CN117249337A - Drainage pipeline rescue device and method - Google Patents

Abstract

The invention discloses a drainage pipeline rescue device and a drainage pipeline rescue method. Comprising the following steps: the vehicle body can walk in the drainage pipeline, and is provided with more than one rescue arm and more than one camera device; the control device is used for receiving the instruction to control the action of each rescue arm; the camera also comprises a wired or wireless communication device which is used for transmitting instructions to the control device and sending out images acquired by the camera. According to the invention, through the plurality of rescue arms and the camera device, the automatic rescue of the pipeline detection robot is realized, the detection efficiency is improved, and the blank of the automatic rescue device for the drainage pipeline is filled.

Description

Drainage pipeline rescue device and method

Technical Field

The invention belongs to the field of pipeline rescue, and particularly relates to a drainage pipeline rescue device.

Background

The urban drainage pipeline is an important infrastructure of a city, along with the gradual acceleration of the progress of urban construction, the sewage quantity borne by the urban drainage pipeline which is an important hidden engineering is gradually increased, and the problems of siltation, water seepage, breakage, mixed connection, misconnection and the like of the pipeline are gradually caused in the using process. Drainage pipeline detection technology is gradually updated and improved along with the development of scientific technology. However, unlike a pressurized pipeline, the drainage pipeline detection faces turbid sewage, various unavoidable solid garbage and other conditions, and when the pipeline detection device is performing detection work, the pipeline detection device is inevitably stopped working due to various obstacles. The original method is that the manual pipe feeding is used for clearing the obstacle or bringing back the detection device, so that the detection efficiency is greatly reduced, and the method is eliminated with the social progress.

Disclosure of Invention

In view of the above, the present invention provides a rescue device suitable for a drainage pipeline to solve the above problems in the background art.

In order to achieve the above object, the drainage pipeline rescue device of the present invention includes: the vehicle body can walk in the drainage pipeline, and is provided with more than one rescue arm and more than one camera device;

the control device is used for receiving the instruction to control the action of each rescue arm;

the camera also comprises a wired or wireless communication device which is used for transmitting instructions to the control device and sending out images acquired by the camera.

Further, the camera device is a camera device with a cradle head, and the control device is further used for receiving an instruction to control the cradle head to drive the camera to act.

Further, the rescue arm comprises a cutting arm, a barrier moving arm and/or a bucket arm.

Further, the cutting arm is a multi-axis manipulator.

Further, the vehicle body is also provided with a sensing assembly comprising a temperature sensor, a humidity sensor and/or a distance measuring sensor.

Further, a light supplementing lamp and an infrared lamp are arranged on the vehicle body.

Further, an auxiliary rescue imaging device is arranged on the rescue arm.

Further, the rescue arm is a telescopic and foldable mechanical arm.

In order to achieve the above purpose, the drainage pipeline rescue method of the invention is realized by adopting the drainage pipeline rescue device, and comprises the following steps:

firstly, checking states of a rescue arm and a camera of a drainage pipeline rescue device, starting up the device to enable the drainage pipeline rescue device to be in an operable state, and checking a signal connection effect;

step two, placing the drainage pipeline rescue device into a drainage pipeline, and moving to search for a rescue target in the pipeline according to visual guidance provided by a camera through PC or mobile phone terminal operation;

and thirdly, transmitting the observed pipeline condition to an external control panel through a sensor in real time by the camera in the moving process, and sending a control signal through PC or mobile phone terminal operation when the condition needing rescue is met, so as to unfold, move and adjust the rescue arm to unfold and rescue, and carrying out obstacle clearance work on the obstacle.

According to the invention, through the plurality of rescue arms and the camera device, the automatic rescue of the pipeline detection robot is realized, the detection efficiency is improved, and the blank of the automatic rescue device for the drainage pipeline is filled.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

In the description of the present invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

The terms "first," "second," and the like, 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 defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the description of the present specification, a particular feature, structure, material, or characteristic may be combined in any suitable manner in one or more embodiments or examples.

As shown in the figure, the drainage pipeline rescue device comprises a vehicle body, a rescue arm and a camera 6. The vehicle body can adopt a controlled wheel type or a controlled crawler type, and a motor, a battery pack and a control system for driving the vehicle body to walk are arranged in the vehicle body. The car body is fixedly provided with a rescue arm and a camera device, and the rescue arm is preferably electrically operated so as to supply power by using a battery pack on the car body. The camera device is used for searching rescue targets and rescue conditions in the pipeline; the rescue arm is a telescopic and foldable mechanical arm, and the telescopic length of the rescue arm can be adjusted according to the requirement of removing the obstacle. The rescue arms can be mechanical arms with various functional heads, multiaxial mechanical arms or the like, the number of the rescue arms is 3 in the drawing, and when the machine enters a pipeline, the operation, cutting, carrying and other operations of the rescue arms are carried out according to the requirement. The rescue arm has the functions of removing, shearing the strip-shaped obstacle and removing the solid obstacle.

