CN105020538A - Sewage pipe network diving robot and detection method - Google Patents
Sewage pipe network diving robot and detection method Download PDFInfo
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- CN105020538A CN105020538A CN201510470372.5A CN201510470372A CN105020538A CN 105020538 A CN105020538 A CN 105020538A CN 201510470372 A CN201510470372 A CN 201510470372A CN 105020538 A CN105020538 A CN 105020538A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/48—Indicating the position of the pig or mole in the pipe or conduit
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Sewage (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses a sewage pipe network diving robot and a detection method. A frame carrier is arranged on a robot body. A guide cranked lever is arranged on the frame carrier. A beam is arranged on the guide cranked lever. Crank arms are arranged on the beam and connected with a supporting rod. A bottom plate is arranged on the supporting rod. A connection shaft is arranged on the bottom plate and connected with a three-leg touch device in a rotating manner. A cover plate is arranged on the connection shaft. A balance device is arranged at the bottom of the cover plate. The detection method for the sewage pipe network diving robot includes the following steps that a, a pipeline information station is established; b, a detection system is assembled; c, high-pressure water jetting dredging is performed; d, underwater pipeline detection is conducted; and e, defect positioning and maintenance are conducted. The diving robot directly conducts pipeline detection underwater, the diving robot accurately capture pipeline defects in a dead-corner-free and all-directional manner in pipelines, all positions in the pipelines can be checked through one time of detection, detecting and positioning are highly accurate, cost is low, and efficiency is high.
Description
Technical field
The invention belongs to robot detection technique field, be specifically related to a kind of sewage network diving robot and detecting method.
Background technique
Sewage network, as the important component part in city, is the basic constituent element in a city, collects sewage by sewage network, reach effluent standard after process, avoids sewage disorderly to arrange and leaves about, protect the environment of existence.Therefore, the construction quality of sewage network engineering controlled well is directly connected to image and the environment in a city, directly affects the life of resident.
Generally relatively lag behind for China's sewage network Construction and management, in its Construction and management, Problems existing also becomes increasingly conspicuous, to this, in recent years, China strengthens the construction project to sewage network, set up the unified mechanism coordinated, expand scope and the degree of depth of planning, the integrity of outstanding planning, systematicness and preciseness, the construction of further investigation Xincheng District, the transformation of old town, chemical industry enterprise wastewater the drain pollution management planning in city, the drain pollution management planning in town and country town, the problem of region small-scale sewage treatment facility, according to water pollution situation, the requirement of city effluent discharge situation and the situation of improvement, make implementary plan, strengthen the Construction and management to sewage network, improve constantly sewage network to the collection rate of sewage and treatment effeciency.
Sewage network is an individual system network, when somewhere existing problems or damage will cause chain reaction to affect the drainage capacity of whole system.In order to can drainage capacity to greatest extent, extend pipeline working life, the pipe detection appraisal procedure of Erecting and improving and the maintenance means of science must carry out regular inspection, assessment, dredging and reparation to it.
Therefore, be improve sewage network to the collection rate of sewage and treatment effeciency important component part to the condition detection of pipe interior, not only can science, understand the situation of pipe interior intuitively, also can provide data accurately for the pipeline maintenance damaged.In current sewage network, pipe detection adopts a set of robot device integrating mechanization and intellectuality, record pipe interior concrete condition.First adopt the diving shutoff of pipeline and inspection shaft in testing process, rubber pneumatic bag assists shutoff, then carry out draining and high pressure dredging, then carry out pipe detection, finally produce image data and word report.But need in testing process to control that the ducted water yield is no more than caliber 5%, it is comparatively large that this makes pipe detection operate more complicated, difficulty, needs cost more time and expense to go to detect; And the defect finding that there is section of tubing existence in testing process has undetected situation, technician has to carry out secondary detection, improves human cost.
Summary of the invention
The invention provides a kind of sewage network diving robot and detecting method, according to the detection pipeline section marked off, diving robot is adopted directly to carry out pipe detection under water, diving robot is in the duct without dead angle, precisely catch defect of pipeline in all directions, one-time detection can complete the investigation of all positions in pipeline, simple to operate, quick, and detection and location are precisely high, cost is low, and efficiency is high.
