A mobile buried inspection manhole positioning apparatus

Abstract

The utility model discloses a mobile buried inspection well positioning equipment, including movable robot, its equipped with tire type mobile mechanism, and movable robot carries high definition camera, through movable robot's radio frequency signal transmitter and ground handheld receiving terminal form detection closed loop, cooperate the environmental observation function of high definition camera, can effectively penetrate thick layer fill, concrete, asphalt and so on various kinds of covering layer, through setting the pitch angle adjusting mechanism, can be flexibly adjusted to radio frequency signal transmitter and the pitch angle of high definition camera, solved the traditional equipment detection angle fixed, difficult to adapt to the problem of different covering layer thickness, in addition, the combination design of holder mechanism and adjustable support makes radio frequency signal transmitter and high definition camera can carry out fine adjustment on horizontal direction and space attitude, provides visual reference for the check and analysis of subsequent positioning result, further improves the reliability of positioning.

Description

Technical Field

[0001] This utility model relates to the field of municipal facility inspection technology, specifically a mobile positioning device for buried inspection wells. Background Technology

[0002] As a key node in the underground pipeline system of municipal engineering, inspection wells play an important role in pipeline inspection, maintenance and fault diagnosis. Accurate identification of their location is a prerequisite for ensuring the efficient operation and maintenance of underground infrastructure. In the long-term use, due to factors such as urban construction activities (such as road paving and greening backfilling), pipeline relocation and changes in the natural environment, a large number of inspection wells are buried by the overburden layer, making their location difficult to identify, which greatly hinders the daily inspection and emergency repair of underground pipelines.

[0003] Currently, the industry's positioning technology for buried manholes mainly relies on electromagnetic devices and metal detectors. These devices primarily locate manholes by identifying metal manhole covers. However, for the increasingly common polymer composite manhole covers, their detection signals are significantly attenuated, leading to positioning failure. At the same time, their ability to penetrate covering layers is limited, and they are ineffective in scenarios such as thick fill or concrete covering. Therefore, we need to propose a mobile positioning device for buried manholes. Utility Model Content

[0004] The purpose of this utility model is to provide a mobile positioning device for buried manholes. By setting up a mobile robot equipped with a tire-type moving mechanism, as well as a pitch angle adjustment mechanism, a gimbal mechanism, and an adjustable bracket that can adjust the radio frequency signal transmitter and high-definition camera, it achieves the effects of improving the flexibility of mobile operation, breaking through the limitation of detection angle, realizing multi-dimensional detection and adjustment, and adapting to non-metallic manhole cover scenarios. It provides an efficient and reliable technical solution for the accurate positioning of buried manholes, thereby solving the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A mobile device for locating buried inspection wells includes: a mobile robot equipped with a tire-type movement mechanism, and the mobile robot is equipped with a high-definition camera;

[0007] The radio frequency signal transmitter is located on the top of the mobile robot, and the top of the mobile robot is equipped with a pitch adjustment mechanism that can adjust the radio frequency signal transmitter and the high-definition camera.

[0008] The gimbal mechanism is located at the movable end of the pitch angle adjustment mechanism, and the radio frequency signal transmitter is fixedly installed on the top of the gimbal mechanism. The high-definition camera is installed at the movable end of the gimbal mechanism via an adjustable bracket.

[0009] Preferably, the pitch angle adjustment mechanism includes two sets of columns, both sets of columns are fixedly connected to two sets of side walls of the mobile robot, a rotating rod is rotatably installed between the two sets of columns, a half gear is fixedly connected to the outer wall of the rotating rod, an adjustment plate is fixedly connected to the top of the half gear, and a power component that cooperates with the half gear to rotate the adjustment plate is provided on the top of the mobile robot.

[0010] Preferably, the power assembly includes an electric push rod, which is fixedly connected to the top of the mobile robot. A protrusion is fixedly connected to one end of the telescopic end of the electric push rod. A guide rail is fixedly connected to the top of the mobile robot. A slider is slidably connected to the top of the guide rail. One side of the slider is fixedly connected to the protrusion.

[0011] Preferably, the adjustment plate serves as the movable end of the pitch angle adjustment mechanism, and the gimbal mechanism is fixedly installed on the top of the adjustment plate.

[0012] Preferably, a turntable is rotatably connected to one side of the gimbal mechanism, the turntable serving as the movable end of the gimbal mechanism, and the adjustable bracket is fixedly connected to one side wall of the turntable.

[0013] Preferably, it also includes a wired control unit, which is fixedly installed on one side wall of the mobile robot.

