A multifunctional pipeline inspection robot

Abstract

The utility model belongs to pipeline detection technical field discloses a kind of multifunctional pipeline detection robot, the robot is made of two independent cabin bodies connected by connecting chain, and cabin body adopts light material.It has the advancing function of shallow water area gyro wheel advancing and deep water area fan driving, and video, radar, laser and sonar detection function.In shallow water area, gyro wheel is controlled by independent motor to realize flexible steering;In deep water area, robot relies on cabin body to float, and fan motor drives fan to push robot forward and turn around.Various detection devices work cooperatively, and detection data is transmitted to remote work platform in real time through cable, converted into required data type, to provide comprehensive basis for pipeline condition assessment, effectively improve the efficiency and accuracy of pipeline detection.

Description

Technical Field

[0001] This utility model belongs to the field of pipeline inspection technology, specifically, it relates to a robot for pipeline inspection. Background Technology

[0002] Underground drainage pipes, as a key component of urban and industrial infrastructure, play an irreplaceable role in ensuring the production and daily lives of urban residents. With the acceleration of urbanization and the continuous expansion of industrial scale, the demand for stable and reliable water supply continues to grow, leading to a corresponding increase in drainage needs and a correspondingly large-scale expansion of urban drainage pipe networks. However, due to their long-term exposure to complex geological environments, underground drainage pipes are subject to the combined effects of soil stress, groundwater corrosion, microbial erosion, and surface traffic loads, making them highly susceptible to aging, damage, and leakage. These problems not only cause sewage leaks but can also trigger secondary disasters such as ground subsidence and road damage, seriously affecting the normal operation of the city and the quality of life for residents, while also incurring significant economic losses for municipal departments.

[0003] Existing methods for inspecting underground drainage pipes are numerous. Traditional manual inspections are inefficient and struggle to detect well-hidden internal defects. Localized inspections are insufficient for comprehensive coverage of long-distance, large-scale pipe networks. While inspection robots exist, some are limited to a single inspection type and cannot perform comprehensive, systematic inspections. Others lack versatility, failing to handle complex pipe conditions and varying water levels, resulting in low efficiency. Advanced technologies such as radar monitoring, laser detection, and sonar detection, while mitigating some shortcomings of traditional methods, still face challenges in practical applications, including high susceptibility to environmental interference, high equipment costs, and demanding operator skills. These limitations make it difficult to meet the practical needs of efficient, accurate, and low-cost underground drainage pipe inspection. Therefore, developing a more comprehensive, reliable, and adaptable underground drainage pipe inspection technology is urgently needed. Utility Model Content

[0004] This utility model focuses on the challenges of pipeline inspection. To improve the inspection efficiency and accuracy of drainage pipelines and long-distance pipelines, it adopts advanced radar detection technology, sonar detection technology, laser detection technology, and video detection technology to develop a multi-functional pipeline inspection robot for identifying corrosion, wear, and deformation of the pipeline inner wall and monitoring abnormal water flow.

[0005] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution:

[0006] This utility model provides a multifunctional pipeline inspection robot, comprising two compartments arranged front and rear, connected by a connecting chain; each compartment has two sets of walking components on both sides, the walking components being connected to the compartments via telescopic rods and rotating shafts; the lower end of the telescopic rod is fixedly connected to the walking component, and the upper end is fixedly connected to the rotating shaft; the rotating shaft can be controlled to rotate via a remote control device, which can drive the telescopic rod to lift or lower, enabling the walking component to move away from the compartment or return to its original position towards the compartment;

[0007] Each of the aforementioned traveling components includes a roller, and each roller is equipped with an independently controlled roller motor; a fan blade motor, a fan blade, a fan blade fixing plate, and a bearing are installed on the inner side of each roller; the fan blade motor is connected and fixed to the roller, and its rotating shaft end is connected to the fan blade; the inner side of the fan blade meshes with the gear teeth at the rotating shaft end of the fan blade motor, thereby enabling the fan blade motor to drive the fan blade to rotate; the fan blade is installed on the inner side of the fan blade fixing plate, and the fan blade fixing plate is fixed to the roller by a support rod; the outer side of the fan blade is fixed to the fan blade fixing plate by the bearing;

[0008] When the multi-functional pipeline inspection robot is in shallow water, the telescopic rod is in the lowered state, and the walking component moves by means of the rollers; when the multi-functional pipeline inspection robot is in deep water, the telescopic rod is in the raised state, and the walking component moves by means of the fan blades.