The present invention adopts following technological scheme:
A kind of sewage network diving robot, comprise control system and robot body on the bank, it is characterized in that: robot body is provided with frame carrier, the upper end of frame carrier is provided with buoyancy block, frame carrier is provided with control cabinet, and control cabinet is provided with Subsea Control Systems, and Subsea Control Systems connects control system on the bank, be provided with the first camera and lighting burner in control cabinet, frame carrier is provided with propulsion device and sonar; Frame carrier is provided with guiding curved bar, and guiding curved bar is provided with crossbeam, and crossbeam is provided with cranks arm, and cranks arm and is connected with strut; Strut is provided with chassis, chassis is provided with coupling shaft, coupling shaft is rotatably connected to tripod touching device, tripod touching device comprises three legs, and three legs are structure as a whole, and single leg is rotatably connected to upper saw pulley, coupling shaft is provided with cover plate, tripod is touched device and is limited on coupling shaft by cover plate, and the bottom of cover plate is provided with Equilibrator, is provided with return unit between Equilibrator and cover plate; Frame carrier is provided with linear rail, and linear rail slidably connects raising platform, and raising platform is provided with mechanism hand, and linear rail is provided with second camera.
Further, crank arm and comprise master arm and slave arm, master arm connects strut, and slave arm connecting cross beam, is provided with push rod between master arm and slave arm, when upper saw pulley touches inner-walls of duct, stressed drive on strut is cranked arm bending, carries out buffer function, then under the effect of push rod, to crank arm recovery reset condition, buffering is carried out to touching next time and prepares.
Further, silica gel pad is provided with between the mounting hole that coupling shaft and tripod touch device, silica gel pad has the natural viscosity in certain pliability, good compressibility and surface, can blind, complete the connection between mounting hole that coupling shaft and tripod touch device, play the effect be fixedly connected with damping.
Further, Equilibrator comprises housing, balance empennage and connecting plate, and balance empennage is located between connecting plate, and balance empennage and connecting plate are located in housing, connecting plate connects return unit, when upper saw pulley touches inner-walls of duct, tripod touching device rotates and touches Equilibrator, and the balance empennage in Equilibrator is opened, in fan shape, under buoyancy of water effect, diving robot is suspended in water reposefully, ensures the accuracy that defect of pipeline catches.
Further, the underwater holder rotating speed of second camera is 6 °/S, and the pitching scope of second camera is ± 15 °, the scope that swings of second camera is ± 30 °, fine setting second camera, by second camera precise positioning on defect of pipeline, can carry out defect shooting.
Further, lighting burner adopts two LED, the power of LED is 35W, LED by semiconductor die package in the epoxy, LED adopts chemiluminescence technology, and two LED provide light source for pipe interior, facilitates underwater robot to take each position of pipe interior, technician can have a clear understanding of pipe interior concrete condition, is convenient to judge.
A kind of sewage network diving robot detection method, is characterized in that comprising the steps:
A () sets up duct size information station: understand the sewage network pipeline as-constructed drawing that construction unit provides and analyze, the invert elevation (IE) of understanding pipeline, water (flow) direction, caliber, the well location that crosses are put and pipeline material, on drawing, each joint and access point is marked again with red pen, analyze the concrete distribution situation of actual detection, mark off detection pipeline section, then according to the duct size information station datagram analyzed on the coast control system being set up detection;
(b) assembling detection system: cable is connected focusing electrod-array probe, again focusing electrod-array probe is fixed on the cover plate of the preposition design of diving robot, then by the cable winding of focusing electrod-array probe access to strut, and cable is linked on the bank in control system along frame carrier;
C () water jetting at high pressure is dredged: adopt water jetting at high pressure machine to carry out high-pressure water flow jet-action to every section of pipeline section, ducted mud and rubbish are washed into inspection shaft place, are then evacuated to transfer cart, mud and rubbish are forgotten about it appointed place and discharges by transfer cart;
D () submarine pipeline detects: open diving robot controlling electric switch, diving robot is put in water from inspection shaft, carry out pipe detection in first order pipeline section, by the lighting burner of control system unlatching on the bank, lighting burner is arranged on diving robot front and back position, ensure that the pipeline of before and after diving robot one section illuminates, and open the first camera, with the first camera, real-time imaging supervision is carried out to the situation of pipe interior, record, the operation of video capture, open propulsion device, according to the actual conditions of pipeline hydraulic pressure and current, control angle of rake rotating speed, then by wireless controller Remote diving robot, control command is sent to diving robot, diving robot carries out underwater 3 D degrees of freedom along water movement, technician accesses ground electrode probe on the coast, and ceaselessly carry out gallon, the focusing electrod-array probe that diving robot loads, water, pipeline, the earth and ground electrode probe form loop, control system shows curent change figure on the bank, when running into curent change and occurring obviously rising, illustrate that breaking appears in pipeline herein, distortion, dislocation, the defect of disconnection and seepage, technician controls diving robot near fault location by wireless controller, tripod being touched device touches on the inwall of pipeline, under the rotation of upper saw pulley, the leg on tripod touching device is driven to rotate, leg touches Equilibrator, balance empennage in Equilibrator is opened, diving robot rests on fault location reposefully, balance empennage carries out balanced action, then technician on the coast control system regulates the angle of robot support on inner-walls of duct, and open second camera, second camera aims at fault location, precisely take, obtain the picture of defect, on the bank after control system display defect data, return unit will balance in empennage income housing, Equilibrator recovers reset condition, then technician continue control diving robot advance in the duct, complete the pipe detection of this pipeline section, again same pipe detection is carried out to next section of pipeline section,
(e) defect location and maintenance: for the data in control system on the bank, image detection, editor, record, playback are carried out to pipe interior, to defect of pipeline location real time record, confirm the classification of defect of pipeline, determine the elaborate position keeped in repair, arrange exclusive technician to carry out maintenance work.