[0014] Preferably, the mobile robot, high-definition camera, radio frequency signal transmitter, pitch angle adjustment mechanism, adjustable bracket and gimbal mechanism are all electrically connected to the wired control unit via wires. The wired control unit synchronously transmits control commands and video signals via cables, and the cables have built-in length measuring modules.

[0015] Preferably, it also includes a handheld receiving terminal with a signal strength detection module, a buzzer prompt function, and a built-in GPS module.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] This invention utilizes a mobile robot-mounted radio frequency (RF) signal transmitter and a ground-based handheld receiver to form a closed-loop detection system. Combined with the environmental observation capabilities of a high-definition camera, it can effectively penetrate various overburden layers such as thick fill, concrete, and asphalt. By incorporating a pitch angle adjustment mechanism, the pitch angles of the RF signal transmitter and the high-definition camera can be flexibly adjusted, solving the problem of fixed detection angles and difficulty in adapting to different overburden thicknesses in traditional equipment. When facing thick overburden, increasing the pitch angle allows the RF signal to more accurately target underground areas; while in shallow overburden scenarios, decreasing the pitch angle expands the detection range. This, combined with the high-definition camera, enables coordinated observation of the ground environment and underground signals. Furthermore, the combination of a gimbal mechanism and an adjustable support allows for precise adjustment of the RF signal transmitter and the high-definition camera in both horizontal and spatial orientation, providing a visual reference for subsequent positioning result verification and analysis, further enhancing the reliability of the positioning. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the wired control unit of this utility model;

[0020] Figure 3 This is a schematic diagram of the pitch angle adjustment mechanism of this utility model.

[0021] In the diagram: 1. Mobile robot; 2. Tire-type movement mechanism; 3. High-definition camera; 4. Radio frequency signal transmitter; 5. Pitch angle adjustment mechanism; 501. Column; 502. Rotating rod; 503. Half gear; 504. Adjustment plate; 505. Power component; 5051. Electric push rod; 5052. Protrusion; 5053. Guide rail; 5054. Slider; 6. Gimbal mechanism; 61. Turntable; 7. Adjustable bracket; 8. Wired control unit. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] Please see Figure 1-3 This utility model provides a technical solution:

[0024] A mobile positioning device for buried inspection wells includes: a mobile robot 1, which serves as the core mobile carrier of the device. The robot 1 is equipped with a tire-type moving mechanism 2 made of non-slip rubber, capable of adapting to uneven surfaces and water accumulation within pipelines, ensuring stable movement in complex pipelines. Simultaneously, the mobile robot 1 is equipped with a high-definition camera 3 with night vision capabilities, capable of clearly capturing images of the pipeline's interior. By incorporating the tire-type moving mechanism 2 and the high-definition camera 3, the robot achieves flexible movement within complex pipelines and transmits clear environmental images in real time, facilitating operators' decision on whether to enter the buried inspection well chamber.

[0025] The radio frequency (RF) signal transmitter 4 is fixed to the top of the mobile robot 1 and can emit multiple frequency signals such as UWB and low-frequency electromagnetic waves to adapt to manhole covers with different burial depths. The pitch angle adjustment mechanism 5 on the top of the mobile robot 1 adjusts the pitch angle of the RF signal transmitter 4 and the high-definition camera 3 through mechanical transmission, ensuring that the angle of signal transmission and image capture is adapted in different scenarios. By setting up a multi-frequency RF signal transmitter 4 and a pitch angle adjustment mechanism 5, the signal transmission angle and frequency can be flexibly adjusted according to the burial depth of the manhole cover and the pipeline environment, ensuring that the signal can effectively penetrate the covering layer.

[0026] The pan-tilt mechanism 6 is installed at the movable end of the pitch adjustment mechanism 5. Its bottom is fixedly connected to the adjustment plate 504, and the top is fixed to the radio frequency signal transmitter 4, which can drive the transmitter to achieve 360° horizontal rotation. The high-definition camera 3 is installed at the movable end of the pan-tilt mechanism 6 via an adjustable bracket 7, which can extend and retract to adjust the height and horizontal angle of the camera. By setting up the pan-tilt mechanism 6 and the adjustable bracket 7, the radio frequency signal transmitter 4 can transmit signals from multiple angles, and the high-definition camera 3 can capture the well environment from all directions, improving the signal coverage and the comprehensiveness of image acquisition.

