Pipeline inspection device

Abstract

This utility model discloses a pipeline inspection device, relating to the field of pipeline inspection technology. The device includes a main body, an information acquisition structure, and multiple supporting structures. The information acquisition structure is located at one end of the main body in a first direction and includes an image acquisition unit and a laser acquisition unit. The image acquisition unit is spaced apart from the laser acquisition unit. The image acquisition unit is used to acquire optical images inside the pipeline, and the laser acquisition unit is used to acquire a three-dimensional model inside the pipeline. Multiple supporting structures are spaced apart at the other end of the main body in the first direction. Each supporting structure includes a telescopic part and a rolling part. The telescopic parts are arranged circumferentially at intervals, with adjacent telescopic parts forming an angle. Each telescopic part is extendable in the direction close to or away from the main body. Each rolling part is located at the drive end of the corresponding telescopic part and rolls in the first direction. This configuration allows the pipeline inspection device to operate directly inside pipelines with water flow, making it convenient and efficient.

Description

Technical Field

[0001] This utility model relates to the field of pipeline inspection technology, and in particular to a pipeline inspection device. Background Technology

[0002] Urban underground drainage pipe network systems are an important part of urban infrastructure, mainly used to collect, transport and discharge rainwater, domestic sewage and industrial wastewater in cities, ensuring the normal operation of cities and the living environment of residents. However, underground drainage pipe network systems are affected by many complex factors such as pipe materials, interface types, laying environment and water quality, and leakage problems are inevitable. In order to solve the leakage problem, municipal departments often conduct regular inspections of underground drainage pipe network systems, which usually require the use of inspection robots.

[0003] However, existing inspection robots must first isolate the pipe to be inspected and drain the water from the pipe before they can carry out the inspection work, which is time-consuming and inefficient. Utility Model Content

[0004] The main purpose of this invention is to propose a pipeline inspection device, which aims to improve the problem that existing inspection robots must first isolate the pipeline to be inspected and drain the water in the pipeline before carrying out inspection work, which is time-consuming and inefficient.

[0005] To achieve the above objectives, the pipeline inspection device proposed in this utility model includes:

[0006] main body;

[0007] An information acquisition structure is located at one end of the main body in a first direction. The information acquisition structure includes an image acquisition unit and a laser acquisition unit, with the image acquisition unit spaced apart from the laser acquisition unit. The image acquisition unit is used to acquire optical images within the pipe, and the laser acquisition unit is used to acquire a three-dimensional model within the pipe.

[0008] Multiple support structures are spaced apart at the other end of the main body in a first direction. Each support structure includes a telescopic part and a rolling part. The multiple telescopic parts are arranged at intervals along the circumference, and adjacent two telescopic parts are arranged at an angle. Each telescopic part is telescopically oriented in the direction close to or far from the main body. Each rolling part is located at the driving end of the corresponding telescopic part and is arranged to roll in the first direction.

[0009] In one embodiment, the laser acquisition unit includes:

[0010] A base is located at one end of the main body in the first direction;

[0011] A laser emitter is disposed on the base and is used to emit a laser into the pipe;

[0012] A laser receiver, spaced apart from the laser emitter, is used to receive laser information reflected from within the pipe; and...

[0013] An information processing unit is disposed on the base and spaced apart from the laser emitter and the laser receiver. The information processing unit is used to process the laser information into the three-dimensional model.

[0014] In one embodiment, the base is rotatably configured along an axis extending in a first direction.

[0015] In one embodiment, each of the support structures further includes an elastic connector disposed between the telescopic portion and the rolling portion to elastically connect the telescopic portion and the rolling portion, and the elastic connector is elastically arranged in the extension direction of the telescopic portion.

[0016] In one embodiment, the axis of each of the rolling portions extending along the extension direction of the corresponding telescopic portion is rotatably arranged.

[0017] In one embodiment, the telescopic part further has a connecting end corresponding to the driving end, and the connecting end is rotatably connected to the main body along an axis extending in a first direction.

[0018] In one embodiment, each of the rolling parts includes a plurality of rollers, which are spaced apart in a first direction and are all connected to the drive end of the corresponding telescopic part, and the plurality of rollers are all rolled in the first direction.

[0019] In one embodiment, each roller is fitted with a rubber sleeve on its outer side, the rubber sleeve being used to abut against the inner wall of the pipe.

[0020] In one embodiment, the information acquisition structure further includes an illumination unit, which is disposed at one end of the main body in a first direction and located on the side of the image acquisition unit facing away from the laser acquisition unit.

