阅读说明：本技术 地质雷达机器人、控制系统、方法、终端和可读存储介质 (Geological radar robot, control system, method, terminal and readable storage medium ) 是由 代毅 刘耀森 谢飞 董福良 陈锐豪 杨木伙 庞水文 于 2020-11-25 设计创作，主要内容包括：本发明公开一种管中地质雷达机器人和管中地质探测系统,其中,应用于地质雷达机器人,所述地质雷达机器人包括驱动组件,其特征在于,所述控制方法包括：获取待行走管道的图像信息和激光雷达测距的三维点云信息；基于所述图像信息和三维点云信息,对待行走管道进行实时三维建模,以获取所述驱动组件与所述待行走管段内壁之间的第一径向距离；基于所述第一径向距离,控制所述驱动组件以与所述第一径向距离对应的驱动模式运动。本发明技术方案旨在解决现有技术中地质雷达对不同管径的管道不具备较强的适应性的技术问题。(The invention discloses a geological radar robot in a pipe and a geological detection system in the pipe, wherein the geological radar robot is applied to the geological radar robot, the geological radar robot comprises a driving assembly, and the control method is characterized by comprising the following steps: acquiring image information of a pipeline to be walked and three-dimensional point cloud information of laser radar ranging; performing real-time three-dimensional modeling on a pipeline to be traveled based on the image information and the three-dimensional point cloud information to obtain a first radial distance between the driving assembly and the inner wall of the pipeline section to be traveled; controlling the drive assembly to move in a drive mode corresponding to the first radial distance based on the first radial distance. The technical scheme of the invention aims to solve the technical problem that the geological radar has no strong adaptability to pipelines with different pipe diameters in the prior art.)

1. A control method applied to a geological radar robot, which comprises a driving assembly, is characterized by comprising the following steps:

acquiring image information of a pipeline to be walked and three-dimensional point cloud information of laser radar ranging;

performing real-time three-dimensional modeling on a pipeline to be traveled based on the image information and the three-dimensional point cloud information to obtain a first radial distance between the driving assembly and the inner wall of the pipeline section to be traveled;

controlling the drive assembly to move in a drive mode corresponding to the first radial distance based on the first radial distance.

2. The control method of claim 1, wherein identifying the image information and the three-dimensional point cloud information to obtain a first radial distance between the drive assembly and the inner wall of the pipe segment to be walked comprises:

acquiring the inner diameter of the pipeline section to be walked based on the image information and the three-dimensional point cloud information;

and acquiring the relation between the current position of a driving wheel set of the driving assembly and the inner diameter of the pipeline based on the inner diameter of the pipeline so as to acquire the first radial distance.

3. The control method of claim 2, wherein the step of controlling the drive assembly to move in a drive mode corresponding to the first radial distance based on the first radial distance comprises:

comparing the first radial distance with a first preset reference value or a second preset reference value;

if the first radial distance is larger than a first preset reference value, controlling the driving assembly to operate in a driving mode corresponding to the reduction of the first radial distance; or

And if the first radial distance is smaller than a second preset reference value, controlling the driving assembly to operate in a driving mode corresponding to the increase of the first radial distance.

4. The control method according to claim 3, wherein the driving wheel sets comprise three driving wheel sets, and the three driving wheel sets are distributed along the circumferential direction of the pipeline to be walked;

the step of obtaining the inner diameter of the pipeline to be walked based on the image information and the three-dimensional point cloud information comprises the following steps:

acquiring the inner diameter of the pipeline to be traveled in the specified direction based on the image information and the three-dimensional point cloud information;

wherein the specified direction is determined based on a distribution of the driving assembly in a current walking pipe.

5. The control method according to any one of claims 1 to 4, characterized by further comprising:

acquiring a second radial distance between the geological radar and the inner wall of the pipe section to be walked;

controlling the geological radar to move in a detection mode corresponding to the second radial distance based on the second radial distance.

6. The control method of claim 5, wherein the method of obtaining the second radial distance between the geological radar and the inner wall of the pipe segment to be walked comprises:

identifying the image information and the three-dimensional point cloud information;

acquiring the inner diameter of the pipeline section to be walked based on the image information and the three-dimensional point cloud information;

and acquiring the relation between the current position of the geological radar and the inner diameter of the pipeline based on the inner diameter of the pipeline so as to acquire the second radial distance.

7. A control system for a geological radar robot, the control system comprising:

an image acquisition module: acquiring image information of a pipeline to be walked;

laser radar range finding module: acquiring three-dimensional point cloud information of the pipeline to be walked;

a pipeline modeling module: performing real-time three-dimensional modeling on a pipeline to be traveled based on the image information and the three-dimensional point cloud information to obtain a first radial distance between the driving assembly and the inner wall of the pipeline section to be traveled;

a control module: controlling the drive assembly to move in a drive mode corresponding to the first radial distance based on the first radial distance.

