CN111123955A - Amphibious operation pipeline detection equipment - Google Patents

Amphibious operation pipeline detection equipment Download PDF

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Publication number
CN111123955A
CN111123955A CN202010065466.5A CN202010065466A CN111123955A CN 111123955 A CN111123955 A CN 111123955A CN 202010065466 A CN202010065466 A CN 202010065466A CN 111123955 A CN111123955 A CN 111123955A
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China
Prior art keywords
supporting plate
cabin
inspection apparatus
amphibious
pipeline
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CN202010065466.5A
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Chinese (zh)
Inventor
刘艳臣
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Tsinghua University
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Tsinghua University
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Priority to CN202010065466.5A priority Critical patent/CN111123955A/en
Publication of CN111123955A publication Critical patent/CN111123955A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/40—Constructional aspects of the body
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8806—Specially adapted optical and illumination features
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/90—Investigating the presence of flaws or contamination in a container or its contents
    • G01N21/9072—Investigating the presence of flaws or contamination in a container or its contents with illumination or detection from inside the container
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/90—Investigating the presence of flaws or contamination in a container or its contents
    • G01N21/909—Investigating the presence of flaws or contamination in a container or its contents in opaque containers or opaque container parts, e.g. cans, tins, caps, labels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0244—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using reflecting strips
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/10—Treating the inside of pipes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
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  • Analytical Chemistry (AREA)
  • Combustion & Propulsion (AREA)
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  • Computer Vision & Pattern Recognition (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Business, Economics & Management (AREA)
  • Acoustics & Sound (AREA)
  • Multimedia (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
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  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

Abstract

The invention relates to amphibious operation pipeline detection equipment, which comprises a vehicle body, a battery cabin and a control equipment cabin, wherein a four-wheel independent suspension system is adopted, the control equipment cabin is fixedly arranged on the top surface of a supporting plate of the vehicle body, the battery cabin is fixedly arranged on the bottom surface of the supporting plate, a camera with a cloud deck and an LED waterproof illuminating lamp are arranged at the front end of the supporting plate through a sealed photography cabin, and an antenna is arranged at the rear end of the supporting plate; the pipeline detection equipment can smoothly and stably pass through the rugged pit section and the silted pit section, and cannot generate inclined side turning. The system can realize the characteristics of automatic off-line advancing of a long-distance pipeline, amphibious barrier-free driving in the pipeline, real-time panoramic image transmission of an inner scene of the pipeline, automatic clear imaging of a fault point, positioning and recording of the fault point, automatic recording of an advancing path of a pipeline state and the like.

