Pipeline three-dimensional data acquisition robot

Abstract

The utility model discloses a pipeline three -dimensional data acquisition robot belongs to data acquisition technical field, include: robot body, the upper fixed joint of robot body has three -dimensional collector, the one side fixed connection of robot body has mounting panel, clean cover, clean cover set up one side at mounting panel, the mounting hole of clean cover top surface is seted up, clean component, clean component sets up inside clean cover for to three -dimensional collector mirror surface carries out the cleaning. Through setting clean cover, when clean cover moves to one side of three -dimensional collector, again water in the water tank is sent to the mirror surface of three -dimensional collector, starts first screw rod sliding table simultaneously, and the slider of first screw rod sliding table can drive the scraper to move, so that the scraper can scrape the water stain on the mirror surface of three -dimensional collector, avoids the dust or water mist in the pipeline and adheres to the lens surface, to this improves the collection effect of three -dimensional collector.

Description

Technical Field

[0001] This utility model belongs to the field of data acquisition technology, and in particular relates to a pipeline three-dimensional data acquisition robot. Background Technology

[0002] 3D data acquisition refers to the process of acquiring the geometry, surface features, and positional relationships of a target space using 3D measurement equipment such as LiDAR, structured light sensors, and depth cameras. Its core is recording a large number of 3D coordinate points (i.e., point cloud data) on the object's surface during the acquisition process, and combining this data with image and texture information to achieve digital reconstruction of the spatial scene. Through 3D data acquisition technology, high-precision 3D models can be formed for applications such as inspection and analysis, structural mapping, dimensional measurement, and condition assessment, and it has significant value in fields such as pipeline inspection, industrial inspection, building surveying, and digital twins.

[0003] However, due to the poor air circulation inside the pipe, a high humidity environment is easily formed inside. In this environment, dust or water mist will adhere to the lens surface of the 3D data acquisition device, thus affecting the scanning effect.

[0004] To address this issue, we propose a pipeline 3D data acquisition robot. Utility Model Content

[0005] The purpose of this invention is to solve the problem in the prior art that, due to the weak air circulation inside the pipe, a high humidity environment is easily formed inside, and in this environment, dust or water mist will adhere to the lens surface of the 3D data acquisition device, thus affecting the scanning effect. Therefore, a pipe 3D data acquisition robot is proposed.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A pipeline 3D data acquisition robot includes: a robot body, a 3D acquisition device fixedly connected to the top of the robot body, and a mounting plate fixedly connected to one side of the robot body; a cleaning cover, the cleaning cover being disposed on one side of the mounting plate, and the cleaning cover having an installation hole on its top surface; and a cleaning component, the cleaning component being disposed inside the cleaning cover for cleaning the mirror surface of the 3D acquisition device.

[0007] By adopting the above technical solution and setting up the robot body, when the staff places the robot body inside the pipe where three-dimensional data needs to be collected, the three-dimensional data collector can collect three-dimensional data inside the pipe as the robot body moves inside the pipe.

[0008] Preferably, the cleaning component includes: a first lead screw slide, which is fixedly connected to one side inside the cleaning cover, and a scraper is fixedly connected to one side of the slider of the first lead screw slide; a water tank, which is movably installed inside the mounting hole; and a heating element, which is disposed inside the cleaning cover for heating the cleaning cover.

[0009] By adopting the above technical solution and setting a cleaning cover, when the cleaning cover moves to one side of the 3D acquisition device, the water inside the water tank is sent to the mirror surface of the 3D acquisition device, which facilitates the subsequent rinsing of the mirror surface of the 3D acquisition device.

[0010] Preferably, the heating element includes: a placement groove, which is formed on one side inside the cleaning cover, and a heating wire is fixedly connected inside the placement groove; and a protective net, which is fixedly connected inside the placement groove.

[0011] By adopting the above technical solution, by setting a first lead screw slide, the slider of the first lead screw slide can drive the scraper to move, so that the scraper can scrape off the water stains on the lens surface of the 3D collector, and prevent dust or water mist in the pipe from adhering to the lens surface, thereby improving the acquisition effect of the 3D collector.

[0012] Preferably, the bottom surface of the water tank is provided with a fixing hole, and a water pump is fixedly connected inside the fixing hole.

[0013] By adopting the above technical solution and setting heating wires, the surface of the 3D acquisition device can be dried and heated to remove residual water stains on the mirror surface.

[0014] Preferably, the outlet of the water pump is fixedly connected to a water outlet pipe, and a nozzle is fixedly connected inside the water outlet pipe.

[0015] By adopting the above technical solution, and by setting up a water pump, the water pump can send the water inside the water tank to the inside of the nozzle through the water outlet pipe, so that the water sprayed out by the nozzle can rinse the mirror surface of the 3D acquisition device.