[0021] In one embodiment, the pipeline inspection device further includes a robotic arm disposed on the main body and spaced apart from the information acquisition structure, the robotic arm being used to grasp objects around the pipeline inspection device.

[0022] In the technical solution of this utility model, when it is necessary to explore and inspect the internal conditions of a pipe with water flow, the user can place the pipe inspection device at the inlet of the pipe section to be inspected. At this time, multiple support structures operate, and multiple telescopic parts extend to drive the rolling parts to move away from the main body, so that all the rolling parts are pressed against the inner wall of the pipe. Then, the telescopic parts operate again, with some of the telescopic parts shortening and others extending, to adjust the position of the main body in the pipe while ensuring that the multiple rolling parts are pressed against the inner wall of the pipe. The image acquisition unit is positioned above the water surface, and the laser acquisition unit is positioned below the water surface. At this position, the image acquisition unit can acquire an optical image of a portion of the pipe above the water surface, and the laser acquisition unit can acquire a three-dimensional model of a portion of the pipe below the water surface through laser transmission and reception. The combined use of the image acquisition unit and the laser acquisition unit allows for the acquisition of complete pipe information. Simultaneously, multiple rolling parts roll in a first direction, driving the pipe detection device to move within the pipe, thereby detecting problems such as pipe misalignment, cracks, leaks, and obstruction intrusion. With this configuration, the pipe detection device can operate directly within a pipe with water flow. Before conducting pipe detection, there is no need for additional isolation or drainage work on the pipe section to be detected; detection can be performed normally on that pipe section, making the detection work convenient and efficient. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0024] Figure 1 A schematic diagram of an embodiment of the pipeline inspection device provided by this utility model;

[0025] Figure 2 for Figure 1 A schematic diagram of the structure of the pipeline inspection device (from another direction).

[0026] Explanation of icon numbers:

[0027] 100. Pipeline inspection device; 1. Main body; 2. Information acquisition structure; 21. Image acquisition unit; 22. Laser acquisition unit; 221. Base; 222. Laser emitter; 223. Laser receiver; 23. Illumination unit; 3. Support structure; 31. Telescopic part; 311. Drive end; 312. Connection end; 32. Rolling part.

[0028] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0029] 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.

[0030] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0031] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0032] This invention proposes a pipeline inspection device. It aims to address the problem that existing inspection robots must first disconnect the pipeline to be inspected and drain the water before commencing inspection, resulting in long processing times and low efficiency.

[0033] Please see Figure 1-2In one embodiment of this utility model, the pipeline detection device 100 includes a main body 1, an information acquisition structure 2, and a plurality of support structures 3. The information acquisition structure 2 is located at one end of the main body 1 in a first direction. The information acquisition structure 2 includes an image acquisition unit 21 and a laser acquisition unit 22. The image acquisition unit 21 is spaced apart from the laser acquisition unit 22. The image acquisition unit 21 is used to acquire optical images inside the pipeline, and the laser acquisition unit 22 is used to acquire three-dimensional models inside the pipeline. The plurality of support structures 3 are spaced apart at the other end of the main body 1 in the first direction. Each support structure 3 includes a telescopic part 31 and a rolling part 32. The plurality of telescopic parts 31 are arranged at intervals along the circumference, and adjacent telescopic parts 31 are arranged at an angle. Each telescopic part 31 is telescopic in the direction close to or away from the main body 1. Each rolling part 32 is located at the driving end 311 of the corresponding telescopic part 31 and is rolled in the first direction.

[0034] In the technical solution of this utility model, when it is necessary to explore and inspect the internal condition of a pipe with water flow, the user can place the pipe inspection device 100 at the inlet of the pipe section to be inspected. At this time, multiple support structures 3 operate, and multiple telescopic parts 31 extend to drive the rolling parts 32 to move away from the main body 1, so that multiple rolling parts 32 are all pressed against the inner wall of the pipe. At this time, the telescopic parts 31 operate again, wherein some of the telescopic parts 31 shorten and other parts extend, so as to adjust the main body 1 inside the pipe while ensuring that multiple rolling parts 32 are pressed against the inner wall of the pipe. The image acquisition unit 21 is positioned above the water surface, and the laser acquisition unit 22 is positioned below the water surface. At this time, the image acquisition unit 21 can acquire an optical image of a portion of the pipe above the water surface, and the laser acquisition unit 22 can acquire a three-dimensional model of a portion of the pipe below the water surface through laser transmission and reception. The cooperation of the image acquisition unit 21 and the laser acquisition unit 22 allows for the acquisition of complete pipe information. Simultaneously, multiple rolling parts 32 roll in a first direction, driving the pipe detection device 100 to move within the pipe, thereby detecting problems such as pipe misalignment, cracks, leaks, and obstruction intrusion. With this configuration, the pipe detection device 100 can operate directly within a pipe with water flow. Before conducting pipe detection, there is no need for additional isolation and drainage work on the pipe section to be detected; detection work can be carried out normally on that pipe section, making the detection work convenient and efficient.

