CN114440053A

CN114440053A - Robot for monitoring drainage pipeline deformation

Info

Publication number: CN114440053A
Application number: CN202210094389.5A
Authority: CN
Inventors: 许鲁亮; 施海仁; 张羽
Original assignee: Anhui Fusheng Information Technology Co ltd
Current assignee: Anhui Fusheng Information Technology Co ltd
Priority date: 2022-01-26
Filing date: 2022-01-26
Publication date: 2022-05-06

Abstract

The invention discloses a robot for monitoring drainage pipeline deformation, which comprises a central shell, wherein a plurality of supporting legs are distributed on the periphery of the central shell in an annular array manner, and a signal acquisition end is fixedly arranged at one end of each supporting leg, which is far away from the central shell; the signal acquisition end comprises a pressure sensor, the pressure sensor is used for detecting pressure information in real time and transmitting the pressure information to the controller, and the other end of the movable rod is fixedly provided with an orientation wheel; at least one of the plurality of directional wheels is driven by a servo motor; the main rod is arranged into a telescopic structure. Compared with the traditional method for monitoring through a camera, the method for monitoring the pipeline deformation of the pipeline has the advantages that the workload of workers is reduced, the workers only need to judge the suspected area without paying attention to the internal information of the pipeline in the whole process, and the judgment difficulty and accuracy of the workers are improved due to the fact that the camera shoots the image deformation factor.

Description

Robot for monitoring drainage pipeline deformation

Technical Field

The invention belongs to the technical field of intelligent water affairs, and particularly relates to a robot for monitoring drainage pipeline deformation.

Background

Since the urban drainage pipeline is buried underground, the pipeline can deform under pressure, in order to find the positions of the deformation under pressure in time, the deformation under pressure needs to be checked and found in time, and the corresponding positions need to be adjusted, reinforced and the like;

in which rigid concrete pipes, under normal compression, are difficult to see if the pipe is deformed. Only if the pressure is to a certain degree, the pipeline can be damaged or can be entered by foreign matters, and the pipeline is easy to capture by a video. But at this time, the pipeline is damaged and can only be repaired and replaced. The flexible plastic pipe is lack of an active early warning mechanism, the pipe body slightly deforms under the condition of compression, and if the deformation amplitude and the deformation position can be monitored, external excavation or an internal supporting mode can be actively carried out to protect the flexible plastic pipe.

However, the accuracy of whether the pipeline is damaged or not is poor by shooting videos or pictures through the camera, and workers need to pay attention to the internal condition of the pipeline all the time, so that the workload is large, the working efficiency is low, and the following technical scheme is provided for solving the problems.

Disclosure of Invention

The invention aims to provide a robot for monitoring drainage pipeline deformation, which solves the problems that in the prior art, the accuracy is poor, the workload is large and the working efficiency is low in a mode of judging whether a pipeline is damaged or not by shooting videos or photos through a camera.

The purpose of the invention can be realized by the following technical scheme:

a robot for monitoring drainage pipeline deformation comprises a central shell, wherein a plurality of supporting legs are distributed on the periphery of the central shell in an annular array mode, and a signal acquisition end is fixedly installed at one end, far away from the central shell, of each supporting leg;

the signal acquisition end comprises an outer cladding layer and a movable rod, the movable rod is slidably mounted in the outer cladding layer, the outer cladding layer is of a tubular structure with one open end, a pressure sensor is fixedly mounted at the bottom of the outer cladding layer, one end of the movable rod, which is positioned in the outer cladding layer, is fixedly connected with one end of a spring, the other end of the spring is fixedly connected with the pressure sensor, the pressure sensor is used for detecting pressure information in real time and transmitting the pressure information to a controller, and a directional wheel is fixedly mounted at the other end of the movable rod;

at least one of the plurality of directional wheels is driven by a servo motor;

the main rod is arranged into a telescopic structure.

