CN216843689U - Laser positioning's underground pipeline inspection robot - Google Patents
Laser positioning's underground pipeline inspection robot Download PDFInfo
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- CN216843689U CN216843689U CN202121422683.1U CN202121422683U CN216843689U CN 216843689 U CN216843689 U CN 216843689U CN 202121422683 U CN202121422683 U CN 202121422683U CN 216843689 U CN216843689 U CN 216843689U
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Abstract
The utility model provides a laser positioning underground pipeline detection robot, which comprises a frame, wherein the frame is also provided with a laser positioning system, a camera shooting and collecting module, a path-exploring camera shooting module, a picture transmission module, a detection module, a light supplementing module and a power supply module; this device structure is succinct, and convenient to use when having ponding in the concrete pipe, the usable screw from the area normally goes forward to have the light filling module of automatically regulated light, fine supplementary collection of making a video recording can give outside personnel real-time feedback underground pipeline inside information. Meanwhile, the laser positioning system can quickly determine the position of the robot and find the location of the problem pipeline.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to an underground pipeline inspection robot of laser location.
Background
With the development and progress of cities, concrete underground pipelines become an indispensable part of the construction of urban infrastructures. The concrete underground pipeline is visible anywhere in the city, and people use the pipeline to feed water, gas, sewage and the like. The intensive distribution of the pipelines brings about the problem of overhauling the pipelines, however, the pipelines are often limited by manpower or beyond the people, the overhauling difficulty is very high, and the important and inadmissible pipelines are usually scrapped regularly or in advance, so that huge manpower and material resource loss is caused. At present, the quality inspection of underground conveying pipelines is usually carried out by adopting an excavation sampling inspection method with huge engineering quantity, so that the labor intensity is high, the accuracy is low, and the road traffic is often hindered. Although the pipeline detection trolley can replace manpower to detect the pipeline, the pipeline detection trolley cannot be used when the underground pipeline has accumulated water, and the positioning error of a GPS system in the underground pipeline is large, so that the existing pipeline detection trolley is not suitable for detecting in the underground pipeline.
The problem that meets at inspection problem pipeline has been solved in the design of amphibian underground piping robot, and the robot can normally go forward in ponding from taking the screw, and adopts laser positioning system, can accurately pass back the walking route in real time. And the condition in the pipeline is transmitted to the remote control system in real time by using the camera carried by the remote control system, and an operator can determine the position of the problem pipeline by checking the transmitted time. The pipeline robot is high in practicability, the existing pipeline positioning mode is changed, and the pipeline maintenance efficiency is greatly improved.
SUMMERY OF THE UTILITY MODEL
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and in the abstract of the specification and the title of the application to avoid obscuring the purpose of this section, the abstract of the specification and the title of the application, and such simplifications or omissions are not intended to limit the scope of the invention.
Therefore, the to-be-solved technical problem of the utility model lies in overcoming the unable defect of pinpointing and detecting in the pipeline among the prior art to an underground piping inspection robot of laser location is provided.
In order to solve the technical problem, the utility model provides a following technical scheme: the utility model provides an underground pipeline inspection robot of laser location, includes, the frame, still be provided with laser positioning system, the collection module of making a video recording on the frame, visit way camera module, picture pass module, detection module, light filling module and power module.
As a laser positioning's underground pipeline inspection robot's an preferred scheme, wherein: the remote control system comprises an operating handle, a video display and a photographing unit.
As a laser positioning's underground pipeline inspection robot's an preferred scheme, wherein: the light supplementing module comprises an illuminating lamp and a sensor connected with the illuminating lamp.
As a laser positioning's underground pipeline inspection robot's an preferred scheme, wherein: the camera shooting and collecting module comprises a 360-degree panoramic camera.
As a laser positioning's underground pipeline inspection robot's an preferred scheme, wherein: the laser positioning system comprises a control chip, a transmitter, a receiver and a modem, wherein the transmitter, the receiver and the modem are connected with the control chip.
As a laser positioning's underground pipeline inspection robot's an preferred scheme, wherein: the automatic wheel switching device is characterized in that wheels are arranged below the frame and connected with the first driving module, a propeller is arranged behind the frame and connected with the second driving module, and an automatic switching module is arranged on the frame.
