阅读说明：本技术 一种水下管道巡检机器人 (Underwater pipeline inspection robot ) 是由 黄韬 吴志鑫 曹润东 罗汶鑫 黄晨 王雅雪 周燕茹 于 2021-08-31 设计创作，主要内容包括：本发明公开一种水下管道巡检机器人,其包括：固定框架组件,由多组载物支撑板组成,且所述多组载物支撑板之间相互固定连接；水密舱室组件,设置于多组载物支撑板之间,且与位于中部的载物支撑板固定连接,所述水密舱室组件包括透明水密舱室和云台罩,所述云台罩可拆卸设置于透明水密舱室一端,且透明水密舱室另一端设有出线接口；感测设备组件,用于视觉数据采集；动力驱动安装组件,用于固定安装外界驱动器,所述动力驱动安装组件由多组驱动器固定环组成,所述驱动器固定环分别水平或垂直安装于固定框架组件上。本发明的一种水下管道巡检机器人,具有硬件结构对功能开发的限制小、拓展新功能简单、配重兼容性强和造价成本低等有益效果。(The invention discloses an underwater pipeline inspection robot, which comprises: the fixed frame component consists of a plurality of groups of carrying support plates which are fixedly connected with each other; the watertight compartment assembly is arranged among the plurality of groups of carrying supporting plates and is fixedly connected with the carrying supporting plate positioned in the middle, the watertight compartment assembly comprises a transparent watertight compartment and a tripod head cover, the tripod head cover is detachably arranged at one end of the transparent watertight compartment, and the other end of the transparent watertight compartment is provided with an outlet interface; a sensing device assembly for visual data acquisition; the power drive installation component is used for fixedly installing an external driver, the power drive installation component is composed of a plurality of groups of driver fixing rings, and the driver fixing rings are respectively horizontally or vertically installed on the fixing frame component. The underwater pipeline inspection robot has the beneficial effects of small limitation of a hardware structure on function development, simple new function expansion, strong counterweight compatibility, low manufacturing cost and the like.)

1. The utility model provides a robot is patrolled and examined to pipeline under water which characterized in that: it includes:

the fixed frame component consists of a plurality of groups of carrying support plates which are fixedly connected with each other;

the watertight compartment assembly is arranged among the plurality of groups of carrying supporting plates and is fixedly connected with the carrying supporting plate positioned in the middle, the watertight compartment assembly comprises a transparent watertight compartment and a tripod head cover, the tripod head cover is detachably arranged at one end of the transparent watertight compartment, and the other end of the transparent watertight compartment is provided with an outlet interface;

the sensing equipment assembly is used for visual data acquisition and is arranged in the inner cavity of the watertight cabin assembly;

the power drive installation component is used for fixedly installing an external driver, the power drive installation component is composed of a plurality of groups of driver fixing rings, and the driver fixing rings are respectively horizontally or vertically installed on the fixing frame component.

2. The underwater pipeline inspection robot according to claim 1, wherein: constitute fixed frame subassembly carry thing backup pad quantity is three, three group carry thing backup pad parallel arrangement and by the mutual fixed connection of interplate bracing piece, three group carry thing backup pad one end and are provided with the solid fixed ring of flange and are used for carrying three groups and carry the mutual fixed connection of thing backup pad one end.

3. The underwater pipeline inspection robot according to claim 2, wherein: sensing equipment subassembly includes adjustable mounting bracket, tracking camera and discernment camera, adjustable mounting bracket fixed mounting in the cloud platform covers, the tracking camera is all installed on adjustable mounting bracket with the discernment camera, and the adjustable mounting bracket removal relatively of tracking camera and discernment camera.

4. The underwater pipeline inspection robot according to claim 3, wherein: the adjustable mounting frame comprises a holder fixing ring, the holder fixing ring is fixedly mounted on the holder cover, a first cloud platform frame and a second cloud platform frame are arranged on the holder fixing ring, the first cloud platform frame is fixedly connected with the holder fixing ring, the second cloud platform frame can be adjusted in a vertical displacement mode relative to the holder fixing ring, a third cloud platform frame which can be turned relative to the third cloud platform frame for angle adjustment is arranged on the first cloud platform frame, a tracking camera is fixedly mounted on the third cloud platform frame, and an identification camera is fixedly mounted on the second cloud platform frame.

