Low‑interference automatic defect and condition detection apparatus for drainage pipe, and detection method
Patent Information
- Application Number
- PCT/CN2025/104698
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2025-02-26
- Filing Date
- 2025-06-27
- Publication Date
- 2026-09-03
Smart Images
Figure CN2025104698_03092026_PF_FP_ABST
Abstract
Description
Low-interference sewer defect and state automatic detection device and detection method TECHNICAL FIELD
[0001] The present application relates to the technical field of defect detection, and particularly relates to a low-interference sewer defect and state automatic detection device and detection method. BACKGROUND
[0002] As an important infrastructure construction project in urban development, the sewer network system not only plays an important role in collecting and transporting rainwater, urban domestic sewage and industrial wastewater, but also shoulders important responsibilities such as urban water environmental pollution prevention, drainage and flood control. However, due to long-term use, natural erosion, human damage and other factors, the sewer may have various defects, such as collapse, blockage, deformation, misplacement and the like. These defects not only affect the normal function of the sewer, but also may cause serious problems such as environmental pollution, road waterlogging, traffic inconvenience and the like. Therefore, the detection of sewer defects is particularly important.
[0003] Sewer defect detection involves a wide range of content, and needs to comprehensively use various detection technologies and methods to ensure the normal operation of the sewer system and the flood control and drainage capacity of the city, mainly including: pipe structure integrity detection and pipe function performance detection, wherein the pipe structure integrity detection is mainly for collapse and deformation detection, and needs to locate and diagnose the defect position, involving distance measurement, video measurement and azimuth positioning; the pipe function performance detection is mainly for blockage and silt detection, involving distance, silt thickness and liquid level height measurement. The detection of sewer defects not only involves multiple detection targets, but also has great difficulty: the sewer system is distributed underground in the city, and is usually composed of numerous branch lines, intersections and branches, and has high concealment. This complex and concealed network structure makes it extremely difficult to conduct comprehensive detection; the municipal sewer is distributed throughout the urban built-up area, and the pipe construction time in some old urban areas is early, the standard is low, and the aging is serious. The sewer has flowing water all year round, and the flow difference is large and the corrosion is strong, so the detection difficulty is extremely great.
[0004] Given the numerous targets and high technical difficulty of drainage pipeline defect detection, the industry currently employs technologies such as CCTV inspection, sonar inspection, infrared thermal imaging, and pipeline periscope inspection. While these technologies can detect pipeline defects under certain conditions, they have several shortcomings: CCTV inspection requires appropriate sealing, pumping, and cleaning of the pipeline beforehand; under normal pipeline operation, silt and water flow significantly affect the movement of CCTV inspection robots, limiting their applicability; sonar inspection generally only detects pipeline conditions below the liquid surface, making it difficult to detect defects above the liquid surface. It may also fail to accurately identify certain types of defects (such as pipeline deformation and blockage); infrared thermal imaging is significantly affected by temperature, limiting its use. Pipeline periscope inspection is mainly used for inspecting short-distance pipelines and is easy to operate, but its detection range is short and it cannot detect pipeline conditions below the water surface. Therefore, current drainage pipeline defect detection technologies are insufficient to efficiently solve existing detection challenges, and more applicable and effective detection technologies need to be developed. Summary of the Invention
[0005] The present invention aims to at least partially solve one of the technical problems in the related art.
[0006] To address this, the present invention proposes an automatic detection device and method for defects and conditions of drainage pipelines with low interference, which can detect various defects in drainage pipelines during normal operation and drainage, thus solving the detection technical problems in related technologies.
[0007] To achieve the above objectives, a first aspect of the present invention provides an automatic detection device for defects and conditions of low-interference drainage pipes, comprising an inspection detection system and two fixed detection systems. The fixed detection system includes a semi-circular pipe wall fixing structure, a fixed detection transmission control system, and a plurality of first laser probes. The fixed detection transmission control system is installed on the pipe wall fixing structure, and the plurality of first laser probes are respectively installed at different positions on the pipe wall fixing structure. The plurality of first laser probes are connected to the fixed detection transmission control system.
[0008] The inspection and detection system includes an inspection track and an inspection robot. The inspection robot includes an inspection robot carrier, a robot controller, multiple second laser probes, and a cleaning device. The robot controller is connected to the inspection robot carrier, the multiple second laser probes, and the cleaning device via a composite cable. The multiple second laser probes are respectively installed on the top and bottom of the inspection robot carrier, and the cleaning device is installed on the inspection robot carrier.
[0009] During detection, the inspection track penetrates the drainage pipeline, the two fixed detection systems are respectively arranged at two ends of the inspection track and located on the upper surface of the inspection track, and the inspection robot carrier moves along the lower surface of the inspection track in a hoisting manner.
[0010] In some implementations, the pipe wall fixing structure is sequentially connected by a plurality of arc-shaped detection system pipe wall fixing belts, adjacent detection system pipe wall fixing belts are connected through a fixing belt rotating shaft, the detection system pipe wall fixing belt is provided with a fixing belt fixing hole, and the fixed detection transmission control system or the pipe wall fixing structure is provided with a fixed detection system fixing rod for fixing the fixed detection system and the drainage pipeline.
[0011] In some implementations, the plurality of first laser probes includes three first laser probes, and the three first laser probes are respectively located at two ends and a middle position of the pipe wall fixing structure.
[0012] The connecting end of the plurality of first laser probes is provided with a laser probe rotating shaft, the end of the laser probe rotating shaft is provided with a laser probe fixing buckle, and after the position of the first laser probe is determined, the position is locked by rotating the laser probe fixing buckle.
[0013] In some implementations, the two ends of the inspection track are upwardly bent to form U-shaped portions, and the upper portions of the two U-shaped portions are respectively used as the first end and the last end of the inspection track; the first end and the last end of the inspection track are provided with inspection track locators, the inspection robot carrier positions the access position and the walking direction on the inspection track through the inspection track locators; the width of the first end and the last end of the inspection track is gradually increased from small to large, so that the inspection robot carrier can smoothly access the inspection track.