[0009] Each of the two cabins is equipped with a connecting support on its top, and the rotating shaft is installed on both sides of the connecting support. The front cabin is equipped with a video detection device, a laser detection device, and a sonar detection device. The rear cabin is equipped with a radar detection device.

[0010] Furthermore, the cabin enables the robot to float in deep water.

[0011] Furthermore, the connecting support is equipped with a motor, which drives the rotating shaft to rotate around its central axis.

[0012] Furthermore, the two sets of walking components on the same side of each cabin are connected by a connector, and the lower end of the telescopic rod is connected to the connector.

[0013] Furthermore, the multiple circumferentially distributed support rods have different lengths, which makes the fan blade fixing plate and the fan blade have an inclination angle relative to the roller, so that when the walking component moves by relying on the fan blade, the plane where the fan blade is located is basically perpendicular to the forward direction of the roller.

[0014] Furthermore, the plane of rotation of the fan blade has an angle of 45°-60° with the plane where the roller is located.

[0015] Furthermore, the connecting support at the top of the front of the cabin is equipped with a lighting device.

[0016] Furthermore, the laser detection device is fixed to the top surface of the connecting support, the video detection device is fixed to the top surface of the laser detection device, and the sonar detection device is installed at the lower front end of the cabin.

[0017] Furthermore, the radar detection device is mounted on the top surface of the connecting support via a rotating disk; the rotating disk consists of a rotating disc and four telescopic rods on the rotating disc, and the angle and height of the radar detection device can be changed by adjusting the height of the four telescopic rods respectively.

[0018] The beneficial effects of this utility model are:

[0019] (i) The multifunctional pipeline inspection robot of this utility model has walking components and connecting support components that can be adjusted to a certain extent according to pipelines of different diameters, fully considering the adaptability to different pipeline environments; the roller spacing in the walking components can be adjusted by telescopic rods to adapt to the inner walls of pipelines of different diameters, ensuring that the robot walks stably in the pipeline and avoiding slippage or collision with the pipeline wall; at the same time, the layout of the robot's inspection devices has also been carefully designed, and the installation position and angle of each inspection device can ensure that comprehensive and effective inspection can be achieved in pipelines of different diameters without blind spots.

[0020] (ii) The multifunctional pipeline inspection robot of this utility model is equipped with a radar detection device, which can accurately measure parameters such as the distance, size and position of the target object; it can not only quickly detect structural damage to the pipeline, such as cracks and corrosion, but also effectively detect the soil around the pipeline, such as cavities, loose soil and water-rich soil. Its detection range is wide and can cover a large pipeline area, providing an important basis for the overall condition assessment of the pipeline.

[0021] (III) The multifunctional pipeline inspection robot of this utility model is equipped with a laser inspection device, which can calculate the precise distance from each point on the inner wall of the pipeline to the inspection device, thereby generating a high-precision three-dimensional model of the inner wall of the pipeline, thus clearly presenting the tiny defects of the inner wall of the pipeline, such as deformation and micro cracks. Its accuracy can reach the millimeter or even sub-millimeter level, which helps to detect early pipeline damage, take timely repair measures, and avoid the problem from worsening.

[0022] (iv) The multifunctional pipeline inspection robot of this utility model is equipped with a sonar detection device, which can determine the position, shape and nature of the target object. For example, it can detect the degree of siltation in underwater pipelines. It can work effectively even in dark environments where light cannot reach, making up for the limitations of video detection and laser detection in underwater environments. It complements other detection methods and realizes comprehensive and multi-dimensional detection of pipelines. Attached Figure Description

[0023] Figure 1 This is a structural schematic diagram of the multifunctional pipeline inspection robot provided by this utility model;

[0024] Figure 2 This is a schematic diagram of the walking component in the multifunctional pipeline inspection robot provided by this utility model;

[0025] Figure 3 This is a schematic diagram of the fan blade and fan blade motor in the multifunctional pipeline inspection robot provided by this utility model;

[0026] Figure 4 This is a diagram showing the shallow water movement of the multifunctional pipeline inspection robot provided by this utility model.

[0027] Figure 5 This is a diagram showing the deep-water movement of the multifunctional pipeline inspection robot provided by this utility model.

[0028] Figure 6 This is a functional diagram of the multifunctional pipeline inspection robot provided by this utility model.