Description

Amphibious operation pipeline detection equipment
Technical Field
The invention belongs to the field of drainage pipe network detection, relates to a pipeline robot, and particularly relates to a large-depth waterproof four-wheel-drive independent suspension wireless and optical fiber dual-mode control amphibious operation pipeline detection equipment robot with replaceable tire patterns.
Background
Most of the pipeline robots on the market currently are air pipe robots, and can only work in dry and clean pipelines. And for the rain and sewage pipeline in the underground pipe network, the robot can be put into the underground pipe network to carry out the operation in a CCTV mode after plugging and draining and dredging, if the robot does not drain and dredge, the robot can generate siltation due to poor off-road property or overturn due to the inclination caused by obstacles, so that the operation cannot be carried out. For a high-pressure tap water pipe, a robot in the market can perform stable operation only by stopping water and reducing pressure firstly due to light weight. Plugging, dredging and pressure reduction work each time is very heavy, and the interruption of production and life of citizens is 1 day slightly and more days seriously, so that the influence is wide and the economic loss is large. At present, robots which are applied only have a CCTV video detection function, and cannot detect areas with poor visibility of sewage.
SUMMARY OF THE PATENT FOR INVENTION
The invention aims to overcome the defects in the prior art and provides a large-depth waterproof four-wheel-drive independent suspension wireless and optical fiber dual-mode control amphibious operation pipeline detection equipment robot with replaceable tire patterns.
The technical scheme adopted by the invention for solving the technical problem is as follows:
an amphibious operation pipeline detection device comprises a vehicle body adopting a 4-wheel independent suspension system, a battery cabin and a control device cabin, wherein the control device cabin is fixedly arranged on the top surface of a supporting plate of the vehicle body, the battery cabin is fixedly arranged on the bottom surface of the supporting plate, a camera with a cloud deck and an LED waterproof illuminating lamp are arranged at the front end of the supporting plate through a sealed photography cabin, and an antenna is arranged at the rear end of the supporting plate;
the control equipment cabin interior sealing control system, control system including loop through automobile body optical transceiver, router, the navigation controller of RJ45 network bus connection, automobile body optical transceiver passes through optical fiber connection with ground optical transceiver, ground optical transceiver passes through wireless connection with the panel computer, panel computer wireless connection remote controller, the navigation controller is connected four wheels through four wheel motor electricity accent, the waterproof light of camera and LED is connected to the navigation controller.
In addition, a sonar is also mounted on the support plate of the vehicle body, and the sonar is connected with a router through an RJ45 network bus.
Moreover, the battery cabin is encapsulated by epoxy resin, and a power supply/charging and voltage balance monitoring interface is reserved outside.
Moreover, a demisting fan is arranged in the sealed photography cabin.
And the wheel is of a double-layer structure, the inner layer is an inner rotor brushless motor, the outer layer is a planetary reduction gear box, and the whole shell is a hub shell.
And moreover, a tire rubber sleeve with customized patterns is sleeved on the motor shell to serve as a wheel set, and water inlet holes and water outlet holes are reserved in the wheel set shell.
Moreover, a bus protocol which is simultaneously converted and converted into optical fibers by HDMI, RJ45 and TTL is adopted to carry out bidirectional optical fiber transmission with a ground station.
Moreover, a plurality of MOS tube remote control switches are adopted.
And moreover, a Hall sensor is arranged on a wheel of the robot, and a reflecting scale text is printed on the outer skin of the optical fiber.
Further, a panoramic camera is mounted on the vehicle body.
The advantages and positive effects of the invention are:
1. the power suspension scheme of the unmanned pipeline vehicle with front and rear double A-arm independent suspension and four-wheel drive high-pass is adopted, the stability of the vehicle body is improved, and meanwhile, the passing performance is improved. The section of the rugged pit and the silted pit can smoothly and stably pass through the ditch without generating inclined side turning.
2. The survey video scheme combining the panoramic camera and the two-degree-of-freedom pan-tilt-zoom camera is adopted to achieve the purposes of no visual dead angle and acquisition of full-angle video information under the condition of high-speed running. And the lamp light compensation is carried out through the self-contained light source.
3. The communication bus system which is combined and converted into optical fibers by using the HDMI, the RJ45 and the TTL achieves the integration of high-definition video transmission, sonar data transmission and a control system. The whole optical fiber pigtail has only one optical fiber pigtail, the integration level is high, the weight of the tow line is light, and the influence on the motion attitude is small.
4. Tire pattern can carry out quick replacement according to the topography, adapts to different service environment and increases and grabs the land fertility.
5. The sealed photographic chamber is provided with a demisting fan to ensure that the definition of underwater photography does not fog.
6. And by adopting a quick-release modularized bus interface and a physical interface, various sensors and task modules can be expanded. The use of a plurality of remote control MOS switches increases the reliability of power supply and realizes remote startup and shutdown.
7. The vehicle-mounted and spool wire-proof light sensor counters are adopted, so that the speed calculation, distance calculation and advancing positioning of the robot are realized.
8. The whole speed reduction wheel set is adopted, the water inlet and outlet holes are formed, and the pressure-resistant depth and corrosion resistance can be effectively improved by using stainless steel materials and nylon materials.
9. The pipeline robot can realize the characteristics of automatic off-line travelling of a long-distance pipeline, amphibious barrier-free driving in the pipeline, real-time panoramic image transmission of an inner scene of the pipeline, automatic clear imaging of a fault point, positioning and recording of the fault point, automatic recording of a travelling path of a pipeline state and the like.
Drawings
FIG. 1 is a perspective view of the robot;
FIG. 2 is a diagram of a control system of the robot;
fig. 3 is a circuit connection diagram of the robot.
Detailed Description
The following detailed description of the present invention is provided by way of specific embodiments, which are meant to be illustrative only and not limiting, and should not be construed to limit the scope of the present invention.
An amphibious operation pipeline detection device comprises a vehicle body, a battery cabin 5 and a control device cabin 2, wherein wheels 6 are installed on the vehicle body through independent suspensions 7, the control device cabin is fixedly installed on the top surface of a supporting plate 1 of the vehicle body, and the battery cabin is fixedly installed on the bottom surface of the supporting plate. A positive camera with a holder and an LED waterproof illuminating lamp 8 are arranged at the front end of the supporting plate through a sealed photographic cabin 9, and a panoramic camera can be externally connected to realize panoramic video recording. An antenna is mounted at the rear end of the support plate by an antenna support bracket 3. From the control equipment bay an optical fibre 4 is led for communication with a ground station.
The robot uses 304 stainless steel laser cutting to manufacture a pressure-resistant control equipment cabin and an integrated battery cabin. And a power supply/charging and voltage balance monitoring interface is reserved outside the battery cabin.
The sealed photographic cabin is blow-molded by PE material with the thickness of 5 mm, is transparent, and is internally provided with a demisting fan.
The independent suspension adopts aluminum alloy processing double-A-arm independent suspension. The wheel is of a double-layer structure, the width of the wheel is 90 mm, the inner layer is an inner rotor brushless motor, the outer layer is a planetary reduction gear box, and the whole shell is a hub shell. The motor casing is sleeved with a tire rubber sleeve with customized patterns to serve as a wheel set. The wheel set shell is reserved with water inlet and water outlet holes. The wheel set is made of stainless steel, and the reduction gear is made of nylon.
The control equipment cabin interior sealing control system is shown in figure 2 and comprises a vehicle body optical transceiver, a router and a navigation controller which are sequentially connected through an RJ45 network bus, wherein the vehicle body optical transceiver is connected with a ground optical transceiver through an optical fiber, the ground optical transceiver is wirelessly connected with a tablet personal computer through 2.4G/5.8G double-frequency wireless connection, and the tablet personal computer is wirelessly connected with a remote controller. The router passes through RJ45 network bus connection sonar, and four wheels are connected through four wheel motor electricity accents to the navigation controller, and the navigation controller connects camera and the waterproof light of LED respectively.
The HDMI, RJ45 and TTL are simultaneously converted into a bus protocol of optical fibers and are used for bidirectional optical fiber transmission with a ground station. Display video is transmitted through HDMI, high-bandwidth sonar data is transmitted through RJ45, and control information is transmitted through TTL.
The circuit diagram is shown in fig. 3, a plurality of MOS tube remote control switches are adopted, the maximum passing current of a single switch is 100A, and 3 sets of switches are used, so that after one set of switches is damaged and fails, other switches can still be ensured to be electrified and return to the home.
A Hall sensor is installed on a left front wheel of the robot, reflective scale texts are printed on an optical fiber sheath for transmission, a photosensitive sensor is used for sensing the optical fiber scale texts, and the traveling speed and the traveling distance of the robot are comprehensively calculated.
The pipeline robot drives electricity through the invariable pulse of PWM and transfers and carries out the constant speed to four-wheel year car, then carries out 360 degrees horizontal scanning through laser radar, obtains the real-time road conditions of plane in the pipeline, guarantees through distance calculation that the route of marcing under the car automatic mode guarantees at the positive centre of pipeline. The method comprises the steps of calculating the approximate traveling position of a vehicle by calculating the traveling speed and the traveling time, and determining the location of a fault point in a pipeline by matching the video recording time with the traveling time. Therefore, the functions of long-distance pipeline offline autonomous traveling, amphibious barrier-free driving in the pipeline, real-time pipeline internal scene panoramic image transmission, fault point autonomous clear imaging, fault point positioning recording, pipeline state traveling path autonomous recording and the like are realized.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.