Further, set up in the operation of duct size information station, detect the length range of pipeline section at 0 ~ 120m, length is accurate to 0.1m.
Further, submarine pipeline detects in operation, and the speed of a ship or plane of diving robot controls at 0 ~ 10m/min, and diving robot is in bottom time and controls at 0 ~ 1.5h.
Further, in defect location operation, the position positioning precision of defect of pipeline is 1cm, and the scope of positioning resolution is at 0.05 ~ 0.1m, and pipeline detection distance is 150m.
The present invention, owing to have employed technique scheme, has following beneficial effect:
Diving robot in the present invention has directly the function of operation under water, in concrete testing process, according to the detection pipeline section marked off, adopts diving robot directly to carry out pipe detection under water.Technician is by the Subsea Control Systems of control system control on the bank, and diving robot is moved ahead under angle of rake effect, the light source that lighting burner provides pipe interior to take, the first camera takes the actual conditions of whole pipe interior, when obviously rising appears in the curent change in curent change figure, pipeline existing defects is herein described, technician is by the particular location of wireless controller Remote diving robot to defect of pipeline, tripod being touched device touches on the inwall of pipeline, under the rotation of upper saw pulley, the leg on tripod touching device is driven to rotate, leg touches Equilibrator, balance empennage in Equilibrator is opened, balance empennage is fan shape, under buoyancy of water effect, balance empennage carries out balanced action, diving robot is suspended in water reposefully, diving robot rests on fault location reposefully, improve the accuracy of shooting, technician on the coast control system regulates the angle of robot support on inner-walls of duct, and open second camera, second camera aims at fault location, precisely take, obtain the picture of defect, on the bank after control system display defect data, return unit will balance in empennage income housing, Equilibrator recovers reset condition, diving robot proceeds pipe detection work.Diving robot is in the duct without dead angle, precisely catch defect of pipeline in all directions, and one-time detection can complete the investigation of all positions in pipeline, simple to operate, quick, and detection and location are precisely high, and cost is low, and efficiency is high.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the invention will be further described:
Fig. 1 is the structural representation (not shown tripod touching device) of a kind of sewage network of the present invention diving robot;
Fig. 2 is the structural representation of cranking arm in a kind of sewage network diving of the present invention robot;
Fig. 3 is the structural representation of tripod touching device in a kind of sewage network diving of the present invention robot;
Fig. 4 is the structural representation of a kind of sewage network diving of the present invention robot middle frame carrier;
Fig. 5 is structural representation when Equilibrator does not start in a kind of sewage network diving of the present invention robot;
Fig. 6 is structural representation when Equilibrator starts in a kind of sewage network diving of the present invention robot;
Fig. 7 is the structural representation of a kind of sewage network of the present invention diving robot when detecting.