[0029] The components include: 1. Video detection device; 2. Laser detection device; 3. Connecting support; 4. Lighting device; 5. Cabin; 6. Rotating shaft; 7. Telescopic rod; 8. Walking component; 81. Roller; 82. Fan blade fixing plate; 83. Fan blade; 84. Bearing; 85. Fan blade motor; 86. Support rod; 9. Connector; 10. Sonar detection device; 11. Connecting chain; 12. Wire; 13. Rotating disk; 14. Radar detection device; 15. Cable. Detailed Implementation

[0030] The specific technical solutions of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0031] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0032] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to the present invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0033] In this utility model, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to facilitate the description of the structural relationship between the various components or elements of this utility model and do not specifically refer to any component or element in this utility model. They should not be construed as limiting this utility model.

[0034] In this utility model, terms such as "connected" and "linked" should be interpreted broadly, referring to direct connection or indirect connection through an intermediate medium. For researchers or those skilled in the art, the specific meaning of these terms in this utility model can be determined according to the specific circumstances, and they should not be construed as limitations on this utility model.

[0035] Where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0036] like Figure 1 As shown in the figure, this embodiment discloses a multifunctional pipeline inspection robot, which mainly includes a cabin 5, a connecting chain 11, a walking component 8, a video inspection device 1, a laser inspection device 2, a sonar inspection device 10, and a radar inspection device 14.

[0037] The cabin 5 is made of lightweight material, allowing the robot to float after entering deep water.

[0038] The two compartments 5 are arranged one in front of the other. The tail of the front compartment 5 is connected to the head of the rear compartment 5 by a connecting chain 11. This connection method not only ensures the coordinated movement of the two compartments 5, but also has a certain degree of flexibility, enabling the robot to adapt to the complex bends and undulating terrain inside the pipeline. The connecting chain 11 is made of high-strength and corrosion-resistant material to ensure stable operation for a long time in the harsh pipeline environment.

[0039] Each cabin 5 has two sets of traveling components 8 on each side. The traveling components 8 are connected to the cabin 5 via telescopic rods 7 and rotating shafts 6. The lower end of the telescopic rod 7 is fixedly connected to the traveling component 8, and the upper end is fixedly connected to the rotating shaft 6. The rotating shaft 6 is installed on the top of the cabin 5 and can rotate around its central axis. The rotating shaft 6 is controlled by a remote control device to rotate, thereby causing the telescopic rod 7 to rise or fall, so that the traveling components 8 can move away from the cabin 5 or return to their original position towards the cabin 5.

[0040] like Figure 2 and Figure 3 As shown, the traveling component 8 includes a roller 81, a blade fixing plate 82, a blade 83, a bearing 84, and a blade motor 85. The blade fixing plate 82, blade 83, bearing 84, and blade motor 85 are all mounted on the side of the roller 81 facing the cabin 1 (i.e., the inner side). The bottom end of the blade motor 85 is connected and fixed to the roller 81, and the rotating shaft end of the blade motor 85 is connected to the blade 83. The inner side of the blade 83 is recessed and has gear teeth, which mesh with the gear teeth at the rotating shaft end of the blade motor 85. This meshing design ensures that the rotation of the blade motor 85 drives the blade 83 to rotate.

[0041] The fan blade 83 is disposed inside the fan blade fixing plate 82, which is fixed to the roller 81 by multiple circumferentially distributed support rods 86. The fan blade 83 has an embedded bearing 84 on its outer side, and is fixed to the fan blade fixing plate 82 by the bearing 84 to ensure that the fan blade 83 is in a fixed position during the drive rotation process.

[0042] In a preferred embodiment, multiple circumferentially distributed support rods 86 of varying lengths create an angle between the fan blade fixing plate 82 and the roller 81, while the fan blade 83 maintains the same angle relative to the roller 81. This allows the fan blade 83 to further deflect under the rotation of the rotating shaft 6 after the robot enters deep water, achieving a near-perpendicular alignment between the plane of the fan blade 83 and the forward direction of the roller 81. This enables the multi-functional pipeline inspection robot to move more effectively in deep water. An angle of 45°-60° between the plane of the fan blade fixing plate 82 (and the fan blade 83) and the plane of the roller 81 provides even better results.