8. A terminal device comprising a display screen, characterized in that the terminal device further comprises a memory, a processor and a control method stored on the memory and executable on the processor, the control method when executed by the processor implementing the steps of the control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, having a control method stored thereon, which, when executed by a processor, implements the steps of the control method of any one of claims 1 to 6.

10. A geological radar robot, characterized in that it is applied to the control method of any of claims 1-6.

Technical Field

The invention relates to the technical field of geological radar detection, in particular to a geological radar robot, a control system, a control method, a terminal and a readable storage medium.

Background

As a novel electromagnetic technology, the geological radar is widely used in detection of metal pipelines, foundation layers, reinforcing steel bars and the like, can detect holes, sewers, concrete structures and the like, is convenient for workers to know engineering construction conditions in time, and has important significance for urban construction work in China.

The ground penetrating radar that is used for underground pipeline to detect at present can only detect the pipeline in a direction, perhaps can only detect at specific pipe diameter, still has very big limitation to the detection function of pipeline, does not possess stronger adaptability to the pipeline of different pipe diameters.

Disclosure of Invention

The invention mainly aims to provide a geological radar robot, a control system, a control method, a terminal and a readable storage medium, and aims to solve the technical problem that a geological radar in the prior art does not have strong adaptability to pipelines with different pipe diameters.

In order to achieve the above object, in a first aspect, the present invention provides a control method applied to a geological radar robot, where the geological radar robot includes a driving component, and the control method includes:

acquiring image information of a pipeline to be walked and three-dimensional point cloud information of laser radar ranging;

performing real-time three-dimensional modeling on a pipeline to be traveled based on the image information and the three-dimensional point cloud information to obtain a first radial distance between the driving assembly and the inner wall of the pipeline section to be traveled;

controlling the drive assembly to move in a drive mode corresponding to the first radial distance based on the first radial distance.

Optionally, the step of identifying the image information and the three-dimensional point cloud information to obtain a first radial distance between the driving assembly and the inner wall of the pipe section to be traveled includes: acquiring the inner diameter of the pipeline section to be walked based on the image information and the three-dimensional point cloud information; and acquiring the relation between the current position of a driving wheel set of the driving assembly and the inner diameter of the pipeline based on the inner diameter of the pipeline so as to acquire the first radial distance.

Optionally, the step of controlling the drive assembly to move in a drive mode corresponding to the first radial distance based on the first radial distance comprises: comparing the first radial distance with a first preset reference value or a second preset reference value; if the first radial distance is larger than a first preset reference value, controlling the driving assembly to operate in a driving mode corresponding to the reduction of the first radial distance; or if the first radial distance is smaller than a second preset reference value, controlling the driving assembly to operate in a driving mode corresponding to the increase of the first radial distance.

Optionally, the number of the driving wheel sets is three, and the three driving wheel sets are distributed along the circumferential direction of the pipeline to be walked; the step of obtaining the inner diameter of the pipeline to be walked based on the image information and the three-dimensional point cloud information comprises the following steps: acquiring the inner diameter of the pipeline to be traveled in the specified direction based on the image information and the three-dimensional point cloud information; wherein the specified direction is determined based on a distribution of the driving assembly in a current walking pipe.

Optionally, the control method further includes: acquiring a second radial distance between the geological radar and the inner wall of the pipe section to be walked; controlling the geological radar to move in a detection mode corresponding to the second radial distance based on the second radial distance.

Optionally, the method for acquiring the second radial distance between the geological radar and the inner wall of the pipe section to be walked includes: identifying the image information and the three-dimensional point cloud information; acquiring the inner diameter of the pipeline section to be walked based on the image information and the three-dimensional point cloud information; and acquiring the relation between the current position of the geological radar and the inner diameter of the pipeline based on the inner diameter of the pipeline so as to acquire the second radial distance.

Optionally, in a second aspect, the present invention further provides a control system applied to a geological radar robot, the control system including:

an image acquisition module: acquiring image information of a pipeline to be walked;

laser radar range finding module: acquiring three-dimensional point cloud information of the pipeline to be walked;

a pipeline modeling module: performing real-time three-dimensional modeling on a pipeline to be traveled based on the image information and the three-dimensional point cloud information to obtain a first radial distance between the driving assembly and the inner wall of the pipeline section to be traveled;

a control module: controlling the drive assembly to move in a drive mode corresponding to the first radial distance based on the first radial distance.

Optionally, in a third aspect, the present invention further provides a terminal device, including a display screen, where the terminal device further includes a memory, a processor, and a control method stored in the memory and executable on the processor, and when executed by the processor, the control method implements the steps of the control method as described above.

Optionally, in a fourth aspect, the present invention also provides a computer-readable storage medium, on which a control method is stored, which, when executed by a processor, implements the steps of the control method as described above.