[0014] During detection, the inspection track is fixed to the ground and the top of the drainage pipeline through an inspection track top fixing rod and an inspection track bottom fixing rod.
[0015] In some implementations, the inspection robot further includes transmission wheels, transmission wheel motors, a motor pull-out cabinet, an inspection positioning detector, tires, and tire drive motors mounted on the inspection robot carrier. Four transmission wheels are located on the top of the inspection robot carrier, and all four are driven by the transmission wheel motors. The sides of the transmission wheels are concave to engage with the inspection track. Two transmission wheel motors corresponding to one side of the inspection track are fixed to the motor pull-out cabinet via motor bases. The front end of the motor pull-out cabinet has a pull-out cabinet latch, and the bottom or side of the motor pull-out cabinet has a latching structure. Pulling the pull-out cabinet latch allows the latching structure to lock or disengage from the latching structure on the inspection robot carrier. When disengaged, the two transmission wheels located on the motor pull-out cabinet move along the transmission wheel movement groove on the top of the inspection robot carrier towards the side disengaged from the inspection track, thus disengaging the inspection robot carrier from the inspection track. The two tires located at the front end of the inspection robot carrier are driven by the tire drive motors.
[0016] In some implementations, the low-interference drainage pipe defect and status automatic detection device further includes two U-shaped inspection longitudinal rails. The two inspection longitudinal rails are located inside the two U-shaped portions of the inspection rails. The two ends of the inspection rails are respectively connected to the two inspection longitudinal rails. The middle portion of the inspection longitudinal rails is fixed to the middle portion of the U-shaped portion by an inspection rail connecting rod. Gear holes are provided on the outer side of the inspection longitudinal rails.
[0017] The top of the transmission wheel is equipped with a secondary transmission gear, which is used to mesh with the gear hole of the inspection longitudinal track; both sides of the top of the inspection robot carrier are provided with semi-enclosed meshing plates, which are elastic, and the side of the meshing plate that contacts the inspection track is provided with meshing plate flat ball bearings and meshing plate vertical ball bearings;
[0018] During inspection, the longitudinal inspection track is fixed to the side wall of the pipe outlet by the longitudinal inspection track fixing rod.
[0019] In some implementations, the cleaning device includes a cleaning shovel, the end of which is connected to the inspection robot carrier via a cleaning shovel rotation shaft. The front end of the cleaning shovel is located on top of the inspection robot carrier and engages with the inspection track during inspection. The cleaning shovel is V-shaped, with the width of the bend of the V-shape greater than that of the two ends. The upper and lower parts inside the cleaning shovel are respectively provided with top cleaning cotton and bottom cleaning cotton, and the front end of the cleaning shovel has a hard rubber shell.
[0020] In some implementations, the inspection robot also includes a video lens and a lighting lamp. The video lens is connected to a video lens rotating disk via video lens swing shafts connected to its two sides. The video lens rotating disk is fixed to the front end of the inspection robot carrier. A lens brush is provided next to the video lens. The lighting lamp is fixed to the front end of the inspection robot carrier. The robot controller is connected to the video lens and the lighting lamp via a composite cable.
[0021] In some implementations, the cleaning device includes a high-pressure water gun nozzle, which is connected to a high-pressure water gun nozzle rotating disk via a high-pressure water gun nozzle swing shaft connected to both sides. The high-pressure water gun nozzle rotating disk is fixed to the front end of the inspection robot carrier.
[0022] In some implementations, the low-interference drainage pipe defect and condition automatic detection device further includes a track mounting structure for mounting the inspection track. The track mounting structure includes a float, a float cable, and a float cable retractor. The end of the float is connected to the float cable, and the end of the float cable is connected to the float cable retractor.
[0023] When installing the inspection track, connect one end of the inspection track to the float cable; drop the float into the water of the drainage pipe through the first inspection well; after the float reaches the next inspection well with the water flow, take it out and pull the float cable until the inspection track passes through the drainage pipe and reaches the preset position; fix both ends of the inspection track to the ground surface and the drainage pipe.
[0024] To achieve the above objectives, a second aspect of the present invention provides an automatic detection method for defects and conditions in drainage pipes. This automatic detection method is implemented using the low-interference automatic detection device for defects and conditions in drainage pipes described in the first aspect. The two fixed detection systems are a first fixed detection system and a second fixed detection system, respectively. The automatic detection method for defects and conditions in drainage pipes includes:
[0025] Activate multiple first laser probes of the two fixed detection systems, and detect whether each first laser probe of the first fixed detection system receives laser light emitted by the corresponding first laser probe of the second fixed detection system, and detect whether each first laser probe of the second fixed detection system receives laser light emitted by the corresponding first laser probe of the first fixed detection system.
[0026] When the first target laser probe among the multiple first laser probes of the first fixed detection system does not receive the laser emitted by the corresponding first laser probe of the second fixed detection system, the location information of the structural defect in the drainage pipe is obtained based on the laser emission time, laser return time and laser transmission rate of the first target laser probe.
[0027] When the second target laser probe among the multiple first laser probes of the second fixed detection system does not receive the laser emitted by the first laser probe corresponding to the first fixed detection system, the location information of the structural defect in the drainage pipe is obtained based on the laser emission time, laser return time and laser transmission rate of the second target laser probe.
[0028] The inspection and detection system is activated, driving the inspection robot carrier to dock with the inspection track and move along the track. During the movement, at a certain time frequency, the second laser probe acquires a first distance from the top of the inspection robot carrier to the top of the drainage pipe and a second distance from the bottom of the inspection robot carrier to the bottom liquid level, bottom mud level, or bottom of the drainage pipe. Based on the first distance, the second distance, and drainage pipe parameters, the mud level or liquid level information at the corresponding position of the drainage pipe is obtained. Furthermore, based on the location information of the structural defect in the drainage pipe, the location corresponding to that location information is detected.