Embodiment
As shown in Figures 1 to 6, for a kind of sewage network diving of the present invention robot, comprise control system B and open-shelf robot body on the bank, control system B forms primarily of main control computer, optical transmitter and receiver, liquid crystal display and a wireless controller on the bank, what main control computer was selected is process control machine, process control machine adopts embedded type bus structure, and noise is low, volume is little, it is low to consume energy; Optical transmitter and receiver realizes the visual plant that digital signal and optical signal change mutually in information transmission, it comprises Digital Optical Terminal and network optical transmitter and receiver two-part, 8 serial ports passages in Digital Optical Terminal can realize RS422, the serial communication of RS485 and RS232 tri-kinds of agreements, also has 3 tunnel video channels can realize the information transmission of video image respectively in addition; Network optical transmitter and receiver is provided with a network channel, can realize the network communication of control system B and robot body on the bank; What wireless controller was selected is Saitck P3000 wireless controller, and this handle lightly facilitates, flexible operation, the advance of wireless controller control, retrogressing, dive, floats, turns to.On the bank control system B and robot body communicate and the electrical source of power supply of robot body is realized by cable.
Robot body is provided with frame carrier 1, and the upper end of frame carrier 1 is provided with buoyancy block 2, and buoyancy block 2 provides floating function.Frame carrier 1 is provided with control cabinet 3, control cabinet 3 is divided into interior cabin and outer cabin two-part, inside wall material adopts thicker stainless steel material out of my cabin, in order to ensure the reliability in interior cabin, have employed axis and the measure of end face two seals, and the ethylene propylene diene rubber O RunddichtringO using comprehensive comparison good, interior cabin is provided with Subsea Control Systems, and Subsea Control Systems connects control system B on the bank; The first camera 4 and lighting burner 5 are installed in outer cabin, and outer cabin is sealed by glass outer.In sewage network, pipe interior dark, therefore lighting burner 5 adopts two LED, the power of LED is 35W, LED by semiconductor die package in the epoxy, semiconductor chip is very little, very light, LED adopts chemiluminescence technology, heating value is lower by 10% than general lighting lamp 5 tool, such lighting burner 5 just has enough brightness, two LED provide light source for pipe interior, and power consumption is less, long service life, high brightness, underwater robot is facilitated to take each position of pipe interior, technician can have a clear understanding of the concrete condition of pipe interior, be convenient to judge.Frame carrier 1 is provided with propulsion device 6 and sonar 7, propulsion device 6 cooperatively interacted robot body propelling, traversing, turn bow, lifting, trim and heel, sonar 7 can 360 ° scanning pipe interiors environment, carry out navigation task.
Frame carrier 1 is provided with guiding curved bar 8, guiding curved bar 8 is provided with crossbeam 9, crossbeam 9 is provided with cranks arm 10, crank arm and 10 be connected with strut 11, crank arm and 10 comprise master arm 101 and slave arm 102, master arm 101 connects strut 11, slave arm 102 connecting cross beam 9, push rod 103 is provided with between master arm 101 and slave arm 102, stressed drive on strut 11 crank arm 10 bend, carry out buffer function, then under the effect of push rod 103, to crank arm 10 recovery reset conditions, buffering is carried out to touching next time and prepares.Strut 11 is provided with chassis 12, chassis 12 is provided with coupling shaft 13, coupling shaft 13 is rotatably connected to tripod touching device 14, silica gel pad is provided with between the mounting hole that coupling shaft 13 and tripod touch device 14, silica gel pad has the natural viscosity in certain pliability, good compressibility and surface, can blind, complete the connection between mounting hole that coupling shaft 13 and tripod touch device 14, play the effect be fixedly connected with damping.Tripod touching device 14 comprises three legs 141, three legs 141 are structure as a whole, single leg 141 is rotatably connected to upper saw pulley 142, coupling shaft 13 is provided with cover plate 15, tripod is touched device 14 and is limited on coupling shaft 13 by cover plate 15, the bottom of cover plate 15 is provided with Equilibrator 16, return unit 17 is provided with between Equilibrator 16 and cover plate 15, Equilibrator 16 comprises housing 161, balance empennage 162 and connecting plate 163, balance empennage 162 is located between connecting plate 163, balance empennage 162 and connecting plate 163 are located in housing 161, connecting plate 163 connects return unit 17, when upper saw pulley 142 touches inner-walls of duct, tripod touching device 14 rotates and touches Equilibrator 16, balance empennage 162 in Equilibrator 16 is opened, in fan shape, under buoyancy of water effect, diving robot is suspended in water reposefully, ensure the accuracy that defect of pipeline catches.Frame carrier 1 is provided with linear rail 18, linear rail 18 slidably connects raising platform 19, raising platform 19 is provided with mechanism hand 20, linear rail 18 is provided with second camera 21, and the underwater holder rotating speed of second camera 21 is 6 °/S, and the pitching scope of second camera 21 is ± 15 °, the scope that swings of second camera 21 is ± 30 °, fine setting second camera 21, by second camera 21 precise positioning on defect of pipeline, can carry out defect shooting.