As a further scheme of the invention, the number of the supporting legs is even, when the pipeline support device works, the supporting legs are symmetrically arranged in the pipeline along the vertical direction symmetry axis of the pipeline right section circle, and the supporting legs are arranged on two sides of the vertical direction symmetry axis of the pipeline right section circle.

As a further scheme of the invention, the directional wheel comprises a shaft bracket and at least two rollers arranged on the shaft bracket, and the central connecting line of the rotating shafts of the rollers is vertical to the movable rod.

As a further scheme of the invention, the supporting leg comprises a main rod and a plurality of sleeves which are fixedly arranged on a central shell and distributed in an annular array manner, the sleeves are sleeved on the main rod in a sliding manner, an annular gear and a plurality of transmission gears are rotatably arranged in the central shell, the transmission gears are meshed with the annular gear, strip-shaped teeth are arranged on the side wall of one end of the main rod, which is positioned in the central shell, and the strip-shaped teeth are meshed with the transmission gears;

an adjusting motor is fixedly arranged in the center shell, and a gear meshed with the ring gear is fixedly sleeved on the shaft extension end of the adjusting motor.

As a further scheme of the invention, the robot comprises a positioning module and a motion trail acquisition module which are arranged in a central pivot shell, the robot is positioned in real time through the positioning module, and the motion trail of the robot in a pipeline is recorded through the motion trail acquisition module.

As a further scheme of the invention, a camera is fixedly arranged on the central pivot shell, and the camera collects image information in the pipeline and transmits the image information to the monitoring center; the central shell is also fixedly provided with a lighting lamp.

As a further aspect of the present invention, the working method of the robot includes the steps of:

firstly, adjusting the length of the support legs outside the central shell according to the diameter of the measured pipeline to ensure that any support leg is attached to the inner wall of the pipeline to be measured;

secondly, placing the robot in a pipeline to be tested, and recording pressure data F1, F2,. Fn collected by pressure sensors on the n support legs after the robot is stabilized;

thirdly, the robot is driven to move forwards at a constant speed along a preset route by a driving motor, in the process, pressure data f1, f2 and so on, which are acquired by pressure sensors on supporting legs in real time through a controller, a pressure difference pi is obtained through calculation according to a formula pi-Fi-Fi, wherein i is larger than or equal to 1 and smaller than or equal to 8, pi is compared with a preset value p and p1, wherein p is larger than p1, when p1 is larger than or equal to pi and smaller than or equal to p, timing is started, if p1 is larger than or equal to pi and smaller than or equal to p after t time, the area is marked as a suspected area, and if p1 is larger than or equal to pi and smaller than or equal to p after t time is not established, processing is not carried out;

when pi is greater than p, the region is marked as suspect.

The invention has the beneficial effects that:

(1) compared with the traditional method for monitoring through a camera, the method has the advantages that the requirement on the camera can be reduced, the workload of workers is reduced, the workers only need to judge the suspected area without paying attention to the internal information of the pipeline in the whole process, and the difficulty and the accuracy of judgment of the workers are improved due to the fact that the camera shoots the image deformation;

(2) the supporting leg structure can synchronously adjust a plurality of supporting legs simultaneously, can improve the overall adjusting efficiency and reduce the adjusting difficulty;

(3) the invention can not be influenced by the sediment at the bottom of the drainage pipeline in the moving process, runs stably, is beneficial to improving the video stability acquired by the camera and is convenient for the observation of workers.

Drawings

The invention will be further described with reference to the accompanying drawings.