Optionally, in a fifth aspect, the invention also provides a geological radar robot, which applies the control method as described above.

According to the technical scheme, the distance between the inner wall of the pipeline to be traveled and the driving assembly is obtained by identifying the image information of the pipeline to be traveled, the first radial distance between the driving assembly and the pipeline to be traveled is obtained, the driving assembly is controlled to move in a driving mode corresponding to the first radial distance, the robot can adapt to the pipe diameter under the condition of different pipe diameters, namely the robot is attached to the pipe wall, so that the position of a geological radar is stably centered relative to the pipe wall, and a good environment is provided for geological radar detection.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic flow chart diagram of an embodiment of a control method of the present invention;

FIG. 2 is a process schematic of the control system of the present invention;

FIG. 3 is a schematic diagram of a control device of a hardware operating environment according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a geological radar robot according to the present invention;

FIG. 5 is a schematic view of a preferred embodiment of the mounting table of the present invention from a perspective;

FIG. 6 is a cross-sectional view of section A-A of FIG. 5;

FIG. 7 is a schematic view of a preferred mounting platform of the present invention in connection with a geological radar mounting assembly;

FIG. 8 is a schematic view of a preferred connection structure between the mounting table and the elevating mechanism according to the present invention;

FIG. 9 is a preferred structural schematic of a first elevating structure of the present invention;

FIG. 10 is a preferred structural schematic of a second elevating configuration of the present invention;

figure 11 is a schematic view from a perspective of a preferred construction of a rotary mechanism of the present invention;

figure 12 is a schematic view from another perspective of a preferred construction of a rotary mechanism of the invention;

FIG. 13 is a schematic view from a perspective of a preferred construction of the drive assembly of the present invention;

FIG. 14 is a schematic view of a preferred construction of the telescoping member of the drive assembly of the present invention;

FIG. 15 is an enlarged partial view of the portion at A in FIG. 14;

FIG. 16 is an enlarged partial view of the portion of FIG. 14 at B;

FIG. 17 is a schematic view of a preferred construction of the drive wheel set of the drive assembly of the present invention from a perspective;

FIG. 18 is a schematic view of a preferred construction of the drive wheel set of the drive assembly of the present invention from another perspective;

fig. 19 is a cross-sectional view of section B-B in fig. 18.

The reference numbers illustrate:

the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The stable walking of the geological radar robot is a necessary condition for realizing the flaw detection of the geological radar in the pipeline. In order to enable the geological radar robot to pass through pipe sections with different pipe diameters in one-time pipeline detection and stably run, the geological radar robot provided by the invention comprises a driving assembly which is shown in reference to fig. 13 to 19. Optionally, the first driving mechanism 100a includes driving wheel sets 100a-2 arranged at intervals along the circumferential direction of the rack 100 a-1. Referring to fig. 4 or 10, three driving wheel sets 100a-2 are provided, and an included angle between every two adjacent driving wheel sets 100a-2 is 120 °, and the driving wheel sets are outwardly supported along the center of the pipe to have three sets of contact portions with the pipe. Referring to fig. 4, each driving wheel set 100a-2 includes two rollers 100a-2a, and the two rollers 100a-2a share the same roller (not shown). Referring to FIG. 19, the first drive configuration 100a includes a fourth drive 100a-2 i; the fourth driving member 100a-2i is used for driving a roller (not shown) to rotate so as to drive the roller 100a-2a to roll. In a specific implementation process, the first driving structure 100a further comprises a first bevel gear 100a-2g and a second bevel gear 100a-2 h; the first bevel gears 100a-2g and the second bevel gears 100a-2h are meshed with each other, the first bevel gears 100a-2g are fixedly connected with output shafts of the fourth driving parts 100a-2i, and the second bevel gears 100a-2h are fixedly connected with the rollers, so that the fourth driving parts 100a-2i realize rotation of the rollers 100a-2a through a gear transmission mode to walk on the pipe wall. The first drive mechanism 100a further includes a base 100a-2b, a second housing 100a-2j, and a third housing 100a-2 f. A roller is installed in the second housing 100a-2 j; a fourth driving member 100a-2i is installed in the third casing 100a-2 f; the second housings 100a-2j and the third housings 100a-2f are perpendicular to each other and penetrate each other such that the first bevel gears 100a-2g and the second bevel gears 100a-2h are engaged with each other. The bases 100a-2b are provided with guide holes (not numbered), the guide holes are internally provided with buffer columns 100a-2c and springs 100a-2d, the buffer columns 100a-2c are arranged in the springs 100a-2d to realize buffer and shock absorption, and the obstacle crossing capability is realized in the walking process of the robot. As shown in fig. 19, the base 100a-2b has two guide holes (not numbered), and the first set of buffer posts 100a-2c and the springs 100a-2d are connected to the second housing 100a-2j through the forks 100a-2 e; the second set of posts 100a-2c and springs 100a-2d are connected to the third housing 100a-2f by prongs 100a-2 e; (the fork 100a-2e and the other fork 100a-2e are the same part and therefore are not distinguished by reference numerals). The base 100a-2b is fixedly coupled to the telescoping member 100 a-3. Preferably, the fourth driving parts 100a-2i are servo motors.