In the figure, the first rescue arm 3 can perform corresponding cutting work, the second rescue arm 4 can remove strip-shaped obstacles wound around the whole body of the pipeline detection robot, and the third rescue arm 5 can dig out solid obstacles which obstruct the pipeline detection robot from moving forward.

The camera provides visual guidance and rescue guidance for the rescue device and has a waterproof function.

As a further improvement of the invention, the vehicle body is also provided with a sensing assembly which comprises a temperature sensor, a humidity sensor and/or a distance measuring sensor; the system is used for collecting the environmental parameters in the pipeline so as to facilitate the operator to know the conditions in the pipeline.

As a further improvement of the invention, the vehicle body is also provided with a light supplementing lamp and an infrared lamp so as to provide required illumination for the camera device in a darker environment.

As a further improvement of the invention, the rescue arm is provided with an auxiliary rescue camera device so that an operator can know the working environment of the front end of the rescue arm.

According to the invention, the rescue robot consisting of the vehicle body, the rescue arm and the camera is used for entering the pipeline from the nearest inspection well when the pipeline detection robot stops working due to poor pipe network condition during detection, so that rescue work is carried out in time, the pipeline is prevented from being blocked due to the detention of the detection device, the normal use of the pipeline is ensured, and the use efficiency of the pipeline is improved.

The rescue method of the rescue device comprises the following steps:

firstly, before the robot is placed in a pipeline, checking states of a rescue arm and a camera, and starting up the device to enable the device to be in an operable state to check signal connection effects;

step two, placing the device into a drainage pipeline, and after the device is stable, moving in the pipeline to find a rescue target according to visual guidance provided by a camera through PC or mobile phone terminal operation;

and thirdly, transmitting the observed pipeline conditions to an external control panel through a sensor in real time by the camera in the moving process, and when a pipeline detection robot needing rescue is encountered, unfolding and moving a rescue arm of a specific type to adjust the rescue to perform obstacle clearance work.

And step four, returning the original path to the inspection well after the obstacle clearance is completed, and continuing to work by the pipeline detection robot.

The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (9)

1. A drainage pipeline rescue device, comprising: the vehicle body can walk in the drainage pipeline, and is provided with more than one rescue arm and more than one camera device;

the control device is used for receiving the instruction to control the action of each rescue arm;

the camera also comprises a wired or wireless communication device which is used for transmitting instructions to the control device and sending out images acquired by the camera.

2. The drainage pipeline rescuing device of claim 1, wherein the image pickup device is an image pickup device with a tripod head, and the control device is further used for receiving an instruction to control the tripod head to drive the camera to act.

3. The drainage pipe rescue apparatus of claim 1, wherein the rescue arms include a cutting arm, a barrier removal arm, and/or a bucket arm.

4. A drainage pipe rescue apparatus as claimed in claim 3 wherein the cutting arm is a multi-axis manipulator.

5. The drainage pipeline rescue device as claimed in claim 1, wherein a sensing assembly is further arranged on the vehicle body, and the sensing assembly comprises a temperature sensor, a humidity sensor and/or a distance measuring sensor.

6. The drainage pipeline rescuing device of claim 1 wherein a light-supplementing lamp and an infrared lamp are also arranged on the vehicle body.

7. The drainage pipeline rescue device as claimed in claim 1, wherein an auxiliary rescue imaging device is arranged on the rescue arm.

8. The drainage pipe rescue device of claim 1, wherein the rescue arm is a telescopic, collapsible mechanical arm.

9. A drainage pipeline rescue method, which is realized by adopting the drainage pipeline rescue device as claimed in claim 1, and comprises the following steps:

firstly, checking states of a rescue arm and a camera of a drainage pipeline rescue device, starting up the device to enable the drainage pipeline rescue device to be in an operable state, and checking a signal connection effect;

step two, placing the drainage pipeline rescue device into a drainage pipeline, and moving to search for a rescue target in the pipeline according to visual guidance provided by a camera through PC or mobile phone terminal operation;

and thirdly, transmitting the observed pipeline condition to an external control panel through a sensor in real time by the camera in the moving process, and sending a control signal through PC or mobile phone terminal operation when the condition needing rescue is met, so as to unfold, move and adjust the rescue arm to unfold and rescue, and carrying out obstacle clearance work on the obstacle.