FIG. 1 is a schematic structural diagram of a robot for monitoring deformation of a drainage pipeline according to the invention;

FIG. 2 is a partial schematic structural diagram of a robot for monitoring deformation of a drainage pipeline according to the invention;

FIG. 3 is a schematic structural diagram of a signal acquisition terminal according to the present invention;

FIG. 4 is a schematic structural view of the orienting wheel of the present invention;

in the figure: 1. a hub shell; 2. supporting legs; 3. a signal acquisition end; 4. a camera; 21. a main rod; 22. a sleeve; 23. a ring gear; 24. a transmission gear; 25. adjusting the motor; 31. an outer cladding; 32. a pressure sensor; 33. a spring; 34. a movable rod; 35. a directional wheel; 36. a limiting slide block; 351. a pedestal; 352. and a roller.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

A robot for monitoring drainage pipeline deformation is disclosed, as shown in figures 1 to 3, and comprises a central shell 1, wherein a plurality of supporting legs 2 are distributed around the central shell 1 in an annular array manner, and a signal acquisition end 3 is fixedly arranged at one end, far away from the central shell 1, of each supporting leg 2;

in one embodiment of the invention, the number of the supporting legs 2 is even, and the supporting legs 2 are symmetrically arranged in the pipeline along the vertical direction of the normal section circle of the pipeline;

it should be noted that when the robot runs in the pipeline, any supporting leg 2 should be prevented from moving at the lowest part in the pipeline, so that the sediment at the bottom of the pipeline is prevented from causing obvious interference on the detection result; therefore, furthermore, the plurality of supporting legs 2 are arranged on two sides of the symmetrical axis of the pipeline in the vertical direction of the right section circle;

in one embodiment of the invention, the number of the supporting legs 2 is eight, so that the inner wall area of the pipeline can be comprehensively detected, the structure is stable in the movement process, and the detection result is not influenced negatively due to the fact that the supporting legs do not rotate obviously after moving for a long time;

the signal acquisition end 3 comprises an outer cladding 31 and a movable rod 34, the movable rod 34 is slidably mounted in the outer cladding 31, the outer cladding 31 is of a tubular structure with one open end, specifically, the outer cladding 31 can be a square tube or a round tube, a pressure sensor 32 is fixedly mounted at the bottom of the outer cladding 31, one end of the movable rod 34, which is positioned in the outer cladding 31, is fixedly connected with one end of a spring 33, the other end of the spring 33 is fixedly connected with the pressure sensor 32, the pressure sensor 32 can detect pressure information in real time and transmit the pressure information to a controller, and a directional wheel 35 is fixedly mounted at the other end of the movable rod 34;

it should be noted that at least one of the plurality of directional wheels 35 is driven by a servo motor to provide power for the movement of the robot inside the pipeline;

if the outer cladding 31 is a circular tube structure, the inner wall of the outer cladding 31 is provided with a limiting sliding groove, the movable rod 34 is provided with a limiting sliding block 36 corresponding to the limiting sliding groove, and the outer cladding 31 and the movable rod 34 are prevented from rotating relatively through the sliding fit of the limiting sliding block 36 and the limiting sliding groove;

in one embodiment of the present invention, as shown in fig. 4, the directional wheel 35 includes an axle frame 351 and at least two rollers 352 mounted on the axle frame 351, and a central connection line of the rotation axes of the plurality of rollers 352 is perpendicular to the movable rod 34, so that the stability of the robot running in the pipeline can be improved;

the supporting leg 2 comprises a main rod 21 and a plurality of sleeves 22 which are fixedly arranged on the central shell 1 and distributed in an annular array mode, the sleeves 22 are sleeved on the main rod 21 in a sliding mode, an annular gear 23 and a plurality of transmission gears 24 are rotatably arranged inside the central shell 1, the transmission gears 24 are meshed with the annular gear 23, strip-shaped teeth are arranged on the side wall of one end, located inside the central shell 1, of the main rod 21, the strip-shaped teeth are meshed with the transmission gears 24, the plurality of transmission gears 24 can be driven to rotate simultaneously through rotation of the annular gear 23, and the main rod 21 is driven to slide in the sleeves 22 in a reciprocating mode through the transmission gears 24;

an adjusting motor 25 is fixedly installed in the central pivot shell 1, a gear meshed with the ring gear 23 is fixedly sleeved on a shaft extending end of the adjusting motor 25, and the adjusting motor 25 is used for providing power for the rotation of the ring gear 23;