Optionally, the first driving mechanism 100a further comprises a telescopic member 100a-3, and the driving wheel set 100a-2 is connected to the frame 100a-1 through the telescopic member 100 a-3; the telescopic direction of the telescopic member 100a-3 is parallel to the radial direction of the first housing 300 a. Referring to FIG. 13, each drive wheel assembly 100a-2 is shown configured with a corresponding telescoping member 100 a-3. The driving wheel set 100a-2 extends in a radial direction of the pipe. In a specific implementation process, referring to fig. 14, the telescopic parts 100a-3 include second lead screws 100a-3b, fixing seats 100a-3d, and lead screw nuts 100a-3 c; the second lead screws 100a-3b are connected between the fixed seats 100a-3d and the lead screw nuts 100a-3 c; the telescoping members 100a-3 also include bases 100a-3j and mounts 100a-3 i. The base 100a-3j is fixedly connected with the frame 100 a-1; preferably, the base 100a-3j is welded, threaded, to the frame 100 a-1. In the specific implementation process, the bases 100a-3j are uniformly distributed on the rack 100a-1 in the circumferential direction. The mounting seats 100a-3i are used for mounting the driving wheel sets 100 a-2. The telescoping members 100a-3 further include first links 100a-3f, second links 100a-3e, third links 100a-3h, and fourth links 100a-3 g. The first connecting rods 100a-3f, the second connecting rods 100a-3e and the second lead screws 100a-3b form an isosceles triangle; two ends of the first connecting rods 100a-3f are respectively hinged with the fixed seats 100a-3d and the mounting seats 100a-3 i; two ends of the second connecting rods 100a-3e are respectively hinged with the lead screw nuts 100a-3c and the mounting seats 100a-3 i. The third connecting rods 100a-3h, the fourth connecting rods 100a-3g and the second lead screws 100a-3b form an isosceles triangle; two ends of the third connecting rod 100a-3h are respectively hinged with the fixed seats 100a-3d and the bases 100a-3 j; two ends of the fourth connecting rod 100a-3g are respectively hinged with the lead screw nuts 100a-3c and the bases 100a-3 j. Preferably, the first, second, third and fourth links 100a-3f, 100a-3e, 100a-3h and 100a-3g may be jacks. Preferably, the line connecting the bases 100a-3j and the mounts 100a-3i is perpendicular to the axis of the second lead screw 100a-3 b. Therefore, when the fifth driving element 100a-3a drives the second lead screw 100a-3b to rotate on the lead screw nut 100a-3c, the mounting seat 100a-3i can be far away from the rack 100a-1 or close to the rack 100a-1, and the direction of the mounting seat far away from the rack 100a-1 or close to the rack 100a-1 is the telescopic direction of the telescopic element 100a-3 and is perpendicular to the axial direction of the second lead screw 100a-3 b. The mounting seats 100a-3i can be far away from the rack 100a-1 or close to the rack 100a-1 to drive the driving wheel sets 100a-2 to contact with the pipe wall and apply some pressure to the pipeline so as to ensure the stability of the robot walking in the pipeline; when the driving wheel set 100a-2 moves forwards or backwards, the robot can walk in pipelines with different pipe diameters in a self-adaptive mode. Preferably, the fifth drive 100a-3a is a servo motor. The fixing seats 100a-3d are fixedly connected with the fifth driving pieces 100a-3 a.

Preferably, as shown in fig. 15, the first link 100a-3f and the second link 100a-3e are configured with teeth at one end near the mounting seats 100a-3i, and the teeth are engaged with each other to increase the stability of the robot in self-adaptive walking in the pipelines with different pipe diameters.

Preferably, referring to fig. 16, the third link 100a-3h and the fourth link 100a-3g are each configured with teeth at one end near the base 100a-3j, and the teeth are engaged with each other to increase the stability of the robot in walking in different pipes with different pipe diameters.

According to the same embodiment, the second driving mechanism 100b and the first driving mechanism 100a have the same structure and arrangement, which are not described herein again. In general, the second drive mechanism 100b having the vision sensor mounted thereon is a front drive, and the first drive mechanism 100a having the control cable mounted thereon is a rear drive.

Alternatively, bases 100a-2b and mounts 100a-3i are threaded or welded.