[0027] Two sets of columns 501 of the pitch angle adjustment mechanism 5 are symmetrically distributed on both sides of the mobile robot 1. The rotating rod 502 passes through the rotation hole of the column 501, and its two ends are connected to the column 501 through bearings to ensure smooth rotation. The half gear 503 on the outer wall of the rotating rod 502 meshes with the power component 505, and the adjustment plate 504 on the top of the half gear 503 serves as a platform to support the gimbal mechanism 6. By setting up the combination structure of the columns 501, rotating rod 502 and half gear 503, the pitch angle adjustment mechanism 5 stably supports the gimbal mechanism 6, and achieves the effect of precise angle adjustment through gear transmission, adapting to the elevation angle requirements of signal transmission at different burial depths.

[0028] The power assembly 505 includes an electric push rod 5051, which is fixedly connected to the top of the mobile robot 1. A protrusion 5052 is fixedly connected to one end of the telescopic end of the electric push rod 5051. A guide rail 5053 is fixedly connected to the top of the mobile robot 1, and a slider 5054 is slidably connected to the top of the guide rail 5053. One side of the slider 5054 is fixedly connected to the protrusion 5052. In the power assembly 505, the telescopic stroke of the electric push rod 5051 matches the teeth of the half-gear 503. The protrusion 5052 at its telescopic end meshes with the tooth groove of the half-gear 503, driving the half-gear 503 to rotate. The guide rail 5053 on the top of the mobile robot 1 slides in cooperation with the slider 5054, and the slider 5054 moves synchronously with the electric push rod 5051, restricting the movement trajectory of the protrusion 5052. By setting guide rail 5053 and slider 5054, the stability of the electric push rod 5051 driving the half gear 503 to rotate is ensured, avoiding pitch angle adjustment error caused by force deviation, and improving the accuracy of angle adjustment.

[0029] The adjustment plate 504 serves as the movable end of the pitch angle adjustment mechanism 5, and the gimbal mechanism 6 is fixedly installed on the top of the adjustment plate 504. The top surface of the adjustment plate 504 is flat and is fixed to the bottom of the gimbal mechanism 6 by bolts. It can achieve 0-90° pitch angle adjustment as the half gear 503 rotates. When the adjustment plate 504 is in the horizontal state, the radio frequency signal transmitter 4 is parallel to the pipeline axis. When adjusted to the vertical state, the transmitter transmits signals vertically upward.

[0030] A turntable 61 is rotatably connected to one side of the gimbal mechanism 6, serving as the movable end of the gimbal mechanism 6. An adjustable bracket 7 is fixedly connected to one side wall of the turntable 61. The turntable 61 of the gimbal mechanism 6 is driven by a stepper motor, enabling continuous rotation from 0 to 360°. The high-definition camera 3 is connected to the turntable 61 via the adjustable bracket 7. The folding structure of the adjustable bracket 7 allows for adjustment of the camera's shooting tilt angle, enabling it to capture both the road conditions in front of the pipeline and the structure above the manhole. By setting up the turntable 61 and the adjustable bracket 7, the high-definition camera 3 achieves the effect of capturing details of the manhole environment from all directions, facilitating operators to confirm whether the robot is located in the center of the manhole and providing visual basis for the precise positioning of the signal transmission point.

[0031] It also includes a wired control unit 8, which is fixedly installed on one side wall of the mobile robot 1. The wired control unit 8 is connected to the mobile robot 1 via a waterproof cable, which contains a power cable, a control signal cable, and a video transmission cable to ensure synchronous transmission of control commands and image signals. The cable's built-in length measuring module records the cable's extended length in real time using a roller counting principle, with an accuracy of ±1cm. By setting up the wired control unit 8 and the cable with the length measuring module, stable transmission of control signals and video images is achieved, providing data support for estimating the robot's position within the pipeline and improving the reliability of positioning.

[0032] The mobile robot 1, high-definition camera 3, radio frequency signal transmitter 4, pitch angle adjustment mechanism 5, adjustable bracket 7, and gimbal mechanism 6 are all electrically connected to the wired control unit 8 via wires. The wired control unit 8 transmits control commands and video signals synchronously via cables, and the cables have built-in length measuring modules.

[0033] It also includes a handheld receiver terminal with a signal strength detection module, a buzzer prompt function, and a built-in GPS module. The handheld receiver terminal's display screen can show the signal strength curve in real time, and the buzzer sounds an alert when the signal strength reaches a threshold. The built-in GPS module has a positioning accuracy of ±0.5m and can work in conjunction with the signal peak value emitted by the robot to lock the coordinates of the manhole cover. By setting up the signal detection module, buzzer prompt function, and GPS module in the handheld receiver terminal, ground personnel can quickly locate the manhole cover, and the GPS-assisted positioning improves the accuracy to ±0.2m, significantly improving positioning efficiency.

