CN111123955A - 两栖作业管道检测设备 - Google Patents

两栖作业管道检测设备 Download PDF

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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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cabin
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刘艳臣
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Tsinghua University
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Abstract

本发明专利涉及一种两栖作业管道检测设备，包括采用四轮独立悬挂***的车体、电池仓、控制设备舱，在车体的支撑板的顶面固装控制设备舱、在支撑板的底面固装电池仓，在支撑板的前端通过密封摄影舱安装带云台的摄像机及LED防水照明灯、在支撑板的后端安装天线；本管道检测设备在崎岖坑洼以及淤积坑段可以顺利并平稳通过，不会产生倾斜侧翻。可以实现长距离管道脱线自主行进、管道内水陆两栖无障碍驱动、实时管道内景全景图像传输、故障点自主清晰成像、故障点定位记录、管线状态行进路径自主记录等特点功能。

Description

两栖作业管道检测设备
技术领域
本发明专利属于排水管网检测领域，涉及管道机器人，尤其是一种可更换轮胎花纹的大深度防水四轮四驱独立悬挂无线和光纤双模控制两栖作业管道检测设备机器人。
背景技术
当前市面上的众多的管道机器人，大部分为风管机器人，只能在干燥干净的管道内作业。而对于地下管网中的雨污管道必须先进行封堵然后排水清淤后才能放入机器人进行CCTV方式的作业，如果不排水清淤，这些机器人因为越野性差将会出现陷淤或者因障碍物造成的倾斜出现翻车，造成无法作业。对于高压自来水管，市面机器人因重量轻需要先停水降压，才能进行稳定作业。每次的封堵、清淤、降压工作都是非常繁重的，而且造成的市民生产生活中断轻则1天，重则多日，影响面广，经济损失大。现在正在应用的机器人，很多只有CCTV 视频检测功能，对于污水能见度差的区域无法检测。
发明专利内容
本发明专利的目的在于克服现有技术的不足之处，提供一种可更换轮胎花纹的大深度防水四轮四驱独立悬挂无线和光纤双模控制两栖作业管道检测设备机器人。
本发明专利解决技术问题所采用的技术方案是：
一种两栖作业管道检测设备，包括采用4轮独立悬挂***的车体、电池仓、控制设备舱，在车体的支撑板的顶面固装控制设备舱、在支撑板的底面固装电池仓，在支撑板的前端通过密封摄影舱安装带云台的摄像机及LED防水照明灯、在支撑板的后端安装天线；
所述的控制设备舱内密封控制***，所述的控制***包括依次通过RJ45网络总线连接的车体***、路由器、航行控制器，车体***与地面***通过光纤连接，地面***与平板电脑通过无线连接，平板电脑无线连接遥控器，航行控制器通过四个车轮电机电调连接四个车轮，航行控制器连接摄像机及LED防水照明灯。
而且，在车体的支撑板上还安装有声呐，声呐通过RJ45网络总线连接路由器。
而且，电池仓使用环氧树脂灌封，外部预留供电/充电以及电压平衡监测接口。
而且，密封摄影舱内部安装除雾风扇。
而且，所述车轮为双层结构，内层为内转子无刷电机，外层为行星减速齿轮箱，整体外壳为轮毂壳。
而且，采用定制花纹的轮胎胶皮套套在电机壳上作为轮组，轮组外壳预留进水和排水孔。
而且，采用HDMI、RJ45和TTL同时合并转制成光纤的总线协议与地面站进行双向光纤传输。
而且，采用多个MOS管遥控开关。
而且，在机器人车轮安装霍尔传感器，在光纤外皮印刷反光刻度条文。
而且，在车体上安装有全景相机。
本发明专利的优点和积极效果是：
1、采用前后双A臂独立悬挂和四轮四驱高通过的无人管道车动力悬挂方案，增加了车身稳定性，同时提高了通过性。在崎岖坑洼以及淤积坑段可以顺利并平稳通过，不会产生倾斜侧翻。
2、采用了全景相机和双自由度云台正摄相机结合的勘测视频方案达到无视觉死角且在高速行进情况下获取全角度视频信息。通过自带的光源进行灯光补偿。
3、使用HDMI、RJ45和TTL合并转制成光纤的通信总线***达到了高清视频传输、声呐数据传输和控制***的融合。整体只有一根光纤尾纤，集成度高，而且拖线重量轻，对运动姿态影响小。
4、轮胎花纹可根据地形进行快速更换，适应不同的使用环境增加抓地力。
5、密封摄影仓安装除雾风扇，确保水下摄影的清晰度不起雾。
6、采用快拆模块化总线接口和物理接口，可拓展多种传感器和任务模块。使用了多个遥控MOS开关增加了供电可靠性，也实现了远程开关机。
7、采用车载和线轴防线光感传感器计数器，实现了机器人速度计算、距离计算和行进定位。
8、采用整体减速轮组，有进排水孔，使用不锈钢材质和尼龙材质可以有效增加耐压深度、防腐蚀。
9、本管道机器人可以实现长距离管道脱线自主行进、管道内水陆两栖无障碍驱动、实时管道内景全景图像传输、故障点自主清晰成像、故障点定位记录、管线状态行进路径自主记录等特点功能。
附图说明
图1为本机器人的立体结构图；
图2为本机器人的控制***图；
图3为本机器人的电路连接图。
具体实施方式
下面结合附图并通过具体实施例对本发明专利作进一步详述，以下实施例只是描述性的，不是限定性的，不能以此限定本发明的保护范围。
一种两栖作业管道检测设备，包括车体、电池仓5、控制设备舱2，车体通过独立悬挂7 安装车轮6，在车体的支撑板1的顶面固装控制设备舱、在支撑板的底面固装电池仓。在支撑板的前端通过密封摄影舱9安装带云台的正摄摄像机及LED防水照明灯8、可以外接全景相机实现全景录像。在支撑板的后端通过天线支撑架3安装天线。从控制设备舱引出一根光纤4用于与地面站通信。
本机器人使用304不锈钢激光切割制作耐压控制设备舱和一体化电池仓。电池仓外部预留供电/充电以及电压平衡监测接口。
密封摄影舱使用5毫米厚度PE材质吹塑成型，为透明的，且内部安装除雾风扇。
所述独立悬挂采用铝合金加工双A臂独立悬挂。所述车轮为双层结构，宽度90毫米，内层为内转子无刷电机，外层为行星减速齿轮箱，整体外壳为轮毂壳。使用定制花纹的轮胎胶皮套套在电机壳上充当轮组。轮组外壳预留进水和排水孔。轮组材质为不锈钢，减速齿轮材质为尼龙。
所述的控制设备舱内密封控制***，所述的控制***如图2所示，包括依次通过RJ45 网络总线连接的车体***、路由器、航行控制器，车体***与地面***通过光纤连接，地面***与平板电脑通过2.4G/5.8G双频无线连接，平板电脑无线连接遥控器。路由器通过RJ45网络总线连接声呐，航行控制器通过四个车轮电机电调连接四个车轮，航行控制器分别连接摄像机及LED防水照明灯。
采用HDMI、RJ45和TTL同时合并转制成光纤的总线协议与地面站进行双向光纤传输。通过HDMI传输显示视频、RJ45传输高带宽声呐数据、TTL传输控制信息。
电路图如图3所示，采用多个MOS管遥控开关，单个开关最大通过电流100A，使用3套，可保证在一套损坏失灵后，其他开关仍然能保证通电返航。
在机器人左前轮安装霍尔传感器，在传输用光纤外皮印刷反光刻度条文，使用光敏传感器感知光纤刻度条文，综合计算机器人的行进速度和行进距离。
所述管道机器人通过PWM恒定脉冲驱动电调对四轮载车进行定速，然后通过激光雷达进行360度水平扫描，获得管道内的平面实时路况，通过距离计算保证车自动方式下的行进路径保证在管道的正中间。通过计算行驶速度和行驶时间计算出车的大概行进位置，同时通过录像时间和行进时间的配合确定出管道内故障点的定位。从而实现长距离管道脱线自主行进、管道内水陆两栖无障碍驱动、实时管道内景全景图像传输、故障点自主清晰成像、故障点定位记录、管线状态行进路径自主记录等特点功能。
以上所述的仅是本发明专利的优选实施方式，应当指出，对于本领域的普通技术人员来说，在不脱离本发明专利构思的前提下，还可以做出若干变形和改进，这些都属于本发明专利的保护范围。