[0035] It is understandable that by using the laser acquisition unit 22 to acquire the three-dimensional model inside the pipe, the detection effect of the pipe detection device 100 can be guaranteed when the water flow inside the pipe is turbid, thus avoiding inaccurate detection results of the pipe detection device 100.

[0036] It should be noted that this utility model does not limit the specific structural form of the telescopic part 31. In one embodiment of this utility model, the telescopic part 31 can be configured as a cylinder, in which case the cylinder rod is connected to the rolling part 32.

[0037] In another embodiment of this utility model, the telescopic part 31 can also be configured as a telescopic rod, and the movable end of the telescopic rod is connected to the rolling part 32.

[0038] Similarly, this utility model does not limit the specific driving form of the rolling part 32. In one embodiment of this utility model, the pipe detection device 100 further includes a power supply and a drive motor. The power supply is electrically connected to the drive motor, and the drive motor is driven to at least one of the rolling parts 32. When the rolling part 32 needs to move to drive the pipe detection device 100 to move in the first direction, the power supply powers the drive motor, and the drive motor drives the rolling part 32 to roll in the first direction, thereby realizing the movement of the pipe detection device 100 in the pipe.

[0039] In another embodiment of the present invention, the pipeline detection device 100 further includes an oil tank and an engine. The oil tank contains fuel and is connected to the engine. The engine is driven to the rolling part 32. When the rolling part 32 needs to be activated, the fuel in the oil tank flows into the engine for combustion. The engine performs work to drive the rolling part 32 to roll in a first direction, thereby driving the pipeline detection device 100 to move in the pipeline along a first square.

[0040] In other embodiments of this utility model, the driving form of the rolling part 32 can also be set to other forms, and can be selected according to the requirements in actual setting.

[0041] It should also be noted that, since the water volume in the pipe is constantly changing, when the pipe detection device 100 detects the pipe, there may be situations where the laser acquisition unit 22 is exposed above the water surface or the image acquisition unit 21 is submerged in the water, which will affect the detection accuracy of the pipe detection device 100. Therefore, in the embodiment of this utility model, the multiple telescopic structures can adjust the position of the main body 1 in real time according to the water level in the pipe, so that the laser acquisition unit 22 is always below the water surface and the image acquisition unit 21 is always above the water surface.

[0042] To enable the laser acquisition unit 22 to acquire the three-dimensional model inside the pipe, in one embodiment of this utility model, the laser acquisition unit 22 includes a base 221, a laser emitter 222, a laser receiver 223, and an information processing unit. The base 221 is located at one end of the main body 1 in a first direction. The laser emitter 222 is located on the base 221 and is used to emit laser light into the pipe. The laser receiver 223 is located at a distance from the laser emitter 222 and is used to receive laser information reflected from inside the pipe. The information processing unit is located on the base 221 and is located at a distance from the laser emitter 222 and the laser receiver 223. The information processing unit is used to process the laser information into the three-dimensional model. With this configuration, the base 221 serves as the laser emitter 222, and the laser receiver 223 receives the reflected laser information. When the laser acquisition unit 22 needs to acquire a three-dimensional model inside the pipe, the laser emitter 222 emits a laser into the pipe so that the laser shines on the inner wall of the pipe and is reflected. Then, the information processing unit can process the laser information to obtain the three-dimensional model and store it, thereby obtaining a three-dimensional model inside the pipe.

