CN212840118U - Underground drainage pipeline detection device - Google Patents
Underground drainage pipeline detection device Download PDFInfo
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- CN212840118U CN212840118U CN202021491687.0U CN202021491687U CN212840118U CN 212840118 U CN212840118 U CN 212840118U CN 202021491687 U CN202021491687 U CN 202021491687U CN 212840118 U CN212840118 U CN 212840118U
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- cabin body
- cabin
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- detection device
- dimensional laser
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- 238000001514 detection method Methods 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 108010066057 cabin-1 Proteins 0.000 description 12
- 108010066114 cabin-2 Proteins 0.000 description 7
- 238000005286 illumination Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000010865 sewage Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000010802 sludge Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The underground drainage pipeline detection device comprises a first cabin body and a second cabin body, wherein the tail part of the first cabin body is connected with the head part of the second cabin body; the head of the first cabin is provided with a lighting device, an image acquisition device and a three-dimensional laser sensor, and a motor for driving the three-dimensional laser sensor to rotate is arranged in the first cabin; at least two groups of driving mechanisms are annularly distributed outside the first cabin body and the second cabin body, each group of driving mechanisms comprises a hydraulic driving wheel with a motor, and the hydraulic driving wheels are connected between the head and the tail of the cabin body through a telescopic device. The utility model discloses a structure of marcing that can extend can adapt to the underground drainage pipe of various sizes, has very strong adaptability.
Description
Technical Field
The utility model belongs to the technical field of pipeline inspection technique and specifically relates to underground drainage pipe detects based on three-dimensional laser scanning technique.
Background
Underground drainage pipelines are important pipelines for discharging production sewage and domestic sewage, and due to the fact that the underground drainage pipelines are affected by chemical, stress, moisture, inconvenient maintenance and the like for a long time, the underground drainage pipelines can crack, age, block and the like, and therefore the drainage pipelines need to be detected regularly. The drainage pipeline detection device has the problems of poor size adaptability and low detection result precision.
Therefore, it is urgently needed to provide a device for detecting underground drainage pipes, which detects and records the deformation, corrosion, cracks and other damage conditions of the pipes.
SUMMERY OF THE UTILITY MODEL
The utility model provides an underground drainage pipeline detection device to solve the problem that prior art exists.
The utility model adopts the following technical scheme:
the underground drainage pipeline detection device comprises a first cabin body and a second cabin body, wherein the tail part of the first cabin body is connected with the head part of the second cabin body;
the head of the first cabin is provided with a lighting device, an image acquisition device and a three-dimensional laser sensor, and a motor for driving the three-dimensional laser sensor to rotate is arranged in the first cabin;
at least two groups of driving mechanisms are annularly distributed outside the first cabin body and the second cabin body, each group of driving mechanisms comprises a hydraulic driving wheel with a motor, and the hydraulic driving wheels are connected between the head and the tail of the cabin body through a telescopic device.
The telescopic device comprises two connecting rods which are rotatably connected with the hydraulic driving wheel, the two connecting rods are respectively hinged with the telescopic ends of a push rod, and the telescopic ends of the two push rods are respectively connected with the head and the tail of the cabin body.
The head of the first cabin body is provided with a three-dimensional laser sensor carrying platform, the three-dimensional laser sensor is installed on the three-dimensional laser sensor carrying platform, the three-dimensional laser sensor carrying platform is connected with a motor arranged inside the first cabin body, and the motor drives the three-dimensional laser sensor carrying platform to rotate for 360 degrees.
And the tail part of the second cabin body is provided with an illuminating device and an image acquisition device.
And the first cabin body or the second cabin body is also provided with an inertial navigation system.
The lighting device comprises at least two lighting lamps arranged at the head of the cabin.
The image acquisition device comprises at least two cameras arranged at the head of the cabin.
The utility model has the advantages that:
the utility model discloses a structure of marcing that can extend can adapt to the underground drainage pipe of various sizes, has very strong adaptability.