[0043] The rollers 81 in the traveling component 8 are made of wear-resistant rubber with a textured surface to increase friction between the rollers 81 and the pipe wall. The wear of the rollers 81 is monitored by sensors installed inside, which will promptly alert the operator to replace them when they wear to a certain extent. The fan blades 83 are also made of corrosion-resistant, high-strength materials. After a period of use, the traveling component 8 can be rotated out of the housing via the telescopic rod 7 for easy cleaning and inspection of the fan blades 83, ensuring their normal operation.

[0044] In a preferred embodiment, two sets of traveling components 8 on the same side of each cabin 5 are connected by a connector 9. The connector 9 is fixed to the outer side of the rollers 81 of the two sets of traveling components 8 (so that the connector 9 does not affect the rotation of the rollers 81). The lower end of the telescopic rod 7 is connected to the two sets of traveling components 8 by the connector 9.

[0045] like Figure 4 As shown, the multi-functional pipeline inspection robot moves forward in shallow water using rollers 81. Each roller 81 is equipped with an independent roller motor, which is controlled by a remote control device. When encountering an intersection and needing to turn, the remote control device controls the rollers 81 on one side of the cabin 5 to slow down or stop, while the rollers 81 on the other side of the cabin 5 maintain a constant speed, enabling the robot to turn as a whole.

[0046] like Figure 5 As shown, the multi-functional pipeline inspection robot moves forward in deep water by using the fan blades 83. When the robot enters deep water, the control device of the working platform controls the rotation of the rotating shaft 6, and the telescopic rod 7 and the walking component 8 will rotate away from the cabin 5. Since the fan blades 83 have a certain angle, the fan blade motor 85 drives the entire robot forward by passing through the fan blades 83. Each fan blade 83 is equipped with an independent fan blade motor 85, and the robot can be turned by adjusting the motor power.

[0047] Each of the two cabins 5 has a connecting support 3 on its top, which is fixed to the top surface of the cabin 5. Rotating shafts 6 are located on both sides of each connecting support 3. A motor is installed inside each connecting support 3, and the rotating shafts 6 can be rotated by the motor driven by the control device of the work platform.

[0048] The front-end hull 5 is equipped with a video inspection device 1, which is mounted on top of the connecting support 3. The high-definition camera on the video inspection device 1 features autofocus and image enhancement functions. In complex pipeline environments with significant lighting changes, the autofocus function quickly adjusts the focus to ensure clear images are captured. The image enhancement function optimizes the captured images, highlighting abnormal areas within the pipeline for easier observation and analysis by operators. During video inspection, operators can annotate and record the video in real time using software on the work platform, facilitating subsequent processing and analysis of the inspection results.

[0049] As a preferred embodiment, the connecting support 3 on the top of the front cabin 5 is equipped with a lighting device 4, which can provide a bright environment for video inspection.

[0050] The front-end hull 5 is equipped with a laser detection device 2, which is preferably installed on top of the connecting support 3, and can be located below the video detection device 1. The laser detection process is as follows: a specific laser is set for different pipes, and the laser beam is rotated to scan the cross-section of the pipe, acquiring distance data at different positions on the inner wall of the pipe, thereby constructing a three-dimensional contour image of the inner wall of the pipe. Defects such as corrosion, wear, deformation, and micro-cracks on the inner wall of the pipe are recorded.

[0051] The front hull 5 is equipped with a sonar detection device 10, which is preferably installed at the lower front of the hull 5. The sonar detection process is as follows: appropriate detection parameters are set, and a sound wave signal is emitted into the pipeline. When the sound wave propagates in the water inside the pipeline, it will be reflected and scattered when it encounters the inner wall of the pipeline, obstacles, or other abnormalities. The receiving transducer of the sonar detection device 10 receives the reflected sound wave signal, converts it into an electrical signal, and transmits the electrical signal remotely to the working platform. Based on the information from the sound wave reflection signal, defects, foreign objects, silt, etc., inside the pipeline are identified.

[0052] The rear cabin 5 is equipped with a radar detection device 14, which is preferably mounted on top of the connecting support 3 of the rear cabin 5 via a rotating disk 13. The rotating disk 13 consists of a rotating disc and four telescopic rods on the disc. Adjusting the height of the four telescopic rods individually changes the angle and height of the radar detection device 14, ensuring that no detection is missed during the detection process. The radar detection process is as follows: As the robot moves forward at a constant speed, the radar monitoring device 14 emits high-frequency electromagnetic waves and receives the reflected electromagnetic wave signals, converting them into electrical signals and transmitting them to the working platform. On the working platform, the location, shape, and defects of the pipeline are determined based on the characteristics of the reflected signals. For example, the boundary of the pipeline will generate a strong reflected signal, while defects such as cracks in the pipeline or cavities in the surrounding soil will cause abnormal changes in the reflected signal. The collected radar data is processed and analyzed. Through algorithms such as filtering, enhancement, and inversion, the quality of the radar images is improved, and the characteristics and defects of the pipeline are identified more accurately. Based on the radar images and analysis results, a location map and defect distribution map of the pipeline are drawn, providing a basis for subsequent maintenance and management.