5. The underwater pipeline inspection robot according to claim 4, wherein: the level sets up the solid fixed ring quantity of driver is installed respectively in fixed frame subassembly both ends for four, and the axial direction of its mounted position is 45 angles with the axis of fixed frame subassembly and opens at fixed frame subassembly both ends.

6. The underwater pipeline inspection robot according to claim 5, wherein: the fixed ring quantity of perpendicular setting the solid fixed ring of driver is two and installs respectively in fixed frame subassembly both sides, runs through middle part year thing backup pad and rather than fixed connection, it is the space of stepping down when it offers power take off to carry the thing backup pad.

7. The underwater pipeline inspection robot according to claim 6, wherein: the driver fixing ring is formed by buckling two groups of semi-annular assemblies with wing plates, and parallel mounting holes, vertical mounting holes and clamping holes are symmetrically formed in the driver fixing ring.

8. The underwater pipeline inspection robot according to claim 7, wherein: and one end of the transparent watertight cabin, which is far away from the tripod head cover, is provided with a sealed outlet interface.

9. The underwater pipeline inspection robot according to claim 1, wherein: it still includes:

and the master control circuit comprises a PCB as a control carrier and an STM32F407ZGT6 chip as a master control chip.

10. The underwater pipeline inspection robot according to claim 9, wherein: the main control circuit further comprises a gyroscope MPU6050 module which is used for sensing the gesture of the inspection robot.

Technical Field

The invention is applied to the field of pipeline inspection, and particularly relates to an underwater pipeline inspection robot.

Background

At present, huge amount of energy materials are stored in the ocean, the greenhouse effect of the earth is more and more intense, and the ocean energy development has important significance. However, underwater robots have become an important tool for the development of the ocean because of the harsh and dangerous underwater environment and the limited depth of human diving. The traditional cable type underwater Robot (ROV) is limited to cables and cannot autonomously perform continuous work, the cost of the cable-free type underwater robot on the market is high, the endurance is difficult, the fixed hardware structure causes difficulty in counterweight, and the development of new functions is limited. It is difficult to smoothly develop new functions in different water environments. Therefore, the underwater pipeline inspection robot system with high endurance and high counterweight compatibility has certain practical application value.

Disclosure of Invention

The invention aims to solve the technical problem of providing an underwater pipeline inspection robot aiming at the defects of the prior art.

In order to solve the technical problem, the invention provides an underwater pipeline inspection robot, which comprises:

the fixed frame component consists of a plurality of groups of carrying support plates which are fixedly connected with each other;

the watertight compartment assembly is arranged among the plurality of groups of carrying supporting plates and is fixedly connected with the carrying supporting plate positioned in the middle, the watertight compartment assembly comprises a transparent watertight compartment and a tripod head cover, the tripod head cover is detachably arranged at one end of the transparent watertight compartment, and the other end of the transparent watertight compartment is provided with an outlet interface;

the sensing equipment assembly is used for visual data acquisition and is arranged in the inner cavity of the watertight cabin assembly;

the power drive installation component is used for fixedly installing an external driver, the power drive installation component is composed of a plurality of groups of driver fixing rings, and the driver fixing rings are respectively horizontally or vertically installed on the fixing frame component.

As a possible implementation manner, further, the number of the object carrying support plates constituting the fixed frame assembly is three, three groups of the object carrying support plates are arranged in parallel and are fixedly connected with each other through the support rods between the plates, and one end of each of the three groups of the object carrying support plates is provided with a flange fixing ring for fixedly connecting one end of each of the three groups of the object carrying support plates with each other.

As a possible implementation manner, further, the sensing device assembly includes an adjustable mounting frame, a tracking camera and a recognition camera, the adjustable mounting frame is fixedly installed in the pan-tilt cover, the tracking camera and the recognition camera are both installed on the adjustable mounting frame, and the tracking camera and the recognition camera can move relative to the adjustable mounting frame.

As a possible implementation manner, further, the adjustable mounting frame includes a holder fixing ring, the holder fixing ring is fixedly mounted on the holder cover, the holder fixing ring is provided with a first holder frame and a second holder frame, the first holder frame is fixedly connected with the holder fixing ring, the second holder frame can be adjusted relative to the holder fixing ring for vertical displacement, the first holder frame is provided with a third holder frame, the third holder frame can be turned relative to the third holder frame for angle adjustment, the tracking camera is fixedly mounted on the third holder frame, and the identification camera is fixedly mounted on the second holder frame.