Drawings
Fig. 1 is a schematic view of the standby state of the present invention.
Fig. 2 is a schematic view of an operating state.
Fig. 3 is a schematic view of the motor structure.
Fig. 4 is a schematic structural view of the tail of the second cabin.
Fig. 5 is a schematic view of a coupling hook.
Fig. 6 is a detailed structure diagram of the hydraulic driving wheel.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same technical meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate directions or positional relationships based on directions or positional relationships shown in the drawings, and are only terms of relationships determined for convenience in describing structural relationships between the components or elements of the present invention, and are not intended to refer to any component or element of the present invention, and are not to be construed as limiting the present invention.
As shown in fig. 1-4, the utility model provides an underground drainage pipeline detection device, this detection device include two cabin bodies, first cabin body 1 and second cabin body 2 promptly, wherein, the afterbody of first cabin body 1 and the head of second cabin body 2 link together, and its connected mode does not do the injecing, can adopt current arbitrary connected mode. In some embodiments of the present invention, the first cabin 1 and the second cabin 2 are connected by a connecting hook 5, as shown in fig. 5, which is a schematic view of the connecting hook 5 between the tail of the first cabin 1 and the head of the second cabin 2, as shown in fig. 5, the tail portion of the first hull 1 and the head portion of the second hull 2 are provided with protruding connection blocks, one of the connecting blocks is provided with a rotating shaft, the other connecting block is provided with a connecting seat, the connecting seat is provided with a connecting hole, the rotating shaft is arranged in the connecting hole, the tail part of the first cabin body 1 and the head part of the second cabin body 2 can be connected together, the connecting part of the two cabin bodies is the rotary connection of the rotating shaft and the connecting hole on the connecting seat, this connection mode can make between first cabin body 1 and the second cabin body 2 along the pivot and the connecting portion rotation of connecting seat, and then makes detection device be more suitable for the drainage pipe of different shapes or having the camber.
Further, the first cabin 1 comprises a cabin main body, the cabin main body is of a hollow structure, and equipment to be arranged can be arranged inside the cabin main body. The head 3 of the first cabin body 1 is the foremost end of the detection device, the head front end of the first cabin body 1 is provided with the lighting device, the image acquisition device and the three-dimensional laser sensor 36, and the three-dimensional laser sensor 36 can be driven by a motor arranged in the cabin body main body to rotate for 360 degrees, so that the situation in the underground drainage pipeline can be monitored without dead angles.
The lighting device arranged at the front end of the first cabin body 1 is used for providing illumination for the advancing direction of the detection device, and the image acquisition device can be used for shooting images inside the underground water pipe under the illumination condition and providing a real-time advancing direction view for a user.
In one or more possible embodiments, the front end of the first cabin 1 is provided with a three-dimensional laser sensor platform 35, the three-dimensional laser sensor platform 35 is arranged inside the first cabin 1, extends to the head of the first cabin 1, and is annularly connected with the head of the first cabin 1, that is, the head of the first cabin 1 is provided with an opening, the inner side of the opening is provided with an inner ring, the outer side of the upper part of the platform of the three-dimensional laser sensor platform 35 is provided with an outer ring used in cooperation with the inner ring, the connection between the inner ring and the outer ring between a slide block and a slide rail or the connection between a pulley and the slide rail can be selected to enable the three-dimensional laser sensor platform 35 to rotate along the radial direction of the pipeline, the three-dimensional laser sensor platform 35 is connected with a motor arranged inside the cabin body, the three-dimensional laser sensor is mounted on the three-dimensional laser sensor platform, the condition in the underground drainage pipeline is monitored without dead angles. The three-dimensional laser sensing can collect point clouds containing coordinate information in the pipeline. The conditions of pipeline corrosion, peeling, deformation and sludge deposition can be obtained through data processing of the image and the point cloud.