The embodiment provides a control method, which is applied to a geological radar robot, wherein the geological radar robot comprises a driving component; referring to fig. 1, the control method includes:

s01: acquiring image information of a pipeline to be walked and three-dimensional point cloud information of laser radar ranging;

s02: identifying the image information and the three-dimensional point cloud information, and performing real-time three-dimensional modeling on a pipeline to be walked to obtain a first radial distance between the driving assembly and the inner wall of the pipeline section to be walked;

s03: controlling the drive assembly to move in a drive mode corresponding to the first radial distance based on the first radial distance.

It should be noted that, unlike the current walking pipeline, the pipeline to be walked may be a pipe section in the walking direction of the geological radar robot, or may be a pipe section to which the geological radar robot is about to walk.

It should be noted that the image information may refer to picture information, video information, or a combination of the two of the pipe to be traveled. It should be noted that the three-dimensional point cloud information is a three-dimensional data set of the pipeline to be traveled, which is obtained based on laser radar ranging. And acquiring a first radial distance between the driving assembly and the inner wall of the pipe section to be walked through an image recognition algorithm (such as an image recognition algorithm based on artificial intelligence, an image recognition algorithm based on deep learning and the like) and real-time three-dimensional modeling based on three-dimensional point cloud information. The first radial distance can be understood as the straight-line distance between the geometric center point of the drive assembly, the center of gravity and the inner wall of the pipe to be traveled.

It should be noted that, controlling the driving assembly to move in the driving mode corresponding to the first radial distance means: under the condition of different first radial distances, the driving assembly can drive the robot to enter the pipeline to be walked to walk in different driving modes. For example, the drive modes may include normal travel, extending the drive wheel set to travel proximate to the pipe to be traveled, retracting the drive wheel set to travel proximate to the pipe to be traveled, and so forth. Referring to fig. 13-19, the actuating components of the drive assembly 100a are a fourth drive 100a-2i and a fifth drive 100a-3 a. The control of the drive assembly according to the invention means the control of the fourth drive 100a-2i and/or the control of the fifth drive 100-3 a. The fourth driving part 100a-2i controls the rolling of the roller 100a-2a, so as to control the displacement, speed, acceleration and the like of the geological radar robot moving along the axial direction of the pipeline; and controlling the fifth driving element 100a-3a to drive the second lead screw 100a-3b to rotate, so as to drive the driving wheel set 100a-2 to move along the radial direction of the pipeline in terms of displacement, speed, acceleration and the like, so that the driving wheel set 100a-2 is tightly attached to the pipe wall.

Based on the technical scheme, the distance between the inner wall of the pipeline to be traveled and the driving assembly is obtained by identifying the image information and the three-dimensional point cloud information of the pipeline to be traveled, so that the first radial distance between the driving assembly and the pipeline to be traveled is obtained, the driving assembly is controlled to move in a driving mode corresponding to the first radial distance, the robot can adapt to the pipe diameter in a self-adapting mode under the condition of different pipe diameters, namely, the robot is attached to the pipe wall, so that the position of the geological radar is stably centered relative to the pipe wall, and a good environment is provided for the detection of the geological radar.

Optionally, the step of identifying the image information and the three-dimensional point cloud information to obtain a first radial distance between the driving assembly and the inner wall of the pipe section to be traveled includes:

acquiring the inner diameter of the pipeline section to be walked based on the image information and the three-dimensional point cloud information;

and acquiring the relation between the current position of a driving wheel set of the driving assembly and the inner diameter of the pipeline based on the inner diameter of the pipeline so as to acquire the first radial distance.

Firstly, acquiring the inner diameter D of the pipeline section to be walked through an image recognition algorithm and a model constructed by three-dimensional point cloud information. Based on the inner diameter of the pipe, obtaining the relationship between the current position of the driving wheel set of the driving assembly and the inner diameter of the pipe may be: the center of the frame is used as an origin point, a contact point of the driving wheel set and the current walking pipeline is obtained, and the distance R between the origin point and the contact point in the radial direction is calculated₀. In the walking process, in order to keep the centering of the robot, the first radial distance is calculated in the following mode: r₀The difference from one half of the inner diameter D. Therefore, the first radial distance may also be obtained by: the robot has three driving wheel sets, each driving wheel set has three contact points with a current walking pipeline, and the centers of the three contact points are determined as centering points (the track of the middle point in the robot walking is an axis); calculating the difference R of each contact point and the midpoint of the team in the radial direction₁、R₂、R₃And determining the first radial distance of each driving wheel set with the inner diameter D of the pipeline: r₁、R₂、R₃Respectively, to one half of the inner diameter D.

Optionally, the step of controlling the drive assembly to move in a drive mode corresponding to the first radial distance based on the first radial distance comprises:

comparing the first radial distance with a first preset reference value or a second preset reference value;

if the first radial distance is greater than a first preset reference value, controlling the driving assembly to operate in a driving mode corresponding to a decrease of the first radial distance; or

And if the first radial distance is smaller than a second preset reference value, controlling the driving assembly to operate in a driving mode corresponding to the increase of the first radial distance.