the structure can realize synchronous adjustment of all the supporting legs 2 at the same time, thereby reducing the adjustment difficulty and improving the adjustment efficiency;

in an embodiment of the present invention, the main rod 21 is provided with a retractable structure, which facilitates the detailed adjustment of the length of the part of each supporting leg 2 outside the central shell 1, so that each signal collecting end 3 can be attached to the inner wall of the pipeline, specifically, the main rod 21 is formed by fixedly connecting two parts through bolts, two parts of the main rod 21 are both provided with a row of screw holes, and the length of the main rod 21 can be adjusted by adjusting the positions of the screw holes when the two parts of the main rod 21 are fixedly connected, thereby increasing the detection range of the robot of the present invention;

a storage battery is fixedly arranged in the central hub shell 1 and supplies power to all power consumption equipment of the robot;

the robot also comprises a positioning module and a motion trail acquisition module which are arranged in the central pivot shell 1, the robot can be positioned in real time through the positioning module, and the motion trail of the robot in a pipeline can be recorded through the motion trail acquisition module;

the central pivot shell 1 is also fixedly provided with a camera 4, and image information in the pipeline is collected through the camera 4 and is transmitted to the monitoring center;

preferably, the central shell 1 is also fixedly provided with an illuminating lamp for illuminating the interior of the pipeline, so that the quality of the acquired video is improved, and the observing and the judging of workers are facilitated;

the working method of the robot for monitoring the deformation of the drainage pipeline comprises the following steps:

firstly, adjusting the length of the support legs 2 outside the central shell 1 according to the diameter of the measured pipeline to ensure that any support leg 2 is attached to the inner wall of the pipeline to be measured;

secondly, placing the robot in a pipeline to be tested, and recording pressure data F1, F2,. Fn collected by the pressure sensors 32 on the n support legs 2 after the robot is stabilized;

it should be noted that, when the robot is placed in the pipeline to be tested, the pipe diameter of the pipeline to be tested should be uniform when the robot enters the initial point of the pipeline to be tested, and the condition of pressure or deformation of other factors does not exist;

thirdly, the robot is driven to move forwards at a constant speed along a preset route by a driving motor, in the process, pressure data f1, f2, the.. fn collected by pressure sensors 32 on supporting legs 2 are collected in real time by a controller, a pressure difference pi is obtained by calculation according to a formula pi-Fi-Fi, wherein i is more than or equal to 1 and less than or equal to 8, pi is compared with a preset value p and p1, wherein p is more than p1, when p1 is more than or equal to pi and less than or equal to p, timing is started, if p1 is more than or equal to pi and less than or equal to p after t time is still established, the area is marked as a suspicious area, and if p1 is more than or equal to pi and less than or equal to p after t time is not established, no processing is carried out;

when pi is larger than p, marking the region as a suspect region;

for the suspected area, checking the video information by a worker, and further judging whether the suspected area is a deformation area needing to be processed;

compared with the traditional method for monitoring through a camera, the method can reduce the requirement on the camera and reduce the workload of workers, the workers only need to judge the suspected area without paying attention to the internal information of the pipeline in the whole process, and the difficulty and the accuracy of judgment of the workers can be improved due to the fact that the camera has image deformation factors during shooting.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation and a specific orientation configuration and operation, and thus, should not be construed as limiting the present invention. Furthermore, "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate member, or they may be connected through two or more elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.