As a possible implementation manner, further, the number of the drive fixing rings horizontally arranged is four, and the drive fixing rings are respectively installed at two ends of the fixed frame assembly, and the axial direction of the installation position of the drive fixing rings is opened at an angle of 45 degrees with the axis of the fixed frame assembly.

As a possible implementation manner, further, the number of the driver fixing rings vertically arranged is two, and the two driver fixing rings are respectively installed on two sides of the fixing frame assembly, penetrate through the middle part of the carrying support plate and are fixedly connected with the carrying support plate, and the carrying support plate is an abdicating space when the carrying support plate is provided with power output.

As a possible implementation manner, further, the driver fixing ring is formed by buckling two groups of semi-annular assemblies with wing plates, and parallel mounting holes, vertical mounting holes and clamping holes are symmetrically formed in the driver fixing ring.

As a possible implementation manner, further, one end of the transparent watertight cabin, which is far away from the tripod head cover, is provided with a sealed outlet interface.

As a possible implementation, further, it further includes:

and the master control circuit comprises a PCB as a control carrier and an STM32F407ZGT6 chip as a master control chip.

As a possible implementation manner, further, the main control circuit further includes a gyroscope MPU6050 module, which is used for sensing the gesture of the inspection robot.

By adopting the technical scheme, the invention has the following beneficial effects: the underwater pipeline inspection robot has the beneficial effects of small limitation of a hardware structure on function development, simple new function expansion, strong counterweight compatibility, low manufacturing cost and the like. Utilize the camera to continuously gather environmental information under water, according to the information control driver that the camera was gathered, and then realize the pipeline tracking under water. In addition, on backup pad and carrier, with the help of the bracing piece between the board, can realize dismantling and fixing of counter weight thing piece easily, greatly improved the focus adjustability of robot and the continuation of journey nature of robot, increase the adaptability to different water environment, improved the compatibility to novel function.

Drawings

The invention is described in further detail below with reference to the following figures and embodiments:

FIG. 1 is a schematic structural view of an underwater pipeline inspection robot with a flange fixing ring in a visual direction according to the invention;

FIG. 2 is a schematic structural view of an underwater pipeline inspection robot with a visual direction of a cloud deck cover;

FIG. 3 is a schematic view of the structure of the pan/tilt head for loading the tracking camera according to the present invention;

fig. 4 is a schematic structural diagram of a cradle head of the loading recognition camera of the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described in detail and completely with reference to the accompanying drawings.

As shown in fig. 1 to 4, the present invention provides an underwater pipeline inspection robot, which includes:

the fixed frame component 1 consists of a plurality of groups of carrying support plates 11, and the plurality of groups of carrying support plates 11 are fixedly connected with each other; constitute fixed frame subassembly 1 carry thing backup pad 11 quantity is three, three groups carry 11 parallel arrangement of thing backup pad and by the mutual fixed connection of inter-plate bracing piece 12, three groups carry 11 one end of thing backup pad and are provided with the solid fixed ring 13 of flange and are used for carrying 11 one end mutual fixed connection of thing backup pad with three groups. The needed balancing weights can be riveted among the three groups of carrying supporting plates 11; the supporting plate is supported by the hexagonal support to keep the machine body fixed, when the inspection work function of the robot is enhanced, the structure of the robot is changed, the balance gravity center and the electric control program of the robot are prone to shift, a counterweight block can be added at any position between the supporting plates, and the balance problem of the robot is improved. The electric control part can be reprogrammed through a closeable wire outlet preset at one end of the watertight cabin connected with the flange fixing ring, and the established program of the robot is improved.

The watertight compartment assembly 2 is arranged among the multiple groups of carrying supporting plates 11 and is fixedly connected with the carrying supporting plates 11 positioned in the middle, the watertight compartment assembly 2 comprises a transparent watertight compartment 21 and a holder cover 22, and a watertight rubber ring is embedded in the watertight compartment assembly to realize the waterproof function of the transparent watertight compartment; the cloud deck cover 22 is detachably arranged at one end of the transparent watertight cabin 21, and an outlet interface is arranged at the other end of the transparent watertight cabin 21 and is connected with an in-cabin main control chip and an out-cabin driver; and one end of the transparent watertight cabin 21, which is far away from the tripod head cover 22, is provided with a sealed outlet interface for an operator to program the electrical part in the cabin.