[0016] Preferably, the bottom surface of the cleaning cover is provided with a collection groove, the bottom surface of the collection groove is provided with a water outlet, and a one-way valve is fixedly connected inside the water outlet.

[0017] By adopting the above technical solution and setting a one-way valve, the sewage inside the cleaning cover can flow out through the one-way valve.

[0018] Preferably, two sliding grooves are provided on one side of the mounting plate, and a second lead screw slide is fixedly connected inside the sliding groove. A connecting block is fixedly connected to one side of the slider of the second lead screw slide, and one side of the connecting block is fixedly connected to one side of the cleaning cover.

[0019] By adopting the above technical solution, and by setting a second lead screw slide, the slider of the second lead screw slide can drive the cleaning cover to move through the connecting block, thereby adjusting the position of the cleaning cover.

[0020] Preferably, a sealing gasket is fixedly connected to one side of the cleaning cover, and a sealing ring is fixedly connected to one side of the cleaning cover.

[0021] By adopting the above technical solution and setting a sealing ring, when one side of the cleaning cover is attached to one side of the 3D acquisition device, the sealing ring can seal the cleaning cover and the 3D acquisition device, thereby facilitating the continuous entry of dust and moisture into the interior of the cleaning cover when cleaning the 3D acquisition device.

[0022] In summary, the technical effects and advantages of this utility model are as follows: By setting up the robot body, when the staff places the robot body inside the pipe where 3D data needs to be collected, the 3D collector can collect 3D data inside the pipe as the robot body moves inside. By setting up a cleaning cover, when the cleaning cover moves to one side of the 3D collector, water from the water tank is sent to the mirror surface of the 3D collector. At the same time, the first lead screw slide is activated. The slider of the first lead screw slide can drive the scraper to move, so that the scraper can scrape away water stains on the mirror surface of the 3D collector, preventing dust or water mist in the pipe from adhering to the lens surface, thereby improving the collection effect of the 3D collector. By setting up a heating wire, the heating wire can dry and heat the surface of the 3D collector, thereby removing residual water stains on the mirror surface. By installing a water pump, water from the tank can be delivered to the nozzle through the outlet pipe, allowing the water sprayed from the nozzle to rinse the mirror surface of the 3D acquisition unit. By installing a sealing ring, when one side of the cleaning cover is in contact with one side of the 3D acquisition unit, the sealing ring can seal the gap between the cleaning cover and the 3D acquisition unit, thus allowing dust and moisture to continuously enter the interior of the cleaning cover during cleaning of the 3D acquisition unit. By installing a second lead screw slide, the slider of the second lead screw slide can move the cleaning cover through the connecting block, thereby adjusting the position of the cleaning cover. Attached Figure Description

[0023] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the scraper structure of this utility model; Figure 3 This is a schematic diagram of the cleaning cover structure of this utility model; Figure 4 This is a schematic diagram of the water tank structure of this utility model; Figure 5This is a schematic diagram of the mounting plate structure of this utility model.

[0024] In the diagram: 1. Robot body; 2. 3D data acquisition unit; 3. Mounting plate; 4. Cleaning cover; 5. Mounting hole; 6. First lead screw slide; 7. Scraper; 8. Water tank; 9. Placement slot; 10. Heating wire; 11. Protective net; 12. Fixing hole; 13. Water pump; 14. Water outlet pipe; 15. Nozzle; 16. Collection slot; 17. Water outlet; 18. One-way valve; 19. Sliding slot; 20. Second lead screw slide; 21. Connecting block; 22. Sealing gasket; 23. Sealing ring. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0026] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0027] Reference Figure 1 , Figure 2 and Figure 3 A 3D data acquisition robot for pipelines includes a robot body 1, a 3D data acquisition device 2 fixedly connected to the top of the robot body 1, a mounting plate 3 fixedly connected to one side of the robot body 1, a cleaning cover 4 provided on one side of the mounting plate 3, a mounting hole 5 on the top surface of the cleaning cover 4, a cleaning component inside the cleaning cover 4 for cleaning the mirror surface of the 3D data acquisition device 2, the cleaning component including a first lead screw slide 6, the first lead screw slide 6 fixedly connected to one side inside the cleaning cover 4, a scraper 7 fixedly connected to one side of the slider of the first lead screw slide 6, a water tank 8 movably installed inside the mounting hole 5, and a heating element inside the cleaning cover 4 for heating the cleaning cover 4, the heating element including a placement groove 9, the placement groove 9 being opened on one side inside the cleaning cover 4, a heating wire 10 fixedly connected inside the placement groove 9, and a protective net 11 fixedly connected inside the placement groove 9. By setting up the robot body 1, when the operator places the robot body 1 inside the pipeline where 3D data acquisition is required, the 3D data acquisition device 2 can acquire 3D data inside the pipeline as the robot body 1 moves inside the pipeline.