It should be noted that, in the definition, the first radial distance is preferably: subtracting R from one half of the inner diameter D of the pipe₀Or R₁. For this reason, the conditions for the rollers to cling to the pipe wall are as follows: the first radial distance is less than or equal to 0. For this purpose, the first preset reference value is set to 0 or a negative number in the invention; the second preset reference value is set in consideration of the deformability of the roller tyre and is determined according to different deformability, for example, set to-2 cm, -3cm or less, and the smaller the set value is, the higher the deformability of the roller tyre is required to be, the higher the pressure to which the roller is subjected and the better the gripping capability.

It should be noted that the fact that the first radial distance is greater than the first preset reference value corresponds to: according to the position of current driving wheel group, driving wheel group can't with wait to walk the pipeline contact, therefore need reduce first radial distance, promptly: the fifth driving element 100a-3a needs to be started to drive the second lead screw 100a-3b to rotate so that the driving wheel set is far away from the rack 100a-1 and close to the inner wall of the pipeline to be walked until the driving wheel set is contacted with the rack 100a-1 and positive pressure is generated between the driving wheel set and the rack; the first radial distance being smaller than a second preset reference value corresponds to: according to the position of the current driving wheel set, the tire of the driving wheel set cannot enter the pipe to be walked to contact even if the tire is completely deformed, so that the first radial distance needs to be increased, namely: the fifth driving member 100a-3a is required to be started to drive the second lead screw 100a-3b to rotate so that the driving wheel set can contact the inner wall of the pipeline to be walked by entering the pipeline to be walked through the rack 100a-1 and generate positive pressure.

Optionally, the number of the driving wheel sets is three, and the three driving wheel sets are distributed along the circumferential direction of the pipeline to be walked;

the step of obtaining the inner diameter of the pipeline of the pipe section to be walked based on the image information and the three-dimensional point cloud information further comprises:

acquiring the inner diameter of the pipeline section to be walked in the specified direction based on the image information and the three-dimensional point cloud information;

wherein the specified direction is determined based on a distribution of the driving assembly in a current walking pipe.

Since the pipe is buried in the ground, it may already be in a non-circular cross-section, and therefore the diameters of the pipes to be walked in different radial directions on the same cross-section are different. Therefore, in order to enable the robot to smoothly pass through the pipeline to be traveled, the technical scheme of the invention obtains the pipeline inner diameter of the pipeline section to be traveled in the appointed direction based on the image information. It should be noted that, the specified direction is determined based on the distribution of the driving components in the current walking pipe: namely: the specified directions are three extending directions of the driving wheel set in the pipeline. Therefore, the first radial distance may also be obtained by: the robot has three driving wheel sets, each driving wheel set has three contact points with a current walking pipeline, and the centers of the three contact points are determined as centering points (the track of the middle point in the robot walking is an axis); calculating the difference R of each contact point and the midpoint of the team in the radial direction₁、R₂、R₃A first radial distance for each drive wheel set is then determined with the corresponding duct inner diameters D1, D2, and D3. And according to the obtained different first radial distances, independently controlling the corresponding driving assemblies to adjust.

Meanwhile, radar detection equipment can detect multi-azimuth data so as to comprehensively judge the damage condition of the inner wall of the pipeline. In addition, during the process of detecting the pipeline, various defects may exist on the pipeline wall, and the radar detection equipment may be damaged if carelessness is caused. Therefore, the radar detection equipment is required to have the function of automatically avoiding obstacles, so that the radar vehicle can avoid the obstacles when encountering the obstacles and cannot be damaged, and the radar vehicle can smoothly complete the routing inspection engineering in the underground pipeline. Optionally, the step of acquiring the first radial distance includes: obtaining three-dimensional point cloud information through laser radar ranging; and performing real-time three-dimensional modeling on the local part of the pipeline to be walked based on the three-dimensional point cloud information so as to obtain a first radial distance between the driving assembly and the inner wall of the pipeline section to be walked.