[0043] It should be noted that in this invention, since the water volume in the pipe is variable, the range of the pipe to be acquired by the laser acquisition unit 22 and the image acquisition unit 21 changes when the water volume changes. Since the field of view of the laser corrector is generally small, in this embodiment, the base 221 is rotatably configured along its axis extending in the first direction. With this configuration, when the laser emitter 222 emits laser light into the inner wall of the pipe, the base 221 can rotate along its axis extending in the first direction, thereby causing the laser emitter 222 to rotate along its axis, changing the position of the inner wall of the pipe illuminated by the laser. This allows the laser to completely illuminate the underwater portion of the pipe. Furthermore, since the laser receiver 223 is also mounted on the base 221, it can also rotate with the base 221. This ensures the integrity of the laser information received by the laser receiver 223 from the pipe, thereby guaranteeing the accurate establishment of the three-dimensional model of the pipe.

[0044] Of course, in other embodiments of this utility model, the laser emitter 222 can be rotatably mounted on the base 221 along the axis extending in the first direction, and the laser receiver 223 can be rotatably mounted on the base 221 along the axis extending in the first direction. With such a configuration, the laser can also completely irradiate the underwater part of the pipe, and the laser receiver 223 can accurately receive the laser information reflected back from the pipe.

[0045] Similarly, in another embodiment of this utility model, when the water volume in the pipe changes, in order to enable the image acquisition unit 21 to also acquire a complete image of the pipe, the image acquisition unit 21 is rotated along the axis extending in the first direction.

[0046] To ensure that the pipeline detection device 100 can successfully transmit the optical image inside the pipeline acquired by the image acquisition unit 21 and the three-dimensional model inside the pipeline acquired by the laser acquisition unit 22 to the outside world, in this utility model, the pipeline detection device 100 further includes an information transmission structure. The information transmission structure is electrically connected to the image acquisition unit 21 and the laser acquisition unit 22. The information transmission structure is used to transmit the optical image and the three-dimensional model to the device terminal, thereby realizing the transmission of information acquired by the information acquisition structure 2.

[0047] Of course, this utility model does not limit the specific structural form of the information transmission structure. In one embodiment of this utility model, the information transmission structure can be set as a storage device. The storage device is electrically connected to the image acquisition unit 21 and the laser acquisition unit 22 to store the data of the optical image and the three-dimensional model. After the pipe detection device 100 comes out of the pipe, the storage device can be electrically connected to the device terminal so that the user can read the data of the optical image and the three-dimensional model from the storage device through the device terminal.

[0048] In another embodiment of this utility model, the information transmission structure can also be configured as a wireless network transmission device. The wireless network transmission device is electrically connected to the image acquisition unit 21 and the laser acquisition unit 22, and is electrically connected to the device terminal via a wireless network. With this configuration, when the image acquisition unit 21 and the laser acquisition unit 22 acquire the optical image and the three-dimensional model, the image network transmission device can transmit the data to the device terminal in real time via the wireless network for the device terminal to read.

[0049] In other embodiments of this utility model, the information transmission structure can also be configured as wired network transmission, wireless Bluetooth transmission, or other transmission methods. In actual settings, the appropriate method can be selected according to the requirements.

[0050] It should also be noted that when the pipe detection device 100 travels inside the pipe, the pipe needs to have a certain level of brightness to ensure the normal operation of the image acquisition unit 21. Therefore, in a further embodiment of this utility model, the information acquisition structure 2 also includes an illumination unit 23, which is located at one end of the main body 1 in the first direction and on the side of the image acquisition unit 21 facing away from the laser acquisition unit 22. With this configuration, when the pipe detection device 100 needs to perform image acquisition, the illumination unit 23 operates, emitting light to illuminate the interior space of the pipe, allowing the image acquisition unit 21 to smoothly perform image acquisition.

[0051] Furthermore, the pipe inspection device 100 can only determine the shape of the pipe through optical images and three-dimensional models. When there are foreign objects in the pipe, the pipe inspection device 100 cannot determine the type of foreign objects. Therefore, in a further embodiment of this utility model, the pipe inspection device 100 also includes a robotic arm. The robotic arm is located on the main body 1 and spaced apart from the information acquisition structure 2. The robotic arm is used to grasp objects around the pipe inspection device 100. Thus, when encountering foreign objects that require further inspection, the robotic arm moves to grasp the foreign objects. After the pipe inspection device 100 completes the pipe inspection work, it exits the pipe. At this time, the robotic arm can carry out the grasped foreign objects along with the pipes for subsequent identification of the material and type of foreign objects.