[0029] The present invention has the following advantages and beneficial effects:
[0030] The low-interference automatic detection device and method for drainage pipe defects and conditions provided by this invention can detect whether there are structural defects in the pipe through two fixed detection systems. The inspection detection system can obtain information such as the liquid level and silt thickness in the pipe, thus realizing the detection of blockages and silt deposits, thereby achieving automatic inspection and surveying within the drainage pipe network. The inspection detection system uses an inspection robot carrier to move along the lower surface of the inspection track in a suspended manner to inspect the pipe, eliminating the need for interception and cleaning of the target pipe. This allows for inspection and detection during normal drainage operation, effectively avoiding the difficulties faced by conventional inspection robots in muddy and watery environments. The invention employs both fixed detection and patrol detection modes to investigate pipeline defects. After the fixed detection system detects and locates the structural defects, the patrol detection system can further inspect the locations determined by the fixed detection system. This avoids misjudgments by the fixed detection system due to interference from debris in the drainage pipeline. The dual detection mode can accurately locate the structural defects in the pipeline with an extremely low misjudgment rate. The automatic detection device of this invention has a high degree of automation and intelligence, which can save a lot of manpower and time costs. It also has high patrol inspection efficiency, saving pipeline cleaning costs, and does not affect the normal operation of the drainage pipeline.
[0031] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description
[0032] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:
[0033] Figure 1 is a schematic diagram of a low-interference drainage pipeline defect and condition automatic detection device provided in an embodiment of the present invention;
[0034] Figure 2 is a schematic diagram of a fixed detection system provided in an embodiment of the present invention;
[0035] Figure 3 is a schematic diagram of an inspection track provided in an embodiment of the present invention;
[0036] Figure 4 is a structural schematic diagram of an inspection robot provided in an embodiment of the present invention;
[0037] Figure 5 is a schematic diagram of the tire connection structure at the front end of an inspection robot carrier provided in an embodiment of the present invention;
[0038] Figure 6 is a schematic diagram of a track installation structure provided in an embodiment of the present invention;
[0039] In the picture:
[0040] 100. Fixed detection system; 200. Inspection detection system; 1. Fixed detection system fixing rod; 2. Fixed detection transmission control system; 3. Fixed detection system battery; 4. First top laser probe; 5. First top laser signal receiver; 6. First top laser signal transmitter; 7. Detection system pipe wall fixing belt; 8. Fixing belt rotating shaft; 9. Fixing belt fixing hole; 10. Laser probe fixing buckle; 11. Laser probe rotating shaft; 12. First bottom laser probe; 13. Inspection robot carrier; 14. Tire; 15. Secondary gear of transmission wheel; 16. Transmission wheel; 17. Meshing plate; 18. Meshing plate flat ball; 19. Meshing plate vertical ball; 20. Second top laser probe; 21. Top cleaning cotton; 22. Cleaning shovel rotating shaft; 23. Bottom cleaning cotton; 24. Cleaning shovel; 25. Integrated cable; 26. Heat dissipation hole 27. Motor pull-out cabinet; 28. Transmission wheel moving groove; 29. Pull-out cabinet latch; 30. Transmission wheel motor; 31. Motor base; 32. Second bottom laser probe; 33. Video lens rotating disk; 34. Video lens swing axis; 35. Lens brush; 36. Video lens; 37. Lighting lamp; 38. Inspection positioning detector; 39. High-pressure water gun nozzle rotating disk; 40. High-pressure water gun nozzle swing axis; 41. High-pressure water gun nozzle; 42. Integrated cable organizer; 43. Inspection track locator; 44. Inspection track; 45. Inspection track top fixing rod; 46. Inspection longitudinal track; 47. Inspection longitudinal track fixing rod; 48. Inspection track connecting rod; 49. Inspection track bottom fixing rod; 50. Float; 51. Float cable; 52. Float cable organizer; 53. Pipe outlet; 54. Road longitudinal section; 55. Silt. Detailed Implementation
[0041] Embodiments of the present invention are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.
[0042] The following description, with reference to the accompanying drawings, describes an embodiment of the low-interference automatic detection device for defects and conditions in drainage pipes according to the present invention.
[0043] Figure 1 is a schematic diagram of a low-interference automatic detection device for defects and conditions of drainage pipelines provided in an embodiment of the present invention. As shown in Figure 1, the low-interference automatic detection device for defects and conditions of drainage pipelines may include: a patrol detection system 200 and two fixed detection systems 100, wherein:
[0044] The fixed detection system 100 includes a semi-circular pipe wall fixing structure, a fixed detection transmission control system 2, and multiple first laser probes. The fixed detection transmission control system 2 is installed on the pipe wall fixing structure, and the multiple first laser probes are respectively installed at different positions on the pipe wall fixing structure. The multiple first laser probes are connected to the fixed detection transmission control system 2. Optionally, the multiple first laser probes include a first top laser probe 4 and two first bottom laser probes 12 located at the middle position and the two sides of the pipe wall fixing structure, respectively.
[0045] The inspection and detection system 200 includes an inspection track 44 and an inspection robot. The inspection robot includes an inspection robot carrier 13, a robot controller, multiple second laser probes, and a cleaning device. The robot controller is connected to the inspection robot carrier 13, multiple second laser probes, and the cleaning device via a composite cable 25. The multiple second laser probes are respectively installed on the top and bottom of the inspection robot carrier 13, and the cleaning device is installed on the inspection robot carrier 13.
[0046] During inspection, the inspection track 44 runs through the drainage pipe, and two fixed detection systems 100 are respectively set at both ends of the inspection track 44 and located on the upper surface of the inspection track 44. The inspection robot carrier 13 moves along the lower surface of the inspection track 44 in a hoisting manner.
[0047] During installation, two fixed detection systems 100 are fixed at both ends of the drainage pipe, and the inspection track 44 runs through the drainage pipe. The inspection robot carrier 13 moves along the lower surface of the inspection track 44 in a hoisting manner. The two fixed detection systems 100 are located on the upper surface of the inspection track 44 and do not affect the movement of the inspection robot carrier 13 on the inspection track 44. The two ends of the inspection track 44 extend to the ground surface at both ends of the drainage pipe or the side wall of the drainage pipe.