Optionally, referring to fig. 7, the geological radar mounting assembly 200 comprises a lifting mechanism 200a, wherein the lifting mechanism 200a is connected with the first housing 300a, and the lifting direction of the lifting mechanism 200a is parallel to the radial direction of the first housing 300 a. Referring to fig. 8, the lifting mechanism 200a includes two sets of lifting structures (a first lifting structure 200a-1 and a second lifting structure 200 a-2); the two sets of lifting structures are respectively disposed at two sides of the axis of the first housing 300 a. The lift mechanism 200a also includes a drive structure 200 a-3. Wherein the first lifting structure 200a-1 comprises a first lifting rod 200a-1a and a second lifting rod 200a-1 b; the first and second lift pins 200a-1a and 200a-1b are hinged to each other to constitute an X-shaped lifting structure with each other. Referring to FIG. 9, the driving structure 200a-3 includes a traveling nut 200a-3a, a first lead screw 200a-3b, a driving wheel 200a-3c, a driving wheel 200a-3d, and a second driving member 200a-3 e. The output shafts of the first driving parts 200a-3e are connected with the driving wheels 200a-3d through keys; the driving wheels 200a-3c and the driving wheels 200a-3d are driven by belts; the drive wheels 200a-3c are keyed to the first lead screws 200a-3 b. The traveling nuts 200a-3a and the first lead screws 200a-3b are engaged with each other. The mounting stage 300 further includes a first stage 300f, the first stage 300f having a slide (not numbered) running along the axial direction of the first housing 300a, and the traveling nuts 200a-3a are slidably fitted to the slide (not numbered); the first stage 300f is fixedly coupled to the first housing 300 a. Wherein, the first lifting rod 200a-1a is hinged with the movable nut 200a-3 a; the second lifting rod 200a-1b is hinged with the first stand 300 f; when the second driving member 200a-3e is started, the first lead screw 200a-3b drives the movable nut 200a-3a to move, so as to drive the first lifting rod 200a-1a to move, and the first lifting rod 200a-1a rotates around the movable nut 200a-3a, so as to drive the second lifting rod 200a-1b to rotate around the first platform 300f, thereby realizing the lifting of the lifting mechanism 200 a.

Alternatively, referring to FIG. 7, the first lifting structure 200a-1 includes an X-structure formed by two first lifting rods 200a-1a and two second lifting rods 200a-1 b. The driving structure 200a-3 comprises two moving nuts 200a-3a, two first lead screws 200a-3b and two driving wheels 200a-3 c; the first stage 300f may be provided with two slides (not numbered) and arranged in parallel. Each slide (not numbered) is slidably coupled to a corresponding traveling nut 200a-3 a. The two drive wheels 200a-3c are belt-driven with the drive wheels 200a-3 d. The two first elevating rods 200a-1a are respectively connected with the respective moving nuts 200a-3 a. Optionally, the second drive members 200a-3e are servo motors. The two second lifting rods 200a-1b are respectively hinged with the stop blocks of the respective slide ways.

According to the same mechanism, the other side of the mounting table 300 has another first stage; the first gantry is used to mount the second elevation structure 200 a-2. The connection of the second elevation structure 200a-2 to the further first gantry is connected to the first gantry 300f with reference to the first elevation structure 200 a-1. In general, the driving structure 200a-3 drives the first elevation structure 200a-1, and the second elevation structure 200a-2 is passively moved following the first elevation structure 200a-1 without providing a driving structure. The invention adopts a positive and negative double-trapezoid screw rod double-shear structure, greatly solves the problem that the lifting platform of the common single-shear structure falls by one side, and improves the stability of the radar antenna in the detection process; meanwhile, the pipe wall can be adaptively approached according to the pipe diameter.

Alternatively, as shown in fig. 7, a reinforcing block 300f-1 is attached (welded) to a side of the first stage 300f facing away from the lifting mechanism 200 a. The reinforcing block 300f-1 is coupled to the first housing 300a to increase the stability of the elevating mechanism 200.

Optionally, referring to fig. 7, the geological radar mounting assembly 200 further comprises a first platform 200b, a geological radar 200c and a rotation mechanism 200 e; the first platform 200b is connected to the geological radar 200 c; the rotating mechanism 200e is used for driving the first platform 200b to rotate. In particular implementations, geological radar 200c is common. Referring to fig. 7, damping springs 200c-1 are arranged around the geological radar 200c, and the extension direction of the damping springs 200c-1 is consistent with the lifting direction of the lifting mechanism 200 a; one end of the damping spring 200c-1 is connected to the geological radar 200c, and the other end is connected to the first platform 200 b; the rotating mechanism 200e has a rotating shaft (not numbered) for driving the first platform 200b to rotate; the end of the rotation shaft remote from the worm gear 200e-3 is fixedly connected to the side of the first platform 200b remote from the geological radar 200 c. Referring to fig. 11 or 12, the rotation mechanism 200e includes a third driver 200e-1, a worm 200e-2, and a worm wheel 200 e-3; the third driving piece 200e-1 is used for driving the worm 200e-2 to rotate, the worm 200e-2 is meshed with the worm wheel 200e-3, and the worm wheel 200e-3 is in key connection with the rotating shaft; the axial direction of the rotation shaft is parallel to the lifting direction of the lifting mechanism 200 a. In this manner, the radar assembly 200c is able to spin to probe the formation from different probing orientations. Preferably, the third driving member 200e-1 is a servo motor or a stepping motor.