Claims (10)

1. An amphibious operation pipeline detection device is characterized in that: the four-wheel independent suspension system comprises a vehicle body, a battery compartment and a control equipment compartment, wherein the control equipment compartment is fixedly arranged on the top surface of a supporting plate of the vehicle body, the battery compartment is fixedly arranged on the bottom surface of the supporting plate, a camera with a cloud deck and an LED waterproof illuminating lamp are arranged at the front end of the supporting plate through a sealed photography cabin, and an antenna is arranged at the rear end of the supporting plate;
the control equipment cabin interior sealing control system, control system including loop through automobile body optical transceiver, router, the navigation controller of RJ45 network bus connection, automobile body optical transceiver passes through optical fiber connection with ground optical transceiver, ground optical transceiver passes through wireless connection with the panel computer, panel computer wireless connection remote controller, the navigation controller is connected four wheels through four wheel motor electricity accent, the waterproof light of camera and LED is connected to the navigation controller.
2. The amphibious work pipeline inspection apparatus of claim 1, wherein: a sonar is further installed on a supporting plate of the vehicle body and is connected with a router through an RJ45 network bus.
3. The amphibious work pipeline inspection apparatus of claim 1, wherein: and a power supply/charging and voltage balance monitoring interface is reserved outside the battery cabin.
4. The amphibious work pipeline inspection apparatus of claim 1, wherein: the demisting fan is arranged in the sealed photography cabin.
5. The amphibious work pipeline inspection apparatus of claim 1, wherein: the wheel is of a double-layer structure, the inner layer is an inner rotor brushless motor, the outer layer is a planetary reduction gear box, and the whole shell is a hub shell.
6. The amphibious work pipeline inspection apparatus of claim 1, wherein: the rubber sleeve of the tyre with customized patterns is sleeved on the motor shell to serve as a wheel set, and the wheel set shell is reserved with a water inlet hole and a water outlet hole.
7. The amphibious work pipeline inspection apparatus of claim 1, wherein: the HDMI, RJ45 and TTL are simultaneously converted into a bus protocol of optical fibers and are used for bidirectional optical fiber transmission with a ground station.
8. The amphibious work pipeline inspection apparatus of claim 1, wherein: a plurality of MOS tube remote control switches are adopted.
9. The amphibious work pipeline inspection apparatus of claim 1, wherein: hall sensors are installed on wheels of the robot, and reflecting scale texts are printed on the outer skins of the optical fibers.
10. The amphibious work pipeline inspection apparatus of claim 1, wherein: a panoramic camera is mounted on the vehicle body.
CN202010065466.5A 2020-01-20 2020-01-20 Amphibious operation pipeline detection equipment Pending CN111123955A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112525159A (en) * 2020-11-20 2021-03-19 滨州职业学院 BIM model data acquisition device for urban sewer
CN114738598A (en) * 2022-04-15 2022-07-12 哈工大机器人（合肥）国际创新研究院 Pipeline detection robot

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060290779A1 (en) * 2005-01-18 2006-12-28 Reverte Carlos F Autonomous inspector mobile platform
KR20120049677A (en) * 2010-11-09 2012-05-17 (주) 지토건 Amphibious mobile recording device and recording method using the same sewer
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