[0048] It should be noted that each of the first and second laser probes includes a laser signal transmitter and a laser signal receiver, capable of emitting and receiving laser signals. For example, as shown in Figure 2, the first top laser probe 4 includes a first top laser signal receiver 5 and a first top laser signal transmitter 6.
[0049] It should also be noted that the principle of detecting structural defects in drainage pipes using the first laser probe is based on the linear propagation of laser light. When the laser is obstructed in its propagation path, the two fixed detection systems located at both ends of the drainage pipe cannot receive each other's laser signals, thus determining that there is a high probability of a structural defect in this section of the drainage pipe. The laser signal returning from the point of obstruction returns to the original laser signal receiver of the first laser probe. Using the known laser propagation speed and round-trip propagation time, the location of the structural defect can be calculated.
[0050] Therefore, the first laser probe is turned on and off by the fixed detection transmission control system 2. For example, the first top laser probe 4, located in the middle of the fixed pipe wall structure, can be used to detect whether there are structural defects at the top of the drainage pipe, and the first bottom laser probe 12, located at both ends of the bottom of the fixed pipe wall structure, can be used to detect whether there are structural defects on the side walls of the drainage pipe, such as collapse or deformation. When a laser signal is blocked, the location of the structural defect is calculated based on the emission time, return time, and laser transmission rate of the laser signal, and the collected and processed data is transmitted to the user platform system.
[0051] Therefore, the inspection detection system 200 can measure the distance from the top of the inspection robot carrier 13 to the top of the drainage pipe through the second laser probe (second top laser probe 20) on the top of the inspection robot carrier 13, and can measure the distance from the bottom of the inspection robot carrier 13 to the liquid level, sludge level or bottom of the drainage pipe through the second laser probe (second bottom laser probe 32) on the bottom of the inspection robot carrier 13. Since the laser probe parameters can be known through the design of the equipment itself and the specifications of the drainage pipe are known, the liquid level and sludge thickness of the drainage pipe can be calculated.
[0052] The low-interference automatic detection device for drainage pipe defects and conditions in this embodiment of the invention can detect whether there are structural defects in the pipe through two fixed detection systems 100, and obtain information such as the liquid level and silt thickness of the pipe through the inspection detection system 200, thereby realizing the detection of blockage and silt in the pipe and achieving automatic inspection and exploration within the drainage pipe network. The inspection detection system 200 moves along the lower surface of the inspection track 44 in a suspended manner through the inspection robot carrier 13 to inspect the pipe, without the need for interception and cleaning of the target pipe. It realizes inspection and detection when the drainage pipe is in normal operation and drainage, which can effectively avoid the difficulty of conventional inspection robots in muddy water. The system operates under various environmental conditions and employs both fixed detection and patrol detection modes to investigate pipeline defects. After the fixed detection system detects anomalies in the pipeline structure and locates the structural defects, the patrol detection system 200 can further detect the locations determined by the fixed detection system 100. This avoids misjudgments by the fixed detection system due to interference from debris in the drainage pipeline. The dual detection mode can accurately locate the pipeline structural defects with an extremely low misjudgment rate. The automatic detection device of this invention has a high degree of automation and intelligence, which can save a lot of manpower and time costs. It also has high patrol inspection efficiency, saving pipeline cleaning costs, and does not affect the normal operation of the drainage pipeline.
[0053] In some embodiments, as shown in FIG2, the pipe wall fixing structure is formed by connecting multiple arc-shaped detection system pipe wall fixing bands 7 in sequence, and adjacent detection system pipe wall fixing bands 7 are connected by fixing band rotating shafts 8; the detection system pipe wall fixing bands 7 are provided with fixing band fixing holes 9, and the fixed detection transmission control system 2 or the pipe wall fixing structure is provided with a fixed detection system fixing rod 1 for fixing the fixed detection system 100 to the drainage pipe.
[0054] Therefore, the pipe wall fixing structure can adjust its curvature according to the diameter specifications of different drainage pipes to ensure a tight fit against the pipe wall. The detection system pipe wall fixing band 7 can be fixed to the drainage pipe wall by bolts passing through the fixing holes 9. The fixed detection system 100 can be fixed to the top of the drainage pipe by the fixed detection system fixing rod 1.
[0055] In some embodiments, the plurality of first laser probes includes three first laser probes, which are respectively located at both ends and the middle of the tube wall fixing structure; each of the connecting ends of the plurality of first laser probes is provided with a laser probe rotating shaft 11, and the end of the laser probe rotating shaft 11 is provided with a laser probe fixing buckle 10, which can lock the position by rotating the laser probe fixing buckle 10 after the position of the first laser probe is determined.
[0056] Therefore, the connection ends of multiple first laser probes can rotate flexibly through the laser probe rotation shaft 11, and the laser probe fixing buckle 10 at the end of the laser probe rotation shaft 11 can lock the position of the first laser probe by rotating the laser probe fixing buckle 10 after the position of the first laser probe is determined.
[0057] In some embodiments, the fixed detection transmission control system 2 is connected to the fixed detection system battery 3, which can provide energy to the fixed detection system 100.
[0058] In some embodiments, as shown in FIG3, both ends of the inspection track 44 are bent upward to form U-shaped sections, with the upper parts of the two U-shaped sections serving as the first and last ends of the inspection track 44, respectively. Inspection track locators 43 are provided at both ends of the inspection track 44, allowing the inspection robot carrier 13 to locate its access position and travel direction on the inspection track 44. The width of both ends of the inspection track 44 gradually increases from thin to thick to ensure smooth access for the inspection robot carrier 13. During inspection, the inspection track 44 is fixed to the ground surface and the top of the drainage pipe, respectively, via the top fixing rod 45 and the bottom fixing rod 49, i.e., fixed to the road longitudinal section 54 in FIG3. Thus, the inspection robot carrier 13 can locate its access position and travel direction on the inspection track 44 using the inspection track locators 43.