[0053] The rear compartment 5 is connected to cable 15, which enables the transmission of data acquired by the robot and the transmission of commands to the control devices. Internal data interaction within the robot is achieved through wire 12, ensuring efficient and stable data transmission. Therefore, the multi-functional pipeline inspection robot possesses functions including shallow water navigation, deep water navigation, video detection, radar detection, laser detection, and sonar detection. Figure 6As shown, a remote work platform is established to remotely control the movement function of the multi-functional pipeline inspection robot. Data obtained from video detection, radar detection, laser detection, and sonar detection are transmitted via cable 15. Each type of data transmitted remotely is converted into the required data type through a specific receiver.

[0054] The above description is merely a preferred embodiment of this invention and is not intended to limit the present invention. Various modifications and variations can be made to this embodiment by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this embodiment should be included within the protection scope of this embodiment.

Claims

1. A multi-functional pipeline inspection robot, characterized in that, The system comprises two compartments arranged one in front of the other, connected by a connecting chain. Each compartment has two sets of walking components on each side, which are connected to the compartment via telescopic rods and rotating shafts. The lower end of the telescopic rod is fixedly connected to the walking component, and the upper end is fixedly connected to the rotating shaft. By controlling the rotation of the rotating shaft, the telescopic rod can be raised or lowered, allowing the walking component to move away from or towards the compartment. Each of the aforementioned traveling components includes a roller, and each roller is equipped with an independently controlled roller motor; a fan blade motor, a fan blade, a fan blade fixing plate, and a bearing are installed on the inner side of each roller; the fan blade motor is connected and fixed to the roller, and its rotating shaft end is connected to the fan blade; the inner side of the fan blade meshes with the gear teeth at the rotating shaft end of the fan blade motor, thereby enabling the fan blade motor to drive the fan blade to rotate; the fan blade is installed on the inner side of the fan blade fixing plate, and the fan blade fixing plate is fixed to the roller by a support rod; the outer side of the fan blade is fixed to the fan blade fixing plate by the bearing; When the multi-functional pipeline inspection robot is in shallow water, the telescopic rod is in the lowered state, and the walking component moves by means of the rollers; when the multi-functional pipeline inspection robot is in deep water, the telescopic rod is in the raised state, and the walking component moves by means of the fan blades. Each of the two cabins is equipped with a connecting support on its top, and the rotating shaft is installed on both sides of the connecting support. The front cabin is equipped with a video detection device, a laser detection device, and a sonar detection device. The rear cabin is equipped with a radar detection device.

2. The multifunctional pipeline inspection robot according to claim 1, characterized in that, The cabin enables the robot to float in deep water.

3. The multifunctional pipeline inspection robot according to claim 1, characterized in that, The connecting support is equipped with a motor, which drives the rotating shaft to rotate around its central axis.

4. The multifunctional pipeline inspection robot according to claim 1, characterized in that, Two sets of walking components on the same side of each cabin are connected by a connector, and the lower end of the telescopic rod is connected to the connector.

5. A multifunctional pipeline inspection robot according to claim 1, characterized in that, The connecting support at the top of the front of the cabin is equipped with a lighting device.

6. The multifunctional pipeline inspection robot according to claim 1, characterized in that, The laser detection device is fixed to the top surface of the connecting support, the video detection device is fixed to the top surface of the laser detection device, and the sonar detection device is installed at the lower front end of the cabin.

7. The multifunctional pipeline inspection robot according to claim 1, characterized in that, The radar detection device is mounted on the top surface of the connecting support via a rotating disk; the rotating disk consists of a rotating disc and four telescopic rods on the rotating disc, and the angle and height of the radar detection device can be changed by adjusting the height of the four telescopic rods respectively.

8. The multifunctional pipeline inspection robot according to claim 1, characterized in that, The two cabins are connected by wires, and data is transmitted to the work platform via cables.

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