[0028] refer to Figure 3 , Figure 4 and Figure 5The bottom surface of the water tank 8 has a fixing hole 12, and a water pump 13 is fixedly connected inside the fixing hole 12. The outlet of the water pump 13 is fixedly connected to the water outlet pipe 14, and the inside of the water outlet pipe 14 is fixedly connected to the nozzle 15. The bottom surface of the cleaning cover 4 has a collection groove 16, and the bottom surface of the collection groove 16 has a water outlet hole 17. The inside of the water outlet hole 17 is fixedly connected to the one-way valve 18. Two sliding grooves 19 are opened on one side of the mounting plate 3. A second screw slide 20 is fixedly connected inside the sliding groove 19. A connecting block 21 is fixedly connected to one side of the slider of the second screw slide 20. One side of the connecting block 21 is fixedly connected to one side of the cleaning cover 4. A sealing gasket 22 is fixedly connected to one side of the cleaning cover 4, and a sealing ring 23 is fixedly connected to one side of the cleaning cover 4. By setting the second screw slide 20, the slider of the second screw slide 20 can drive the cleaning cover 4 to move through the connecting block 21, thereby adjusting the position of the cleaning cover 4.

[0029] Working Principle: With the robot body 1 positioned inside the pipe requiring 3D data acquisition, the 3D data collector 2 collects 3D data as it moves within the pipe. A cleaning cover 4, when moved to one side of the 3D data collector 2, supplies water from the water tank 8 to the lens surface. Simultaneously, the first lead screw slide 6 is activated, moving the scraper 7 to remove water stains from the lens surface. This prevents dust or water mist from adhering to the lens, thus improving the 3D data acquisition efficiency. The acquisition effect of the collector 2 is achieved by setting a heating wire 10, which can dry and heat the surface of the 3D collector 2 to remove residual water stains on the mirror surface. By setting a water pump 13, the water pump 13 can send the water in the water tank 8 to the inside of the nozzle 15 through the water outlet pipe 14, so that the water sprayed from the nozzle 15 can rinse the mirror surface of the 3D collector 2. By setting a sealing ring 23, when one side of the cleaning cover 4 is attached to one side of the 3D collector 2, the sealing ring 23 can seal the cleaning cover 4 and the 3D collector 2, so that dust and moisture can continuously enter the inside of the cleaning cover 4 when cleaning the 3D collector 2.

[0030] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A pipeline 3D data acquisition robot, characterized in that, include: Robot body (1), a three-dimensional acquisition device (2) is fixedly connected to the top of the robot body (1), and a mounting plate (3) is fixedly connected to one side of the robot body (1). A cleaning cover (4) is provided on one side of the mounting plate (3), and a mounting hole (5) is provided on the top surface of the cleaning cover (4). A cleaning component is disposed inside the cleaning cover (4) for cleaning the mirror surface of the three-dimensional collector (2).

2. The pipeline three-dimensional data acquisition robot according to claim 1, characterized in that, The cleaning component includes: The first lead screw slide (6) is fixedly connected to one side inside the cleaning cover (4), and a scraper (7) is fixedly connected to one side of the slider of the first lead screw slide (6). Water tank (8), which is movably installed inside the mounting hole (5); A heating element is disposed inside the cleaning cover (4) for heating the cleaning cover (4).

3. The pipeline three-dimensional data acquisition robot according to claim 2, characterized in that, The heating element includes: Placement slot (9) is opened on one side inside the cleaning cover (4), and a heating wire (10) is fixedly connected inside the placement slot (9). A protective net (11) is fixedly connected inside the placement slot (9).

4. A pipeline three-dimensional data acquisition robot according to claim 3, characterized in that, The bottom surface of the water tank (8) is provided with a fixing hole (12), and a water pump (13) is fixedly connected inside the fixing hole (12).

5. A pipeline three-dimensional data acquisition robot according to claim 4, characterized in that, The outlet of the water pump (13) is fixedly connected to the outlet pipe (14), and the nozzle (15) is fixedly connected inside the outlet pipe (14).

6. A pipeline three-dimensional data acquisition robot according to claim 1, characterized in that, The bottom surface of the cleaning cover (4) is provided with a collection groove (16), and the bottom surface of the collection groove (16) is provided with a water outlet (17). A one-way valve (18) is fixedly connected inside the water outlet (17).

7. A pipeline three-dimensional data acquisition robot according to claim 1, characterized in that, Two sliding grooves (19) are provided on one side of the mounting plate (3). A second lead screw slide (20) is fixedly connected inside the sliding groove (19). A connecting block (21) is fixedly connected to one side of the slider of the second lead screw slide (20). One side of the connecting block (21) is fixedly connected to one side of the cleaning cover (4).

8. A pipeline three-dimensional data acquisition robot according to claim 1, characterized in that, A sealing gasket (22) is fixedly connected to one side of the cleaning cover (4), and a sealing ring (23) is fixedly connected to one side of the cleaning cover (4).

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