[0059] In some embodiments, as shown in FIG4, the inspection robot further includes transmission wheels 16, transmission wheel motors 30, motor drawer cabinets 27, and inspection positioning detectors 38 disposed on the inspection robot carrier 13. The four transmission wheels 16 are disposed on the top of the inspection robot carrier 13, and all four transmission wheels 16 are driven by the transmission wheel motors 30. The sides of the transmission wheels 16 are concave and can mesh with the inspection track 44. The two transmission wheel motors 30 on one side of the inspection track 44 are fixed to the motor drawer cabinet by the motor base 31. 27. The front end of the motor pull-out cabinet 27 is provided with a pull-out cabinet buckle 29. The bottom or side of the motor pull-out cabinet 27 is provided with a buckle structure. By pulling out the pull-out cabinet buckle 29, the buckle structure can be locked or disengaged from the slot structure on the inspection robot carrier 13. When disengaged, the two transmission wheels 16 located on one side of the motor pull-out cabinet 27 move along the transmission wheel moving slot 28 provided on the top of the inspection robot carrier 13 to the side that is disengaged from the inspection track 44, so as to realize the disengagement of the inspection robot carrier 13 from the inspection track 44.
[0060] The motor-driven pull-out cabinet 27 can be inserted and pulled out relative to the inspection robot carrier 13. When the motor-driven pull-out cabinet 27 is pushed into the target position of the inspection robot carrier 13, even when the transmission wheel 16 is engaged with the inspection track 44, the motor-driven pull-out cabinet 27 and the inspection robot carrier 13 can be limited by the buckle structure. When the motor-driven pull-out cabinet 27 is pulled out a small distance by the pull-out cabinet buckle 29, the inspection robot carrier 13 can be disengaged from the inspection track 44.
[0061] The buckle structure can be a flexible structure. During the insertion and removal of the motor pull-out cabinet 27 from the inspection robot carrier 13, the flexible structure can deform and snap into the corresponding slot structure on the inspection robot carrier 13 when it reaches the target position.
[0062] In other words, a transmission wheel motor 30 is installed inside the inspection robot carrier 13, which is connected to the transmission wheel 16. The bottom of the transmission wheel motor 30 is provided with a motor base 31 for fixing. Two motor bases 31 are fixed to the motor pull cabinet 27. The motor pull cabinet 27 is provided with a pull cabinet latch 29. The top of the inspection robot carrier 13 is provided with a transmission wheel moving groove 28. By pulling the pull cabinet latch 29, the transmission wheel 16 and the transmission wheel motor 30 can be moved laterally, thereby realizing the separation of the inspection robot carrier 13 from the inspection track 44.
[0063] Thus, the inspection robot carrier 13 can detect the inspection track locator 43 on the inspection track 44 through the inspection positioning detector 38 set at the front end, and guide the inspection robot carrier 13 to automatically enter the inspection track 44, so as to automatically identify the start and end points of the inspection track 44; after the inspection robot carrier 13 enters the drainage pipe, it is in a suspended upside-down state, and the inspection robot carrier 13 can engage with the inspection track 44 through the concave shape of the side of the top transmission wheel 16.
[0064] In some embodiments, the inspection robot carrier 13 is equipped with four tires 14, as shown in Figure 5. The two tires 14 located at the front end of the inspection robot carrier 13 are driven by tire drive motors to move on the ground. When both ends of the inspection track 44 are fixed to the ground, they need to be at a certain height above the ground so that the inspection robot carrier 13 can automatically dock with the inspection track 44 from the ground travel mode and enter the drainage pipe hoisting inspection mode. That is, after the inspection robot carrier 13 moves on the ground to the inspection track locator 43 via the tires 14, the inspection robot carrier 13 engages with the inspection track 44 through the concave shape of the side of the top drive wheel 16; the robot controller controls the tire drive motors of the tires 14 to stop working and controls the drive wheel motor 30 to start working, driving the inspection robot carrier 13 to perform the inspection task along the inspection track 44.
[0065] In some embodiments, as shown in Figures 3 and 4, the low-interference drainage pipe defect and status automatic detection device further includes two U-shaped inspection longitudinal tracks 46. The two inspection longitudinal tracks 46 are located inside the two U-shaped portions of the inspection track 44. The two ends of the inspection track 44 are respectively connected to the two inspection longitudinal tracks 46. The middle part of the inspection longitudinal track 46 is fixed to the middle part of the U-shaped portion through the inspection track connecting rod 48. The outer side of the inspection longitudinal track 46 is provided with a gear hole. The top of the transmission wheel 16 is equipped with a transmission wheel secondary gear 15, which is used to mesh with the gear hole of the inspection longitudinal track 46. The top of the inspection robot carrier 13 is provided with semi-enclosed meshing plates 17 on both sides. The meshing plates 17 have a certain elasticity. The side of the meshing plate 17 that contacts the inspection track 44 is provided with meshing plate flat ball bearings 18 and meshing plate vertical ball bearings 19. During detection, the inspection longitudinal track 46 is fixed to the side wall of the pipe outlet 53 through the inspection longitudinal track fixing rod 47.
[0066] In one implementation, the end of the inspection longitudinal track fixing rod 47 is fixed to the side wall of the pipe outlet 53, the beginning end of the inspection longitudinal track fixing rod 47 is connected to the inspection longitudinal track 46, and the inspection longitudinal track 46 is fixed to the vertical section of the inspection track 44 through the inspection track connecting rod 48; the two inspection track connecting rods 48 and the inspection track 44 are fixed at one point.
[0067] Therefore, the secondary gear 15 of the transmission wheel can mesh with the longitudinal track 46 of the inspection, which can provide better climbing ability during the vertical movement of the inspection robot carrier 13; the inspection robot carrier 13 can provide suspension force for the movement of the inspection robot carrier 13 by cooperating with the inspection track 44 through the two semi-enclosed meshing plates 17 on the top.