Claims (10)

1.一种两栖作业管道检测设备，其特征在于：包括采用四轮独立悬挂***的车体、电池仓、控制设备舱，在车体的支撑板的顶面固装控制设备舱、在支撑板的底面固装电池仓，在支撑板的前端通过密封摄影舱安装带云台的摄像机及LED防水照明灯、在支撑板的后端安装天线；
所述的控制设备舱内密封控制***，所述的控制***包括依次通过RJ45网络总线连接的车体***、路由器、航行控制器，车体***与地面***通过光纤连接，地面***与平板电脑通过无线连接，平板电脑无线连接遥控器，航行控制器通过四个车轮电机电调连接四个车轮，航行控制器连接摄像机及LED防水照明灯。
2.根据权利要求1所述的两栖作业管道检测设备，其特征在于：在车体的支撑板上还安装有声呐，声呐通过RJ45网络总线连接路由器。
3.根据权利要求1所述的两栖作业管道检测设备，其特征在于：电池仓外部预留供电/充电以及电压平衡监测接口。
4.根据权利要求1所述的两栖作业管道检测设备，其特征在于：密封摄影舱内部安装除雾风扇。
5.根据权利要求1所述的两栖作业管道检测设备，其特征在于：所述车轮为双层结构，内层为内转子无刷电机，外层为行星减速齿轮箱，整体外壳为轮毂壳。
6.根据权利要求1所述的两栖作业管道检测设备，其特征在于：采用定制花纹的轮胎胶皮套套在电机壳上作为轮组，轮组外壳预留进水和排水孔。
7.根据权利要求1所述的两栖作业管道检测设备，其特征在于：采用HDMI、RJ45和TTL同时合并转制成光纤的总线协议与地面站进行双向光纤传输。
8.根据权利要求1所述的两栖作业管道检测设备，其特征在于：采用多个MOS管遥控开关。
9.根据权利要求1所述的两栖作业管道检测设备，其特征在于：在机器人车轮安装霍尔传感器，在光纤外皮印刷反光刻度条文。
10.根据权利要求1所述的两栖作业管道检测设备，其特征在于：在车体上安装有全景相机。
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