[0052] Furthermore, the pipeline to be inspected may have damage leading to the intrusion of external objects, misalignment, or accumulation of impurities inside the pipeline. All of these issues can affect the normal operation of the pipeline inspection device 100 within the pipeline. Therefore, in one embodiment of this utility model, each of the supporting structures 3 further includes an elastic connector. The elastic connector is disposed between the telescopic part 31 and the rolling part 32 to elastically connect the telescopic part 31 and the rolling part 32. The elastic connector is elastically arranged in the extending direction of the telescopic part 31. With this arrangement, during the movement of the pipeline inspection device 100, when the rolling part 32 encounters an obstacle, the rolling part 32 can abut against the obstacle. At this time, the elastic connector compresses to shorten the distance between the rolling part 32 and the main body 1. The rolling part 32 can maintain the contact strength with the obstacle, thereby ensuring the support force on the main body 1, while rolling on the obstacle to overcome it, allowing the pipeline inspection device 100 to continue moving forward to continue inspecting the pipeline.

[0053] Of course, in this utility model, by providing the elastic connector between the telescopic part 31 and the rolling part 32, it is also possible to provide a buffer for the rolling part 32 and the telescopic part 31 when the rolling part 32 abuts against the inner wall of the pipe, thereby protecting the pipe detection device 100.

[0054] Furthermore, to ensure the stability of the pipeline detection device 100 during its movement and to prevent any of the rolling parts 32 from being obstructed and unable to roll smoothly in the first direction, thus causing the other rolling parts 32 of the pipeline detection device 100 to fail to contact the inner wall of the pipeline and thus preventing the pipeline detection device 100 from working properly, in one embodiment of this utility model, each rolling part 32 includes multiple rollers. These multiple rollers are spaced apart in the first direction and are all connected to the drive end 311 of the corresponding telescopic part 31. All the multiple rollers are arranged to roll in the first direction. This arrangement allows the multiple rollers to collectively form the rolling part 32, extending the contact length between the rolling part 32 and the inner wall of the pipeline in the first direction. Even if one roller fails to contact the inner wall of the pipeline, the other rollers of the same rolling part 32 can still maintain stable contact with the inner wall of the pipeline, thereby improving the stability of the pipeline detection device 100 during its movement and preventing the pipeline detection device 100 from falling into the pipeline and causing it to malfunction.

[0055] It is understood that this utility model does not limit the specific number of rollers. In one embodiment of this utility model, there are two rollers; in another embodiment of this utility model, there are three rollers; in other embodiments of this utility model, the number of rollers can also be set to other numbers. In actual setting, it can be selected according to the needs, and this utility model does not limit it.

[0056] Of course, in a further embodiment of the present invention, each of the rollers is connected to the telescopic part 31 through one of the elastic connectors, so that the independent movement of the multiple rollers can be realized.

[0057] To extend the service life of the pipeline inspection device 100 and ensure its effective movement, in a further embodiment of this invention, each roller is fitted with a rubber sleeve on its outer side, which abuts against the inner wall of the pipeline. With this arrangement, each roller abuts against the inner wall of the pipeline through the rubber sleeve, which acts as a buffer between the roller and the inner wall, preventing direct contact and thus extending the lifespan of the roller and consequently the pipeline inspection device 100. Simultaneously, the direct contact between the rubber sleeve and the inner wall increases the coefficient of friction, enhancing the friction between the pipeline inspection device 100 and the pipeline during movement, preventing slippage of the rollers, and ensuring stable movement of the pipeline inspection device 100.

[0058] It is understood that when the pipe detection device 100 travels inside the pipe and performs normal detection work, the image acquisition unit 21 is above the water surface and the laser acquisition unit 22 is below the water surface. However, during the travel of the pipe detection device 100, the angle of the pipe detection device 100 may shift, which may cause the positions of the image acquisition unit 21 and the laser acquisition unit 22 to deviate, affecting the normal detection work of the pipe detection device 100. Therefore, in one embodiment of this utility model, the axis of each rolling part 32 extending along the extension direction of the corresponding telescopic part 31 is rotatably arranged. With this configuration, when the positions of the image acquisition unit 21 and the laser acquisition unit 22 deviate, multiple rolling parts 32 rotate synchronously along the axis extending in the extension direction of the telescopic part 31, so that the rotation axis of each rolling part 32 extends in the first direction. At this time, multiple rolling parts 32 rotate synchronously along the axis extending in the first direction to adjust the angle of the pipe detection device 100, thereby correcting the positions of the image acquisition unit 21 and the laser acquisition unit 22. After adjustment, multiple rolling parts 32 rotate again along the axis extending in the extension direction of the telescopic part 31, so that the rolling direction of multiple rolling parts 32 extends in the first direction, thereby enabling the pipe detection device 100 to continue performing pipe detection work.