[0068] In some embodiments, as shown in FIG4, the cleaning device includes a cleaning shovel 24. The end of the cleaning shovel 24 is connected to the inspection robot carrier 13 via a cleaning shovel rotation shaft 22. The front end of the cleaning shovel 24 is located on the top of the inspection robot carrier 13 and can engage with the inspection track 44 during inspection. The cleaning shovel 24 is V-shaped, and the width of the bend of the V-shape is greater than that of the two ends. The upper and lower parts inside the cleaning shovel 24 are respectively provided with a top cleaning cotton 21 and a bottom cleaning cotton 23. The front end of the cleaning shovel 24 has a shell made of hard rubber.
[0069] Thus, one end of the cleaning shovel 24 engages with the inspection track 44, which can remove solid obstacles and interferences attached to the inspection track 44 and perform initial cleaning of the track. The top cleaning cotton 21 and bottom cleaning cotton 23 provided in the upper and lower parts of the cleaning shovel 24, respectively, can further clean the inspection track 44, effectively remove garbage interference on the inspection track 44, ensure normal operation of the inspection, have high reliability, and a wide range of applications.
[0070] In some embodiments, as shown in FIG4, the inspection robot further includes a video lens 36 and a lighting lamp 37. The video lens 36 is connected to a video lens rotating disk 33 via video lens swing shafts 34 connected to its two sides. The video lens rotating disk 33 is fixed to the front end of the inspection robot carrier 13. A lens brush 35 is provided next to the video lens 36. The lighting lamp 37 is fixed to the front end of the inspection robot carrier 13. The robot controller is connected to the video lens 36 and the lighting lamp 37 via a composite cable 25.
[0071] Therefore, the inspection robot carrier 13 can collect high-definition video information inside the drainage pipe through the video lens 36 on one side of the front end. After the fixed detection system 100 determines the location of the collapse or deformation, it can collect video information of the defect point at close range, providing a basis for pipeline defect diagnosis. This further avoids misjudgment caused by drainage pipe debris interference in the fixed detection mode. The dual detection mode can accurately locate the location of pipeline collapse, breakage and deformation, with an extremely low misjudgment rate.
[0072] In some embodiments, as shown in FIG4, the cleaning device includes a high-pressure water gun nozzle 41, which is connected to a high-pressure water gun nozzle rotating disk 39 via a high-pressure water gun nozzle swing shaft 40 connected to both sides of the nozzle. The high-pressure water gun nozzle rotating disk 39 is fixed to the front end of the inspection robot carrier 13.
[0073] Therefore, the high-pressure water gun nozzle 41 can swing up and down through the high-pressure water gun nozzle swing shaft 40 connected on both sides. The other end of the high-pressure water gun nozzle swing shaft 40 is fixed to the high-pressure water gun nozzle rotating disk 39, which can realize the rotation of the high-pressure water gun nozzle 41, thereby adjusting the angle of the high-pressure water gun nozzle 41, which can quickly remove interference objects on the inspection track 44, blockages in the pipeline, etc.
[0074] In some embodiments, the integrated cable 25 is disposed at the tail of the inspection robot carrier 13. The integrated cable 25 has multiple pipelines inside, which can transmit power, control signals and water. The end of the integrated cable 25 is connected to the integrated cable retractor 42. The side wall of the inspection robot carrier 13 is provided with heat dissipation holes 26.
[0075] In some embodiments, the low-interference drainage pipe defect and condition automatic detection device further includes a track mounting structure for mounting the inspection track 44, as shown in FIG6. The track mounting structure includes a float 50, a float cable 51 and a float cable retractor 52. The end of the float 50 is connected to the float cable 51 and the end of the float cable 51 is connected to the float cable retractor 52.
[0076] When installing the inspection track 44, connect one end of the inspection track 44 to the float cable 51; drop the float 50 into the water of the drainage pipe through the first inspection well; after the float 50 reaches the next inspection well with the water flow, take it out and pull the float cable 51 until the inspection track 44 passes through the drainage pipe and reaches the preset position, and fix both ends of the inspection track 44 to the ground and the drainage pipe.
[0077] It should be noted that the inspection track 44 can be installed on both new and existing pipelines. On new pipelines, it can be installed directly at the factory. On existing pipelines, a float 50 is placed in the flowing water. The end of the float 50 is connected to a float cable 51, and the end of the float cable 51 is connected to a float cable retractor 52. When the float 50 reaches the next inspection well, which is another planned fixed point of the inspection track 44, it is removed. Since the other end of the float cable 51 is connected to one end of the inspection track 44, the float cable 51 is pulled to the preset point, thus completing the entire passage of the inspection track 44 through the pipeline. Then, the two ends of the inspection track 44 can be fixed.
[0078] For example, the low-interference drainage pipe defect and status automatic detection device of the present invention can be implemented in municipal drainage pipe networks to detect defects in drainage pipe networks and automatically detect status information such as pipe network liquid level and mud level.
[0079] For drainage pipes that need to be inspected, select the planned inspection section on the existing old pipe and choose a time period with flowing water. Drop a float 50 into the upstream of the drainage pipe. After the float 50 enters the pipe with the water flow and reaches the next inspection well, which is another planned fixed point of the inspection track 44, take out the float 50. Connect the other end of the float cable 51 to one end of the inspection track 44 and pull the float cable 51 to the preset point. This completes the crossing of the entire inspection track 44 through the current pipe. Then, the two ends of the inspection track 44 can be fixed.
[0080] In routine automatic inspection mode, the inspection robot carrier 13 is positioned by identifying the inspection track locator 43. When traveling on land, it automatically embeds the drive wheel 16 and meshing plate 17 into the inspection track 44 and enters the pipeline for inspection. If the inspection starting point is a section of manhole covered by a certain pipeline, the inspection track 44 does not need to be set on the ground. Instead, one end of the inspection track 44 is attached to the side wall of the pipeline, and the drive wheel 16 and meshing plate 17 of the inspection robot carrier 13 are manually embedded into the inspection track 44. When the fixed detection system 100 detects that the pipeline may collapse or deform, or when it is necessary to inspect the pipeline status, the inspection detection system 200 can be activated.