[0034] Working principle: The device uses a mobile robot 1 to enter the pipeline from an adjacent visible manhole. A tire-type mobile mechanism 2 drives the robot to move along the pipeline. A high-definition camera 3 transmits real-time images of the pipeline interior. The operator uses a wired control unit 8 to determine whether the robot has entered the manhole chamber of the buried inspection well. After confirmation, the electric push rod 5051 of the power component 505 drives the half gear 503 to rotate, and the adjustment plate 504 drives the gimbal mechanism 6 to adjust the pitch angle, making the radio frequency signal transmitter 4 vertically upward. At the same time, the turntable 61 of the gimbal mechanism 6 drives the high-definition camera 3 to rotate, confirming that the transmitter is located in the center of the manhole chamber. The radio frequency signal transmitter 4 emits a pulse signal, and the ground personnel use a handheld receiving terminal to scan along the gridded path. The location of the manhole cover is locked by combining the signal strength peak with GPS positioning. The cable length measurement module assists in calculating the robot's position, and the signal attenuation gradient is verified in reverse to further optimize the accuracy, ultimately achieving precise positioning of the buried inspection well.

[0035] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A mobile device for locating buried inspection wells, characterized in that, include: A mobile robot (1) equipped with a tire-type mobility mechanism (2) and the mobile robot (1) is equipped with a high-definition camera (3); A radio frequency signal transmitter (4) is installed on the top of the mobile robot (1), and the top of the mobile robot (1) is provided with a pitch angle adjustment mechanism (5) that can adjust the radio frequency signal transmitter (4) and the high-definition camera (3). The gimbal mechanism (6) is located at the movable end of the pitch angle adjustment mechanism (5), and the radio frequency signal transmitter (4) is fixedly installed on the top of the gimbal mechanism (6). The high-definition camera (3) is installed on the movable end of the gimbal mechanism (6) through an adjustable bracket (7).

2. The mobile buried inspection well positioning device according to claim 1, characterized in that: The pitch angle adjustment mechanism (5) includes two sets of columns (501), both sets of columns (501) are fixedly connected to two sets of side walls of the mobile robot (1), a rotating rod (502) is rotatably installed between the two sets of columns (501), a half gear (503) is fixedly connected to the outer wall of the rotating rod (502), an adjustment plate (504) is fixedly connected to the top of the half gear (503), and a power component (505) is provided on the top of the mobile robot (1) to rotate the adjustment plate (504) in cooperation with the half gear (503).

3. The mobile buried inspection well positioning device according to claim 2, characterized in that: The power assembly (505) includes an electric push rod (5051), which is fixedly connected to the top of the mobile robot (1). One end of the telescopic end of the electric push rod (5051) is fixedly connected to a protrusion (5052). The top of the mobile robot (1) is fixedly connected to a guide rail (5053), and a slider (5054) is slidably connected to the top of the guide rail (5053). One side of the slider (5054) is fixedly connected to the protrusion (5052).

4. The mobile buried inspection well positioning device according to claim 3, characterized in that: The adjustment plate (504) serves as the movable end of the pitch angle adjustment mechanism (5), and the gimbal mechanism (6) is fixedly installed on the top of the adjustment plate (504).

5. A mobile positioning device for buried inspection wells according to claim 1, characterized in that: A turntable (61) is rotatably connected to one side of the gimbal mechanism (6). The turntable (61) serves as the movable end of the gimbal mechanism (6). The adjustable bracket (7) is fixedly connected to one side wall of the turntable (61).

6. A mobile buried inspection well positioning device according to claim 1, characterized in that: It also includes a wired control unit (8), which is fixedly installed on one side wall of the mobile robot (1).

7. A mobile buried inspection well positioning device according to claim 6, characterized in that: The mobile robot (1), high-definition camera (3), radio frequency signal transmitter (4), pitch angle adjustment mechanism (5), adjustable bracket (7) and gimbal mechanism (6) are all electrically connected to the wired control unit (8) through wires. The wired control unit (8) transmits control commands and video signals synchronously through cables. The cables have a built-in length measuring module.

8. A mobile buried inspection well positioning device according to claim 1, characterized in that: It also includes a handheld receiver terminal with a signal strength detection module, a buzzer prompt function, and a built-in GPS module.

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