As a laser positioning's underground piping inspection robot's an preferred scheme, wherein: the automatic switching module comprises a connecting rod arranged below the frame, a sliding plate is arranged on the connecting rod and connected with the connecting rod in a sliding mode, a first driving switch and a second driving switch are arranged at the upper end and the lower end of the connecting rod respectively, and the sliding plate is in sliding contact with the first driving switch and the second driving switch.
As a laser positioning's underground pipeline inspection robot's an preferred scheme, wherein: the detection module comprises an obstacle detection device and a crack detection device.
As a laser positioning's underground pipeline inspection robot's an preferred scheme, wherein: the power module includes a rechargeable battery assembly.
The utility model has the advantages that: this device structure is succinct, and convenient to use when having ponding in the concrete pipe, the usable screw from the area normally goes forward to have the light filling module of automatically regulated light, fine supplementary collection of making a video recording can give outside personnel real-time feedback underground pipeline inside information. Meanwhile, the laser positioning system can quickly determine the position of the robot and find the location of the problem pipeline.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor. Wherein:
fig. 1 is a schematic view of the overall structure of the pipeline robot provided by the present invention;
FIG. 2 is a system configuration diagram of the remote control system;
FIG. 3 is a system block diagram of an auto-switching module;
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanying the present invention are described in detail below with reference to the accompanying drawings.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be implemented in other ways different from the specific details set forth herein, and one skilled in the art may similarly generalize the present invention without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Example 1
The present embodiment provides a laser-positioned underground pipeline inspection robot, as shown in figures 1-2,
the device comprises a vehicle frame 101, wherein the vehicle frame 101 is further provided with a laser positioning system 102, a camera shooting and collecting module 103, a path-exploring camera shooting module 104, a picture transmission module 105, a detection module 106, a light supplementing module 107 and a power supply module 108. A remote control system 200 is also included, the remote control system 200 including an operating handle 201, a video display 202, and a photographing unit 203.
Further, the remote control system 200 is used for remotely observing and operating the robot, wherein the camera shooting collection module 103 and the pathfinding camera shooting module 104 collect images, the image transmission module 105 is used for wirelessly transmitting data to the video display 202, the video display 202 is used for displaying the environmental conditions around the robot body, not only images in the advancing direction but also images above the robot body can be displayed, whether an obstacle exists in the advancing direction or not can be identified by an operator, whether a crack exists in the top direction or not can be determined by the operator, the operator can remotely control the operation and adjustment direction by using the operating handle, then the camera shooting collection module 103 is remotely controlled by using the camera shooting unit 203 to shoot and record image data, and the operating handle 201 can simultaneously control the advancing direction of the robot and the camera shooting angle above the robot.
Further, light filling module 107 includes the light and the sensor of being connected with the light, for the illumination of auxiliary lighting lamp, is provided with annular LED lamp in the top of frame 101, also is provided with a set of LED lamp in the direction of advance of robot simultaneously, and wherein the sensor is through the perception to peripheral light, and the power of automatically regulated light can the energy saving, the time of extension duration.
The camera shooting and collecting module 103 comprises a 360-degree panoramic camera, the panoramic camera is arranged on the top end of the frame 101, the visual field is good, and the view finding is convenient.
The laser positioning system 102 comprises a control chip, and a transmitter, a receiver and a modem which are connected with the control chip, wherein a laser signal is sent to the positioning plate by the transmitter, then is reflected to the receiver by a reflecting plate on the positioning plate, is processed by the control chip, and is modulated and demodulated, and then positioning information is transmitted to the remote control system by the image transmission module, so that real-time monitoring is realized.
The detection module 106 includes an obstacle detection device capable of detecting an obstacle condition in the advancing direction of the robot and a crack detection device capable of detecting a crack condition of the underground pipe.
The power module 108 is arranged on the frame and comprises a solar component, solar energy can be utilized to provide electric energy for the robot, and the power module further comprises a rechargeable battery component, so that sufficient electric energy can be provided for the robot.
The robot that provides in this embodiment has the light filling module of automatically regulated light, and fine supplementary collection of making a video recording can give outside personnel and feed back the inside information of underground pipe in real time, simultaneously, has the position that laser positioning system can confirm the robot fast, finds the location of problem pipeline.