[0081] Surface workers issue control commands through the robot controller. These commands are transmitted via integrated cable 25 to the video camera 36, lighting 37, and high-pressure water nozzle 41 on the inspection robot carrier 13. This enables the opening, closing, and position adjustment of the video camera 36, lighting 37, and high-pressure water nozzle 41, effectively collecting information on pipeline defects and operational status. When it is necessary to detach the inspection robot carrier 13 from the inspection track 44, one method is to return it to the fixed point on the surface track and automatically detach it from the track. Another method is to pull out the pull-out cabinet latch 29 to detach the drive wheel 16 from the inspection track 44, thus completing the inspection work.
[0082] The application of the low-interference drainage pipeline defect and status automatic detection device of this invention enables accurate and real-time monitoring of information such as defects and working status of municipal drainage pipelines. It not only solves the problem of pipeline defect identification, but also the problem of pipeline status detection under low-interference conditions. It avoids the preparatory work such as interception and dredging before inspection, greatly reduces detection costs, improves detection efficiency, and provides a practical method for the maintenance of municipal drainage systems.
[0083] Based on any of the above embodiments, this invention proposes an automatic detection method for defects and conditions in drainage pipes, comprising two fixed detection systems: a first fixed detection system and a second fixed detection system. The automatic detection method for defects and conditions in drainage pipes includes:
[0084] Multiple first laser probes of two fixed detection systems are activated, and it is detected whether each first laser probe of the first fixed detection system receives the laser emitted by the corresponding first laser probe of the second fixed detection system, and whether each first laser probe of the second fixed detection system receives the laser emitted by the corresponding first laser probe of the first fixed detection system.
[0085] When the first target laser probe among the multiple first laser probes of the first fixed detection system does not receive the laser emitted by the first laser probe of the second fixed detection system, the location information of the structural defect in the drainage pipe is obtained based on the laser emission time, laser return time and laser transmission rate of the first target laser probe.
[0086] When the second target laser probe in the multiple first laser probes of the second fixed detection system does not receive the laser emitted by the corresponding first laser probe of the first fixed detection system, the location information of the structural defect in the drainage pipe is obtained based on the laser emission time, laser return time and laser transmission rate of the second target laser probe.
[0087] When pipeline condition inspection is required, the inspection and detection system is activated, driving the inspection robot carrier to dock with the inspection track and move along the track. During the movement, at a certain time frequency, the second laser probe acquires the first distance from the top of the inspection robot carrier to the top of the drainage pipe and the second distance from the bottom of the inspection robot carrier to the bottom liquid level or bottom mud level or bottom of the drainage pipe. Based on the first distance, the second distance, and drainage pipe parameters, the mud level or liquid level information at the corresponding location of the drainage pipe is obtained. Furthermore, based on the location information of structural defects in the drainage pipe obtained by the fixed detection system, the corresponding location is detected to confirm whether a misjudgment has occurred at that location.
[0088] In the foregoing descriptions of the embodiments, the term "some embodiments" refers to a specific feature, structure, material, or characteristic described in connection with that embodiment being included in at least one embodiment of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiments. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments and features described in this specification.
[0089] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0090] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any of the following techniques known in the art, or a combination thereof: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.
[0091] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.
[0092] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.
Claims
1. A low-interference automatic detection device for defects and conditions in drainage pipelines, characterized in that, It includes an inspection and detection system and two fixed detection systems. The fixed detection system includes a semi-circular pipe wall fixing structure, a fixed detection transmission control system, and multiple first laser probes. The fixed detection transmission control system is installed on the pipe wall fixing structure, and the multiple first laser probes are respectively installed at different positions on the pipe wall fixing structure. The multiple first laser probes are connected to the fixed detection transmission control system. The inspection and detection system includes an inspection track and an inspection robot. The inspection robot includes an inspection robot carrier, a robot controller, multiple second laser probes, and a cleaning device. The robot controller is connected to the inspection robot carrier, the multiple second laser probes, and the cleaning device via a composite cable. The multiple second laser probes are respectively installed on the top and bottom of the inspection robot carrier, and the cleaning device is installed on the inspection robot carrier. During inspection, the inspection track passes through the drainage pipe, the two fixed detection systems are respectively set at both ends of the inspection track and located on the upper surface of the inspection track, and the inspection robot carrier moves along the lower surface of the inspection track in a suspended manner. Both ends of the inspection track are bent upwards to form U-shaped sections, with the upper parts of the two U-shaped sections serving as the beginning and end points of the inspection track, respectively. Inspection track locators are installed at both the beginning and end points of the inspection track, allowing the inspection robot carrier to determine its access position and direction of travel on the inspection track. The width of both the beginning and end points of the inspection track gradually increases from thin to thick, ensuring smooth access for the inspection robot carrier. During inspection, the inspection track is fixed to the ground surface and the top of the drainage pipe by the top fixing rod and the bottom fixing rod of the inspection track, respectively.
2. The low-interference drainage pipeline defect and condition automatic detection device according to claim 1, characterized in that, The pipe wall fixing structure is composed of multiple arc-shaped detection system pipe wall fixing bands connected in sequence, and adjacent detection system pipe wall fixing bands are connected by fixing band rotation shafts; the detection system pipe wall fixing bands are provided with fixing band fixing holes, and the fixed detection transmission control system or pipe wall fixing structure is provided with a fixed detection system fixing rod for fixing the fixed detection system to the drainage pipe.
3. The low-interference drainage pipeline defect and condition automatic detection device according to claim 1, characterized in that, The plurality of first laser probes includes three first laser probes, which are respectively located at both ends and the middle of the tube wall fixing structure; Each of the multiple first laser probes is provided with a laser probe rotating shaft at its connection end, and a laser probe fixing buckle is provided at the end of the laser probe rotating shaft. After the position of the first laser probe is determined, the position is locked by rotating the laser probe fixing buckle.