Claims

1. A robot for monitoring drainage pipeline deformation is characterized by comprising a central shell (1), wherein a plurality of supporting legs (2) are distributed on the periphery of the central shell (1) in an annular array manner, and a signal acquisition end (3) is fixedly arranged at one end, far away from the central shell (1), of each supporting leg (2);

the signal acquisition end (3) comprises an outer cladding layer (31) and a movable rod (34), the movable rod (34) is slidably mounted in the outer cladding layer (31), the outer cladding layer (31) is of a tubular structure with an opening at one end, a pressure sensor (32) is fixedly mounted at the bottom of the outer cladding layer (31), one end, located in the outer cladding layer (31), of the movable rod (34) is fixedly connected with one end of a spring (33), the other end of the spring (33) is fixedly connected with a pressure sensor (32), the pressure sensor (32) is used for detecting pressure information in real time and transmitting the pressure information to a controller, and a directional wheel (35) is fixedly mounted at the other end of the movable rod (34);

at least one of the plurality of directional wheels (35) is driven by a servo motor;

the main rod (21) is arranged into a telescopic structure.

2. The robot for monitoring the deformation of the drainage pipeline according to the claim 1, wherein the number of the supporting legs (2) is even, when in use, the supporting legs (2) are symmetrically arranged in the pipeline along the vertical direction symmetry axis of the normal cross section circle of the pipeline, and the supporting legs (2) are arranged on two sides of the vertical direction symmetry axis of the normal cross section circle of the pipeline.

3. Robot for monitoring the deformation of drainage pipelines according to claim 1, characterized in that the orientation wheel (35) comprises a shaft bracket (351) and at least two rollers (352) mounted on the shaft bracket (351), and the central connection line of the rotation axes of the rollers (352) is perpendicular to the movable rod (34).

4. The robot for monitoring the deformation of the drainage pipeline according to claim 1, wherein the supporting leg (2) comprises a main rod (21) and a plurality of sleeves (22) which are fixedly arranged on the central shell (1) and distributed in an annular array, the sleeves (22) are sleeved on the main rod (21) in a sliding manner, a ring gear (23) and a plurality of transmission gears (24) are rotatably arranged in the central shell (1), the transmission gears (24) are meshed with the ring gear (23), and a strip-shaped tooth is arranged on the side wall of one end, positioned in the central shell (1), of the main rod (21) and meshed with the transmission gears (24);

an adjusting motor (25) is fixedly installed in the center shell (1), and a gear meshed with the ring gear (23) is fixedly sleeved on the shaft extending end of the adjusting motor (25).

5. The robot for monitoring the deformation of the drainage pipeline according to claim 1, which comprises a positioning module and a motion trail acquisition module which are installed in the central pivot shell (1), wherein the robot is positioned in real time through the positioning module, and the motion trail of the robot in the pipeline is recorded through the motion trail acquisition module.

6. The robot for monitoring the deformation of the drainage pipeline according to the claim 1, wherein a camera (4) is fixedly installed on the central pivot housing (1), and the camera (4) collects image information in the pipeline and transmits the image information to a monitoring center; the central shell (1) is also fixedly provided with a lighting lamp.

7. The robot for monitoring the deformation of the drainage pipeline according to claim 1, wherein the working method of the robot comprises the following steps:

firstly, adjusting the length of the support legs (2) outside the central shell (1) according to the diameter of the measured pipeline to ensure that any support leg (2) is attached to the inner wall of the pipeline to be measured;

secondly, placing the robot in a pipeline to be tested, and recording pressure data F1, F2,. Fn collected by pressure sensors (32) on n support legs (2) after the robot is stable;

thirdly, the robot is driven to move forwards at a constant speed along a preset route by a driving motor, in the process, pressure data f1, f2,.. fn acquired by a pressure sensor (32) on each supporting leg (2) are acquired by a controller in real time, a pressure difference pi is calculated according to a formula pi-Fi-Fi, wherein i is more than or equal to 1 and less than or equal to 8, pi is compared with a preset value p and p1, wherein p is more than p1, when p1 is more than or equal to pi and less than or equal to p, timing is started, if p1 is more than or equal to pi and less than or equal to p after t time, the area is marked as a suspicious area, and if p1 is not more than or equal to pi and less than or equal to p after t time, no processing is performed;

when pi is greater than p, the region is marked as suspect.