The sensing equipment assembly 3 is used for visual data acquisition and is arranged in the inner cavity of the watertight cabin assembly 2; the sensing device assembly 3 comprises an adjustable mounting frame 31, a tracking camera 32 and a recognition camera 33, the adjustable mounting frame 31 is fixedly mounted in the pan-tilt cover 22 and supports the camera to sense the water environment in the chamber, the tracking camera 32 and the recognition camera 33 are both mounted on the adjustable mounting frame 31, and the tracking camera 32 and the recognition camera 33 can move relative to the adjustable mounting frame 31. The adjustable mounting frame 31 comprises a holder fixing ring 311, the holder fixing ring 311 is fixedly mounted on the holder cover 22, a first cloud platform 312 and a second cloud platform 313 are arranged on the holder fixing ring 311, the first cloud platform 312 is fixedly connected with the holder fixing ring 311, the second cloud platform 313 can be adjusted relative to the holder fixing ring 311 in a vertical displacement mode, a third cloud platform 314 which can be turned relative to the first cloud platform 312 to adjust the angle is arranged on the first cloud platform, the tracking camera 32 is fixedly mounted on the third cloud platform 314, and the identification camera 33 is fixedly mounted on the second cloud platform 313. Two intelligent cameras are adopted to collect underwater pipeline information and underwater foreign matter information respectively. The third pivoting cloud platform 314 is designed to angularly adjust the camera, according to its operational needs. The cloud platform 12 is connected to the cloud platform 16 through a pillar, and the second cloud platform 313 can be regarded as a single-degree-of-freedom cloud platform when moving, so as to adjust the working visual field of the foreign matter recognition camera. The line patrol camera can acquire data of the underwater pipeline, carry out binarization processing on acquired image information, obtain a median line of the pipeline based on a linear regression algorithm, calculate an intercept error and an angle error of the underwater pipeline patrol robot on the pipeline, and transmit the intercept error and the angle error back to the singlechip to control the action of the driver. After the target object is detected by the identification camera, the RGB lamp is controlled to flash and give an alarm.

Power drive installation component 4 for the external driver of fixed mounting, power drive installation component 4 comprises the solid fixed ring 41 of multiunit driver, the solid fixed ring 41 of driver level respectively or vertical installation are on fixed frame subassembly 1. The fixed ring 41 quantity of drive that the level set up is four and installs respectively in fixed frame component 1 both ends, and the axial direction of its mounted position is 45 angles with the axis of fixed frame component 1 and opens at fixed frame component 1 both ends. When the robot normally operates, resultant force generated by the two thrusters with the axially symmetric drivers can offset component force in the transverse direction, so that the effect of forward motion is achieved. When the robot turns, the two axial-symmetry propellers generate differential speed, and the generated resultant force respectively generates transverse component forces in opposite directions at the head (taking the pan-tilt cover as the head) and the tail (taking the flange fixing ring as the head), so that the effect of turning motion is achieved. The 45 deg. angle drive has superior maneuverability compared to a 0 deg. angle directional drive. When the running direction of the robot deviates under the influence of the water flow speed, the water environment density change or other working environments, compared with a direction driver with an angle of 0 degree, the driver with an angle of 45 degrees has better adjustability and finer adjustment precision, and the robot is better prevented from falling into a vibration link or a program from running away. The fixed ring 41 quantity of perpendicular setting the solid fixed ring of driver is two and installs respectively in fixed frame subassembly 1 both sides, runs through middle part year thing backup pad 11 and rather than fixed connection, it is the space of stepping down when it offers power take off to carry thing backup pad 11. The fixed ring 41 of driver is formed by two sets of semi-annular components locks of taking the pterygoid lamina, and the fixed ring 41 of driver goes up the symmetry and has seted up parallel mounting hole, vertical mounting hole and card hole in order to fix the driver.

And the master control circuit comprises a PCB as a control carrier and an STM32F407ZGT6 chip as a master control chip. The main control circuit 5 further comprises a gyroscope MPU6050 module for sensing the posture of the inspection robot.

The foregoing is directed to embodiments of the present invention, and equivalents, modifications, substitutions and variations such as will occur to those skilled in the art, which fall within the scope and spirit of the appended claims.