[0059] Furthermore, when the obstruction on the travel path of the pipeline detection device 100 is too large and the rolling part 32 cannot travel normally, it is necessary for the rolling part 32 to avoid the obstruction. Therefore, in a further embodiment of the present invention, the telescopic part 31 also has a connecting end 312 corresponding to the driving end 311, and the connecting end 312 is rotatably connected to the main body 1 along an axis extending in the first direction. With this configuration, when an obstacle in the path of the pipeline inspection device 100 is too large, the multiple rolling parts 32 first rotate synchronously along the axis extending in the extension direction of the telescopic part 31, so that the rotation axis of the rolling part 32 itself extends in the first direction. Then, each rolling part 32 rotates independently, driving the corresponding telescopic rod to rotate along the axis extending in the first direction, thereby adjusting the extension direction of the multiple telescopic rods and causing the multiple rolling parts 32 to avoid the obstacle. After the adjustment is completed, the multiple rolling parts 32 rotate again along the axis extending in the extension direction of the telescopic part 31, so that the rolling direction of the multiple rolling parts 32 extends in the first direction, thereby enabling the pipeline inspection device 100 to continue to travel in the first direction to bypass the obstacle.

[0060] It is understood that after the pipe detection device 100 bypasses the obstacle, the pipe detection device 100 can repeat the above steps to restore the multiple rolling parts 32 to the predetermined position, or the multiple rolling parts 32 can continue to roll at the current position to drive the pipe detection device 100 to move. In actual setting, the selection can be made according to the needs, and this utility model does not limit it.

[0061] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A pipe inspection apparatus, characterised in that, The utility model relates to a pipeline detection device, including: a main body; an information collection structure arranged at one end of the main body in a first direction, the information collection structure comprising an image collection part and a laser collection part, the image collection part being arranged apart from the laser collection part, the image collection part being used to collect an optical image in a pipeline, and the laser collection part being used to collect a three-dimensional model in the pipeline; and a plurality of support structures arranged apart at the other end of the main body in the first direction, each of the support structures comprising an extension part and a rolling part, a plurality of the extension parts being arranged apart along a circumference, and two adjacent extension parts being arranged at an angle, each of the extension parts being arranged in an extendable manner in a direction close to or away from the main body, and each of the rolling parts being arranged at a driving end of the corresponding extension part and being arranged in a rolling manner in the first direction.

2. The pipe inspection apparatus of claim 1, wherein The laser collection part comprises: a base arranged at one end of the main body in the first direction; a laser emitting element arranged at the base, the laser emitting element being used to emit laser into the pipeline; a laser receiving element arranged apart from the laser emitting element, the laser receiving element being used to receive laser information reflected from the pipeline; and an information processing element arranged at the base and arranged apart from the laser emitting element and the laser receiving element, the information processing element being used to process the laser information into the three-dimensional model.

3. The pipe inspection apparatus of claim 2, wherein, The base is arranged in a rotatable manner along an axis extending in the first direction.

4. The pipe inspection apparatus of claim 1, wherein Each of the support structures further comprises an elastic connecting element arranged between the extension part and the rolling part to elastically connect the extension part and the rolling part, the elastic connecting element being arranged in an elastic manner in an extension direction of the extension part.

5. The pipe inspection apparatus of claim 1 wherein, Each of the rolling parts is arranged in a rotatable manner along an axis extending in an extension direction of the corresponding extension part.

6. The pipe inspection apparatus of claim 5, wherein, The extension part further has a connecting end arranged corresponding to the driving end, the connecting end being rotatably connected to the main body along an axis extending in the first direction.

7. The pipe inspection apparatus of claim 1 wherein, Each of the rolling parts comprises a plurality of rollers arranged apart in the first direction and connected to the driving end of the corresponding extension part, the plurality of rollers being arranged in a rolling manner in the first direction.

8. The pipe inspection apparatus of claim 7 wherein, An outer side of each of the rollers is sleeved with a rubber sleeve used to abut against an inner wall of the pipeline.

9. The pipe inspection apparatus of claim 1 wherein, The information collection structure further comprises an illuminating part arranged at one end of the main body in the first direction and located on a side of the image collection part away from the laser collection part.

10. The pipe inspection apparatus of claim 1 wherein, The pipeline detection device further comprises a mechanical arm arranged at the main body and arranged apart from the information collection structure, the mechanical arm being used to grasp objects around the pipeline detection device.

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