As shown in Figure 7, be a kind of sewage network diving of the present invention robot detection method, it comprises the steps:
A () sets up duct size information station: understand the residing landform of sewage network pipeline distribution, understand with or without bad geological phenomenon, ensures that detection site stability is better, sets up good berth platform on the ground.Technician understands the sewage network pipeline as-constructed drawing that construction unit provides and analyzes, understand the invert elevation (IE) of pipeline, pipeline material, caliber, the well location that crosses is put and water (flow) direction, on drawing, each joint and access point is marked again with red pen, analyze the concrete distribution situation of actual detection, mark off detection pipeline section, detect the length range of pipeline section at 0 ~ 120m, length is accurate to 0.1m, concrete detection is divided into 8 sections of pipeline section: W1 ~ W2, W2 ~ W3, W3 ~ W4, W4 ~ W5, W5 ~ W6, W6 ~ W7, W7 ~ W8, W8 ~ W9, in a certain section of pipeline section, pipeline section numbers the initial inspection shaft of preceding expression, the posterior expression of pipeline section numbering stops inspection shaft.Then set up according on the datagram analyzed on the coast control system B the duct size information station detected.The duct size information station of concrete foundation is as shown in table 1:
Table 1 duct size information station
Technician carries out reconnaissance trip according to duct size information station, according to the distribution situation that duct size information station is concrete, marks, improve the Security and accuracy that detect at the initial inspection shaft of each pipeline section and the particular location of termination inspection shaft.
(b) assembling detection system: cable is connected focusing electrod-array probe, again focusing electrod-array probe is fixed on the cover plate 15 of the preposition design of diving robot, then by the cable winding of focusing electrod-array probe access to strut 11, and cable to be linked on the bank on control system B along frame carrier 1.General focusing electrod-array probe, water, pipeline, the earth and ground electrode probe A form loop, control system B shows the curent change figure of normal table on the bank, when running into defect of pipeline, electric current can penetrate tube wall, low impedance path is there is between electrode, electric current obviously increases, and judges ducted defect present position according to the change of electric current.
C () water jetting at high pressure is dredged: in order to avoid the mud of pipeline and rubbish have influence on the detection effect of diving robot, before testing, should carry out water jetting at high pressure dredging respectively to 8 sections of pipeline sections.The current backward and forward that water jetting at high pressure machine is produced by high pressure, freely can control high-voltage tube operation in the duct, water jetting at high pressure machine is adopted to carry out high-pressure water flow jet-action to every section of pipeline section, ducted mud and rubbish are washed into inspection shaft place, then transfer cart is evacuated to, mud and rubbish are forgotten about it appointed place and discharge by transfer cart, can reduce mud and rubbish to the pollution of surrounding enviroment by bottom line.
Dredging device specifically adopts SJ2700 vehicle carried type water jetting at high pressure machine, vehicle carried type water jetting at high pressure machine is applicable to various street and runs, the restriction of Bu Shou street condition, the not impact of climate, handling safety is simple, be applicable to the pipeline of the various calibers of 200 ~ 1200mm, high-voltage tube can the ultimate range of dredging pipeline be that 150m is upper and lower.Vehicle carried type water jetting at high pressure machine can dredge effect completely to the mud in pipeline and various domestic garbage, and removes the attachment such as rust deposite, erosion on inner-walls of duct, is convenient to the detection effect of diving robot.