Example 2
This embodiment differs from the previous embodiment as shown in fig. 1-3, wherein,
The sliding plate 305a is a key of the automatic switching module 305, when the robot runs from the land to a place with water, the sliding plate 305a below the sliding plate is preferentially contacted with the water surface, because the area of the sliding plate 305a is large, strong buoyancy is generated, the robot can be ensured to change from a vehicle body to a ship body and float on the water surface for running, meanwhile, under the normal state, the sliding plate 305a can slide to the lowest part of the connecting rod 101a due to the gravity effect, and can slide to the upper end of the connecting rod 101a relatively when meeting water and receive buoyancy, when the sliding plate 305a is positioned below the connecting rod 101a, the first driving switch 101b can be driven to be closed, at the moment, the first driving module 302 works, the driving wheel 301 rotates, so that the robot can run on the land, when the sliding plate 305a is positioned above the connecting rod 101a, the first driving switch 101b is opened, the second driving switch 101c is closed, at the moment, the second driving module 304 is driven to work, the second driving module 304 drives the propeller 303 to work, so that the robot can move forward in the water.
The utility model provides a robot, when not having ponding in the pipeline, can utilize the wheel to go forward, when having ponding in the pipeline, the usable screw from the area normally moves ahead, and the buoyancy that utilizes water to produce is automatic switches two kinds of states, and simple structure need not artificial operation, facilitates the use.
It is important to note that the construction and arrangement of the present application as shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperatures, pressures, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter recited in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of this invention. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present inventions. Therefore, the present invention is not limited to a particular embodiment, but extends to various modifications that nevertheless fall within the scope of the appended claims.
Moreover, in an effort to provide a concise description of the exemplary embodiments, all features of an actual implementation may not be described (i.e., those unrelated to the presently contemplated best mode of carrying out the invention, or those unrelated to enabling the invention).
It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure, without undue experimentation.
It should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or substituted by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the scope of the claims of the present invention.
Claims (9)
1. The utility model provides a laser positioning's underground piping inspection robot which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the device comprises a vehicle frame (101), wherein a laser positioning system (102), a camera shooting and collecting module (103), a path-exploring camera shooting module (104), a picture transmission module (105), a detection module (106), a light supplementing module (107) and a power supply module (108) are further arranged on the vehicle frame (101).
2. The laser-positioned underground pipe inspection robot of claim 1, wherein: further comprises a remote control system (200), wherein the remote control system (200) comprises an operating handle (201), a video display (202) and a photographing unit (203).
3. The laser-positioned underground pipe inspection robot of claim 2, wherein: the light supplement module (107) comprises an illuminating lamp and a sensor connected with the illuminating lamp.
4. A laser-positioned underground pipe inspection robot as recited in claim 3, further comprising: the camera shooting and collecting module (103) comprises a 360-degree panoramic camera.
5. The laser-positioned underground pipe inspection robot of claim 4, wherein: the laser positioning system (102) comprises a control chip, and a transmitter, a receiver and a modem which are connected with the control chip.
6. A laser-positioned underground pipe inspection robot as claimed in any one of claims 1 or 5, wherein: the automatic switching device is characterized in that wheels (301) are arranged below the frame (101), the wheels (301) are connected with a first driving module (302), a propeller (303) is arranged behind the frame (101), the propeller (303) is connected with a second driving module (304), and an automatic switching module (305) is arranged on the frame (101).
7. The laser-positioned underground pipe inspection robot of claim 6, wherein: the automatic switching module (305) comprises a connecting rod (101a) arranged below a vehicle frame (101), a sliding plate (305a) is arranged on the connecting rod (101a) and connected with the connecting rod (101a) in a sliding mode, a first driving switch (101b) and a second driving switch (101c) are arranged at the upper end and the lower end of the connecting rod (101a) respectively, and the sliding plate (305a) is in sliding contact with the first driving switch (101b) and the second driving switch (101 c).
8. The laser-positioned underground pipe inspection robot of claim 7, wherein: the detection module (106) comprises an obstacle detection device and a crack detection device.
9. The laser-positioned underground pipe inspection robot of claim 8, wherein: the power module (108) includes a rechargeable battery assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121422683.1U CN216843689U (en) | 2021-06-25 | 2021-06-25 | Laser positioning's underground pipeline inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121422683.1U CN216843689U (en) | 2021-06-25 | 2021-06-25 | Laser positioning's underground pipeline inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216843689U true CN216843689U (en) | 2022-06-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121422683.1U Active CN216843689U (en) | 2021-06-25 | 2021-06-25 | Laser positioning's underground pipeline inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216843689U (en) |
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2021
- 2021-06-25 CN CN202121422683.1U patent/CN216843689U/en active Active
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