As shown in fig. 1 and 2, the head mounted lighting device of the first cabin 1 comprises at least two first lighting lamps 31 and second lighting lamps 32 which are symmetrically arranged, the at least two first lighting lamps 31 and second lighting lamps 32 which are symmetrically arranged can illuminate the front travelling direction of the detection device, and the head mounted image capturing device of the first cabin 1 comprises at least two first cameras 33 and second cameras 34 which are symmetrically arranged, and the at least two first cameras 33 and second cameras 34 which are symmetrically arranged can capture images of the front travelling direction of the detection device.
The tail position of the second cabin 2 can also be provided with a lighting device and an image acquisition device, the lighting device arranged at the tail position of the second cabin 2 comprises at least two symmetrically arranged third lighting lamps 41 and fourth lighting lamps 42, the at least two symmetrically arranged third lighting lamps 41 and fourth lighting lamps 42 can illuminate the rear direction of the detection device, the image acquisition device arranged at the tail position of the second cabin 2 comprises at least two symmetrically arranged third cameras 43 and fourth cameras 44, and the at least two symmetrically arranged third cameras 43 and fourth cameras 44 can acquire images in the rear direction of the detection device. The light provides the illumination, and the camera provides the sight for the user when backing down when recording the inside image of underground drainage pipe. The second cabin 2 has a cable interface 45 at the rear for connecting external devices for interactive transmission of image data.
Still be provided with inertial navigation system 34 in the first cabin body 1 or the second cabin body 2, inertial navigation system 34 can acquire the utility model discloses detection device's space coordinate realizes detection device's accurate location.
Further, at least two groups of driving mechanisms are annularly distributed on the outer portions of the first cabin body 1 and the second cabin body 2, and the driving mechanisms are used for driving the detection device to move in the pipeline.
In one or more possible embodiments, as shown in fig. 1 to 4, three sets of driving mechanisms may be provided, and the three sets of driving mechanisms are annularly and uniformly distributed outside the main body of the nacelle. And the driving mechanisms arranged on the first cabin body 1 and the second cabin body 2 have the same structure and connection relationship.
The following description will be made by taking a drive mechanism on the first nacelle 1 as an example.
Each set of driving mechanism comprises a hydraulic driving wheel 11, the hydraulic driving wheel 11 is a hydraulic driving wheel with a micro motor, and the hydraulic driving wheel 11 can rotate under the driving of the micro motor. The two sides of the hydraulic driving wheel 11 are respectively connected with a first connecting rod 17 and a second connecting rod 18, the first connecting rod 17 is hinged with the telescopic end of the first push rod 13 through a first hinge 12, the other end of the first push rod 13 is connected with the head 3 of the first cabin body 1, the second connecting rod 18 is connected with one end of the telescopic end of the second push rod 15 through a second hinge 14, and the other end of the second push rod 15 is connected with the tail of the first cabin body 1.
Under the action of pressure, the first push rod 13 and the second push rod 14 move towards the direction of the hydraulic driving wheel 11 for the first cabin 1, the first connecting rod 17 rotates around the first hinge 12, and the second connecting rod 18 rotates around the second hinge 14, so as to drive the hydraulic driving wheel 11 to move along the radial direction of the pipeline until the hydraulic driving wheel tightly clings to the inner wall of the pipeline. The three hydraulic driving wheels 11 distributed in the ring shape can be driven synchronously or asynchronously, so that the hydraulic driving wheels can not only adapt to circular pipelines with different sizes, but also adapt to pipelines with different shapes.
The interior of the first cabin 1 and/or the second cabin 2 is also provided with a waterproof battery, the battery is used for connecting the first illuminating lamp 31, the second illuminating lamp 32, the third illuminating lamp 41, the fourth illuminating lamp 42, the first camera 33, the second camera 34, the third camera 43, the fourth camera 44, the inertial navigation system 34, the micro motor and other electric equipment for supplying power, and the detection device works normally.