4. The low-interference drainage pipeline defect and condition automatic detection device according to claim 1, characterized in that, The inspection robot also includes transmission wheels, transmission wheel motors, a motor pull-out cabinet, an inspection positioning detector, tires, and tire drive motors mounted on the inspection robot carrier. Four transmission wheels are located on the top of the inspection robot carrier and are driven by the transmission wheel motors. The sides of the transmission wheels are concave to engage with the inspection track. Two transmission wheel motors on one side of the inspection track are fixed to the motor pull-out cabinet via motor bases. The front end of the motor pull-out cabinet has a pull-out cabinet latch, and the bottom or side of the cabinet has a latching structure. Pulling the pull-out cabinet latch allows the latching structure to lock or disengage from the latching structure on the inspection robot carrier. When disengaged, the two transmission wheels located on the motor pull-out cabinet move along the transmission wheel movement groove on the top of the inspection robot carrier towards the side detached from the inspection track, thus disengaging the inspection robot carrier from the inspection track. The two tires located at the front end of the inspection robot carrier are driven by the tire drive motors.
5. The low-interference drainage pipeline defect and condition automatic detection device according to claim 4, characterized in that, The low-interference drainage pipeline defect and status automatic detection device also includes two U-shaped inspection longitudinal rails. The two inspection longitudinal rails are located inside the two U-shaped sections of the inspection rails. The two ends of the inspection rails are respectively connected to the two inspection longitudinal rails. The middle part of the inspection longitudinal rails is fixed to the middle part of the U-shaped section through the inspection rail connecting rod. The outer side of the inspection longitudinal rails is provided with gear holes. The top of the transmission wheel is equipped with a secondary transmission gear, which is used to mesh with the gear hole of the inspection longitudinal track; both sides of the top of the inspection robot carrier are provided with semi-enclosed meshing plates, which are elastic, and the side of the meshing plate that contacts the inspection track is provided with meshing plate flat ball bearings and meshing plate vertical ball bearings; During inspection, the longitudinal inspection track is fixed to the side wall of the pipe outlet by the longitudinal inspection track fixing rod.
6. The low-interference drainage pipeline defect and condition automatic detection device according to claim 1, characterized in that, The cleaning device includes a cleaning shovel, the end of which is connected to the inspection robot carrier via a cleaning shovel rotation shaft. The front end of the cleaning shovel is located on top of the inspection robot carrier and engages with the inspection track during inspection. The cleaning shovel is V-shaped, with the width of the bend of the V-shape greater than that of the two ends. The upper and lower parts inside the cleaning shovel are respectively provided with top cleaning cotton and bottom cleaning cotton, and the front end of the cleaning shovel has a hard rubber shell.
7. The low-interference drainage pipeline defect and condition automatic detection device according to claim 1, characterized in that, The inspection robot also includes a video lens and a lighting lamp. The video lens is connected to a video lens rotating disk via video lens swing shafts connected to both sides. The video lens rotating disk is fixed to the front end of the inspection robot carrier. A lens brush is provided next to the video lens. The lighting lamp is fixed to the front end of the inspection robot carrier. The robot controller is connected to the video lens and the lighting lamp via a composite cable. The cleaning device includes a high-pressure water gun nozzle, which is connected to a high-pressure water gun nozzle rotating disk via a high-pressure water gun nozzle swing shaft connected to both sides. The high-pressure water gun nozzle rotating disk is fixed to the front end of the inspection robot carrier.
8. The low-interference drainage pipeline defect and condition automatic detection device according to claim 1, characterized in that, The low-interference drainage pipe defect and status automatic detection device also includes a track mounting structure for installing the inspection track. The track mounting structure includes a float, a float cable, and a float cable retractor. The end of the float is connected to the float cable, and the end of the float cable is connected to the float cable retractor. When installing the inspection track, connect one end of the inspection track to the float cable; The float is dropped into the water of the drainage pipe through the first inspection well. After the float reaches the next inspection well with the water flow, it is taken out and the float cable is pulled until the inspection track passes through the drainage pipe and reaches the preset position. The two ends of the inspection track are fixed to the ground and the drainage pipe.
9. An automatic detection method for defects and conditions in drainage pipes, characterized in that, The automatic detection method for defects and conditions of drainage pipelines is implemented by the low-interference automatic detection device for defects and conditions of drainage pipelines according to any one of claims 1 to 8, wherein the two fixed detection systems are a first fixed detection system and a second fixed detection system, respectively; the automatic detection method for defects and conditions of drainage pipelines includes: Activate multiple first laser probes of the two fixed detection systems, and detect whether each first laser probe of the first fixed detection system receives laser light emitted by the corresponding first laser probe of the second fixed detection system, and detect whether each first laser probe of the second fixed detection system receives laser light emitted by the corresponding first laser probe of the first fixed detection system. When the first target laser probe among the multiple first laser probes of the first fixed detection system does not receive the laser emitted by the corresponding first laser probe of the second fixed detection system, the location information of the structural defect in the drainage pipe is obtained based on the laser emission time, laser return time and laser transmission rate of the first target laser probe. When the second target laser probe among the multiple first laser probes of the second fixed detection system does not receive the laser emitted by the first laser probe corresponding to the first fixed detection system, the location information of the structural defect in the drainage pipe is obtained based on the laser emission time, laser return time and laser transmission rate of the second target laser probe. The inspection and detection system is activated, driving the inspection robot carrier to dock with the inspection track and move along the track. During the movement, at a certain time frequency, the second laser probe acquires a first distance from the top of the inspection robot carrier to the top of the drainage pipe and a second distance from the bottom of the inspection robot carrier to the bottom liquid level, bottom mud level, or bottom of the drainage pipe. Based on the first distance, the second distance, and drainage pipe parameters, the mud level or liquid level information at the corresponding position of the drainage pipe is obtained. Furthermore, based on the location information of the structural defect in the drainage pipe, the location corresponding to that location information is detected.