D () submarine pipeline detects: open diving robot controlling electric switch, carry out pipe detection in first order pipeline section W1 ~ W2, diving robot is put in water from initial inspection shaft, by the lighting burner 5 of control system B unlatching on the bank, lighting burner 5 is arranged on diving robot front and back position, ensure that the pipeline of before and after diving robot one section illuminates, and open the first camera 4, real-time imaging supervision is carried out by the situation of the first camera 4 pairs of pipe interiors, record, the operation of video capture, open propulsion device 6, according to the actual conditions of pipeline hydraulic pressure and current, control the rotating speed of propulsion device 6, then by wireless controller Remote diving robot, control command is sent to diving robot, diving robot carries out underwater 3 D degrees of freedom along water movement, technician accesses ground electrode probe A on the coast, and ceaselessly carry out gallon, the focusing electrod-array probe that diving robot loads, water, pipeline, the earth and ground electrode probe A form loop, control system B shows curent change figure on the bank, when running into curent change and occurring obviously rising, illustrate that breaking appears in pipeline herein, distortion, dislocation, the defect of disconnection and seepage, technician controls diving robot near fault location by wireless controller, tripod being touched device 14 touches on the inwall of pipeline, under the rotation of upper saw pulley 142, the leg 141 on tripod touching device 14 is driven to rotate, leg 141 touches Equilibrator 16, balance empennage 162 in Equilibrator 16 is opened, diving robot rests on fault location reposefully, balance empennage 162 carries out balanced action, then technician on the coast control system B regulates mechanism hand 20 to be supported on angle on inner-walls of duct, and open second camera 21, second camera 21 aims at fault location, precisely take, obtain the picture of defect, on the bank after control system B display defect data, balance empennage 162 is taken in housing 161 by return unit 17, Equilibrator 16 recovers reset condition, then technician continue control diving robot advance in the duct, complete the pipe detection of this pipeline section, again same pipe detection is carried out to next section of pipeline section, the speed of a ship or plane of diving robot controls at 0 ~ 10m/min, diving robot is in bottom time and controls at 0 ~ 1.5h.The concrete testing result of 8 sections of pipeline sections is as table 2:
The concrete testing result of table 2 pipeline section
E () defect location and maintenance: for the data in control system B on the bank, carry out image detection, editor, record, playback to pipe interior, to defect of pipeline location real time record, confirm that the classification of defect of pipeline is as shown in table 3:
The classification of table 2 defect of pipeline
Determine the elaborate position keeped in repair, the position positioning precision of defect of pipeline is 1cm, and the scope of positioning resolution is at 0.05 ~ 0.1m, and pipeline detection distance is 150m.Exclusive technician is arranged to carry out maintenance work.
The present invention is according to the detection pipeline section marked off, diving robot is adopted directly to carry out pipe detection under water, diving robot is in the duct without dead angle, precisely catch defect of pipeline in all directions, one-time detection can complete the investigation of all positions in pipeline, simple to operate, quick, and detection and location are precisely high, cost is low, and efficiency is high.Testing cost of the present invention is 1/4 of conventional detection, and efficiency is conventional 3 times of detecting.
These are only specific embodiments of the invention, but technical characteristics of the present invention is not limited thereto.Any based on the present invention, for solving substantially identical technical problem, realize substantially identical technique effect, done ground simple change, equivalent replacement or modification etc., be all covered by among protection scope of the present invention.
Claims (10)
1. a sewage network diving robot, comprise control system and robot body on the bank, it is characterized in that: described robot body is provided with frame carrier, the upper end of described frame carrier is provided with buoyancy block, described frame carrier is provided with control cabinet, and described control cabinet is provided with Subsea Control Systems, control system on the bank described in described Subsea Control Systems connects, be provided with the first camera and lighting burner in described control cabinet, described frame carrier is provided with propulsion device and sonar; Described frame carrier is provided with guiding curved bar, and described guiding curved bar is provided with crossbeam, and described crossbeam is provided with cranks arm, described in crank arm and be connected with strut; Described strut is provided with chassis, described chassis is provided with coupling shaft, described coupling shaft is rotatably connected to tripod touching device, described tripod touching device comprises three legs, and three described legs are structure as a whole, and single described leg is rotatably connected to upper saw pulley, described coupling shaft is provided with cover plate, described tripod touching device is limited on described coupling shaft by described cover plate, and the bottom of described cover plate is provided with Equilibrator, is provided with return unit between described Equilibrator and described cover plate; Described frame carrier is provided with linear rail, and described linear rail slidably connects raising platform, and described raising platform is provided with mechanism hand, and described linear rail is provided with second camera.
2. a kind of sewage network diving robot according to claim 1, it is characterized in that: described in crank arm and comprise master arm and slave arm, described master arm connects described strut, and described slave arm connects described crossbeam, is provided with push rod between described master arm and described slave arm.
3. a kind of sewage network diving robot according to claim 1, is characterized in that: be provided with silica gel pad between the mounting hole that described coupling shaft and described tripod touch device.