The first push rod 13 and the second push rod 15 can both select existing equipment with a telescopic function, such as a hydraulic telescopic rod and an electric push rod, specific selection types can be flexibly selected according to the size of the model and the underground environment condition, and the equipment is not limited in the application.
The working principle of the present invention is explained below according to the embodiments shown in fig. 1 to 6:
the utility model discloses place detection device behind underground drainage pipe, the actuating mechanism action of setting on first cabin body 1 and the second cabin body 2, hydraulic drive wheel 11 is along the radial extension of pipeline promptly, make hydraulic drive wheel 11 push away at the pipeline inner wall, then hydraulic drive wheel 11 rotation under micro motor's drive, begin to drive detection device along pipe wall axial displacement (advance or retreat), along pipe wall axial displacement in-process, three-dimensional laser sensor opens, three-dimensional laser sensor microscope carrier is measured with the realization to the inside no dead angle of pipeline along radial 360 degrees rotations.
In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and may be fixedly connected, or may be integrally connected or detachably connected; may be directly connected or indirectly connected through an intermediate. The meaning of the above terms in the present invention can be determined according to specific situations by persons skilled in the art, and should not be construed as limiting the present invention.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Although the present invention has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without inventive work are still within the scope of the present invention.
Claims (7)
1. The utility model provides an underground sewer pipe detection device which characterized in that: the device comprises a first cabin body (1) and a second cabin body (2), wherein the tail part of the first cabin body (1) is connected with the head part of the second cabin body (2);
the head of the first cabin body (1) is provided with a lighting device, an image acquisition device and a three-dimensional laser sensor (36), and a motor for driving the three-dimensional laser sensor (36) to rotate is arranged in the first cabin body (1);
the outer parts of the first cabin body (1) and the second cabin body (2) are respectively and annularly distributed with at least two groups of driving mechanisms, each group of driving mechanisms comprises a hydraulic driving wheel (11) with a motor, and the hydraulic driving wheels (11) are connected between the head and the tail of the cabin body through a telescopic device.
2. The underground sewer pipeline detection device of claim 1, wherein:
the telescopic device comprises two connecting rods which are rotatably connected with the hydraulic driving wheel (11), the two connecting rods are respectively hinged with the telescopic ends of a push rod, and the telescopic ends of the two push rods are respectively connected with the head and the tail of the cabin body.
3. The underground sewer pipeline detection device of claim 1, wherein:
the head of the first cabin body (1) is provided with a three-dimensional laser sensor carrying platform (35), the three-dimensional laser sensor (36) is installed on the three-dimensional laser sensor carrying platform (35), the three-dimensional laser sensor carrying platform (35) is connected with a motor arranged inside the first cabin body (1), and the motor drives the three-dimensional laser sensor carrying platform (35) to rotate for 360 degrees.
4. The underground sewer pipeline detection device of claim 1, wherein:
and the tail part of the second cabin body (2) is provided with an illuminating device and an image acquisition device.
5. The underground sewer pipeline detection device of claim 1, wherein:
and an inertial navigation system is further mounted on the first cabin body (1) or the second cabin body (2).
6. The underground drainage pipe detection device of any one of claims 1 or 3, wherein:
the lighting device comprises at least two lighting lamps arranged at the head of the cabin.
7. The underground drainage pipe detection device of any one of claims 1 or 3, wherein:
the image acquisition device comprises at least two cameras arranged at the head of the cabin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021491687.0U CN212840118U (en) | 2020-07-27 | 2020-07-27 | Underground drainage pipeline detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021491687.0U CN212840118U (en) | 2020-07-27 | 2020-07-27 | Underground drainage pipeline detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212840118U true CN212840118U (en) | 2021-03-30 |
Family
ID=75122024
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021491687.0U Expired - Fee Related CN212840118U (en) | 2020-07-27 | 2020-07-27 | Underground drainage pipeline detection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212840118U (en) |
-
2020
- 2020-07-27 CN CN202021491687.0U patent/CN212840118U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210330 |