body 22 and the second ring body 3. Then, the second guide block 42 and the third guide block 43 on the pipe wall guide mechanism 4 are retracted towards the pipeline 1 to be inspected. The locking rod 44 on the second guide block 42 is passed through the third guide block 42 and locked by the locking nut 45 so that the first guide block 41, the second guide block 42 and the third guide block 43 hug the pipeline 1 to be inspected. The gap between the inner wall of the first guide block 41, the second guide block 42 and the third guide block 43 and the outer wall of the pipeline 1 to be inspected is less than 2mm.
[0029] A buffer conformal rod 76 is hinged to the slider 78 on each connecting arm 6. The other end of the buffer conformal rod 76 is connected to the outer shell 73. By adjusting the position of the slider 78 and the preload of the buffer spring 77 on the buffer conformal rod 76, the contact pressure between the climbing track 72 and the pipe wall can reach 50N±5N. The outer shell 7 is also hinged to the connecting arm 6 through the first connecting rod 74 and the second connecting rod 75 to ensure that the auxiliary climbing mechanism 7 has a good adaptability during the crawling movement along the pipeline 1 to be inspected. The inner part of the outer shell 73 is rotatably equipped with a drive wheel and a driven wheel. The climbing track 72 is connected between the drive wheel and the driven wheel. The actuator of the motor 71 drives the drive wheel to rotate through the bevel gear mechanism, and the driven wheel drives the climbing track 72 to drive the robot to move along the pipeline 1 to be inspected.
[0030] The upper surface of the second ring body 3 has three monitoring modules 5 arranged in a circular array. Each monitoring module 5 is an industrial camera with image acquisition and recording functions, specifically a FLIR Blackfly BFS-U3-50S5C-C. Each monitoring module 5 has a wide-angle lens, covering the circumferential field of view of the pipeline under inspection 1. The mounting base 81 of the detection module 8 is fixed to the upper surface of the first ring body 2. The cylinder end of the push rod 82 is mounted on the mounting base 81. The telescopic end of the push rod 82 is connected to a rubber hammer head 83. The push rod 82 extends once every 10 seconds, with a hammering force set to 20N. The sound wave signal generated by the rubber hammer head 83 striking the pipeline under inspection 1 is collected by the microphone module 9, which is a Bruel Kjaer 4957-A industrial microphone, collecting sound wave signals and abnormal voiceprint characteristics.
[0031] The first ring body 2 and the second ring body 3 are both composed of a first half ring 21 and a second half ring 22. The first half ring 21 and the second half ring 22 are connected end to end and fastened by bolts 10. The upper end face of the first ring body 2 and the lower end face of the second ring body 3 are equipped with a bearing plate 23. The surface area of the bearing plate 23 is larger than that of the first half ring 21 and the second half ring 22. The bearing plate 23 on the first ring body 2 is used to install the monitoring module 8 and the sound receiving module 9. The bearing plate 23 on the second ring body 3 is used to install the pipe wall guide mechanism 4.
[0032] The motor 71 of the auxiliary pipe-climbing mechanism 7 is started. Under the action of the motor 71, the pipe-climbing track 72 is driven to move along the pipe to be inspected 1, so that the robot moves at a speed of 0.1m / s. The detection module 8 periodically hammers the pipe to be inspected 1 and collects the sound wave signal through the sound receiving module 9. At the same time, the monitoring module 5 on the second ring body 3 collects the circumferential image on the pipe to be inspected 1 and inspects the outside of the pipe to be inspected 1.
[0033] This embodiment is merely an exemplary illustration of this application and does not limit its scope of protection. Those skilled in the art can make partial changes to it, as long as they do not exceed the spirit and essence of this application, they are all within the scope of protection of this application.
Claims
1. A robot for inspecting potential hazards in underground pipelines, characterized in that: The system includes a first ring body (2), a second ring body (3), a pipe wall guide mechanism (4), an auxiliary pipe climbing mechanism (7), a detection module (8), and a sound receiving module (9). The first ring body (2) and the second ring body (3) are arranged around the outside of the pipe to be inspected (1). Multiple connecting arms (6) are provided between the first ring body (2) and the second ring body (3). Each connecting arm (6) is provided with an auxiliary pipe climbing mechanism (7). The auxiliary pipe climbing mechanism (7) contacts the pipe to be inspected (1) and drives the inspection robot to move along the pipe to be inspected (1). The bottom of the second ring body (3) is provided with a pipe wall guide mechanism (4). The pipe wall guide mechanism (4) retracts circumferentially along the pipe to be inspected (1) and connects with the pipe to be inspected (1). The first ring body (2) is provided with a detection module (8) and a sound receiving module (9). The sound emitted by the detection module (8) hammering the pipe to be inspected (1) is collected by the sound receiving module (9).
2. The underground pipeline hazard inspection robot according to claim 1, characterized in that: Multiple monitoring modules (5) are evenly distributed around the upper end face of the second ring (3).
3. The underground pipeline hazard inspection robot according to claim 2, characterized in that: The detection module (8) includes a mounting base (81), a push rod (82) and a rubber hammer (83). The push rod (82) is mounted on the upper surface of the first ring body (2) through the mounting base (81). The extension end of the push rod (82) is connected to the rubber hammer (83), and the rubber hammer (83) intermittently hammers the pipeline (1) to be inspected.
4. The underground pipeline hazard inspection robot according to claim 1, characterized in that: The pipe wall guiding mechanism (4) includes a first guide block (41), a second guide block (42), a third guide block (43), and a locking rod (44). One end of the first guide block (41) is movably connected to one end of the second guide block (42) via a pin (46). The other end of the first guide block (41) is movably connected to the third guide block (43) via a pin (46). The other end of the second guide block (42) is movably connected to the locking rod (44) via a pin (46). The locking rod (44) passes through the third guide block (43) and is locked by a locking nut (45).
5. The underground pipeline hazard inspection robot according to claim 4, characterized in that: The auxiliary pipe climbing mechanism (7) includes a motor (71), a pipe climbing track (72), a housing (73), a first connecting rod (74), a second connecting rod (75), a buffer conformal rod (76), and a slider (78). The motor (71) is mounted on the housing (73). The actuator of the motor (71) drives the pipe climbing track (72) to drive. The housing (73) is connected to the connecting arm (6) through the first connecting rod (74) and the second connecting rod (75). A slider (78) is provided on the connecting arm (6). The slider (78) is connected to the housing (73) through the buffer conformal rod (76). A buffer spring (77) is provided on the buffer conformal rod (76).
6. A robot for inspecting hidden dangers in underground pipelines according to claim 3 or 5, characterized in that: The first ring body (2) has the same structure as the second ring body (3). The first ring body (2) includes a first half ring (21) and a second half ring (22). The first half ring (21) and the second half ring (22) are connected end to end, and the connection is fixed by bolts (10).
7. The underground pipeline hazard inspection robot according to claim 6, characterized in that: The first ring body (2) and the second ring body (3) are respectively equipped with a carrier plate (23), the detection module (8) and the sound receiving module (9) are installed on the carrier plate (23) on the first ring body (2), and the pipe wall guide mechanism (4) is installed on the carrier plate (23) of the second ring body (3).