4. a kind of sewage network diving robot according to claim 1, it is characterized in that: described Equilibrator comprises housing, balance empennage and connecting plate, described balance empennage is located between described connecting plate, described balance empennage and described connecting plate are located in described housing, and described connecting plate connects described return unit.
5. a kind of sewage network diving robot according to claim 1, it is characterized in that: the underwater holder rotating speed of described second camera is 6 °/S, the pitching scope of described second camera is ± 15 °, and the scope that swings of described second camera is ± 30 °.
6. a kind of sewage network diving robot according to claim 1, it is characterized in that: described lighting burner adopts two LED, the power of described LED is 35W, and by semiconductor die package in the epoxy, described LED adopts chemiluminescence technology to described LED.
7. a sewage network diving robot detection method, is characterized in that comprising the steps:
A () sets up duct size information station: understand the sewage network pipeline as-constructed drawing that construction unit provides and analyze, the invert elevation (IE) of understanding pipeline, water (flow) direction, caliber, the well location that crosses are put and pipeline material, on drawing, each joint and access point is marked again with red pen, analyze the concrete distribution situation of actual detection, mark off detection pipeline section, then according to the duct size information station datagram analyzed on the coast control system being set up detection;
(b) assembling detection system: cable is connected focusing electrod-array probe, again focusing electrod-array probe is fixed on the cover plate of the preposition design of diving robot, then by the cable winding of focusing electrod-array probe access to strut, and cable is linked on the bank in control system along frame carrier;
C () water jetting at high pressure is dredged: adopt water jetting at high pressure machine to carry out high-pressure water flow jet-action to every section of pipeline section, ducted mud and rubbish are washed into inspection shaft place, are then evacuated to transfer cart, mud and rubbish are forgotten about it appointed place and discharges by transfer cart;
D () submarine pipeline detects: open diving robot controlling electric switch, diving robot is put in water from inspection shaft, carry out pipe detection in first order pipeline section, by the lighting burner of control system unlatching on the bank, lighting burner is arranged on diving robot front and back position, ensure that the pipeline of before and after diving robot one section illuminates, and open the first camera, with the first camera, real-time imaging supervision is carried out to the situation of pipe interior, record, the operation of video capture, open propulsion device, according to the actual conditions of pipeline hydraulic pressure and current, control angle of rake rotating speed, then by wireless controller Remote diving robot, control command is sent to diving robot, diving robot carries out underwater 3 D degrees of freedom along water movement, technician accesses ground electrode probe on the coast, and ceaselessly carry out gallon, the focusing electrod-array probe that diving robot loads, water, pipeline, the earth and ground electrode probe form loop, control system shows curent change figure on the bank, when running into curent change and occurring obviously rising, illustrate that breaking appears in pipeline herein, distortion, dislocation, the defect of disconnection and seepage, technician controls diving robot near fault location by wireless controller, tripod being touched device touches on the inwall of pipeline, under the rotation of upper saw pulley, the leg on tripod touching device is driven to rotate, leg touches Equilibrator, balance empennage in Equilibrator is opened, diving robot rests on fault location reposefully, balance empennage carries out balanced action, then technician on the coast control system regulates the angle of robot support on inner-walls of duct, and open second camera, second camera aims at fault location, precisely take, obtain the picture of defect, on the bank after control system display defect data, return unit will balance in empennage income housing, Equilibrator recovers reset condition, then technician continue control diving robot advance in the duct, complete the pipe detection of this pipeline section, again same pipe detection is carried out to next section of pipeline section,
(e) defect location and maintenance: for the data in control system on the bank, image detection, editor, record, playback are carried out to pipe interior, to defect of pipeline location real time record, confirm the classification of defect of pipeline, determine the elaborate position keeped in repair, arrange exclusive technician to carry out maintenance work.
8. a kind of sewage network diving robot detection method according to claim 7, is characterized in that: describedly set up in the operation of duct size information station, and detect the length range of pipeline section at 0 ~ 120m, length is accurate to 0.1m.
9. a kind of sewage network diving robot detection method according to claim 7, it is characterized in that: described submarine pipeline detects in operation, the speed of a ship or plane of described diving robot controls at 0 ~ 10m/min, and described diving robot is in bottom time and controls at 0 ~ 1.5h.
10. a kind of sewage network diving robot detection method according to claim 7, it is characterized in that: in described defect location operation, the position positioning precision of defect of pipeline is 1cm, and the scope of positioning resolution is at 0.05 ~ 0.1m, and pipeline detection distance is 150m.
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