Optionally, referring to fig. 9, the geological radar mounting assembly 200 further comprises a second platform 200 d; the second platform 200d is connected with the lifting mechanism 200 a; the second platform 200d is connected to the rotating mechanism 200 e. In a specific implementation process, each lifting rod of the lifting mechanism 200a is hinged to the second platform 200d so as to drive the second platform 200d to be far away from the erection table 300 or close to the erection table 300 in the rotating process of the lifting rod, so that the geological radar 200c can adaptively stretch and close to the pipe wall according to the pipe diameter. The rotation mechanism 200e and the second platform 200d are connected by means of a stud, a screw, or the like.

Optionally, a second rack 200d-1 is fixedly arranged on one side of the second platform 200d facing the carrying platform; the second stage 200d-1 is provided with a chute (not numbered) having a direction parallel to the axial direction of the mounting table. The first lifting rod 200a-1a is hinged with the second rack 200 d-1; the second lifting rod 200a-1b is hinged to a slide (not shown) in the chute. The sliding block is in sliding fit with the sliding groove.

In a specific implementation process, as shown in fig. 7 to 7, the first lifting structure 200a-1 is configured with a driving structure 200a-3 (screw pair) as a driving dual-rail push rod, and the second lifting structure 200a-1 has no screw pair as a driven dual-rail push rod. The direct current motor drives one of the first lead screws 200a-3b to move forwards and the other lead screw to rotate backwards through the synchronous belt, and the 2 groups of moving nuts 200a-3a move reversely to enable the sliding end of the first lifting rod 200a-1a to slide in the slideway, so that the included angle of the double-fork push rod is increased, and the second platform 200d is lowered; under the pressure of the second platform 200d, the sliding end of the second lifting structure 200a-1 moves in the slideway and descends vertically and synchronously. The motor rotates reversely, the 2 groups of moving nuts 200a-3a force the sliding end of the first lifting structure 200a-1 to move reversely, the included angle of the double-fork push rod is reduced, and the second platform 200d is lifted; under the lifting force of the second platform 200d, the sliding end of the second lifting structure 200a-1 moves in the slideway and rises vertically and synchronously. The lifting stroke can be determined by the length of the slideway, the length of the lifting rod and the variation range of the included angle of the push rod. The lifting thrust may be determined by the thrust of the traveling nut 200a-3 a. These 2 parameters can be obtained by theoretical calculation or simulation, or can be determined by experiment. The stability of the lifting platform is determined by the rigidity of the lifting rod, the rigidity of the slideway, the clearance between the hinge of the lifting rod and the clearance between the sliding end of the lifting rod and the slideway.

To this end, the control method of the present invention further includes:

acquiring a second radial distance between the geological radar and the inner wall of the pipe section to be walked;

controlling the geological radar to move in a detection mode corresponding to the second radial distance based on the second radial distance.

In connection with the above mechanical structure, it should be noted that the geological radar is controlled to move in a driving mode corresponding to the radial distance: in the case of different second radial distances, the lifting mechanism 200e will adjust the position of the geological radar in the pipe at different heights, so as to detect in the pipe to be walked as close as possible to the inner wall of the pipe. For example, the detection modes may include no height adjustment for detection, extension of the geological radar to detect as close as possible to the inner wall of the pipe to be walked, and retraction of the extended geological radar to detect as close as possible to the inner wall of the pipe to be walked. Referring to fig. 13 and 14, the lift actuator of the lift mechanism 200e is a second driving member 200a-3 e. Thus, controlling the geological radar to move in the detection mode corresponding to the second radial distance means controlling the second driving member 200a-3e to control the second radial distance between the geological radar and the inner wall of the pipe wall to be walked.

Optionally, the method for acquiring the second radial distance between the geological radar and the inner wall of the pipe section to be walked includes:

identifying the image information and the three-dimensional point cloud information;

acquiring the inner diameter of the pipeline section to be walked based on the image information and the three-dimensional point cloud information;

and acquiring the relation between the current position of the geological radar and the inner diameter of the pipeline based on the inner diameter of the pipeline so as to acquire the second radial distance.

It should be noted that the image information and, may refer to picture information, video information, or a combination of the two of the pipes to be walked. And acquiring a second radial distance between the geological radar and the inner wall of the pipe section to be walked through an image recognition algorithm (such as an image recognition algorithm based on artificial intelligence, an image recognition algorithm based on deep learning and the like). The second radial distance may be understood as a linear distance between the inner walls of the geological radar surface pipe.

Optionally, the present embodiment further provides a control system, as shown in fig. 2, applied to a geological radar robot, where the control system includes:

the image acquisition module 400: acquiring image information of a pipeline to be walked;

laser radar ranging module 800: acquiring three-dimensional point cloud information of the pipeline to be walked;

the pipeline modeling module 1000: acquiring a first radial distance between the driving assembly and the inner wall of the pipe section to be walked based on the image information and the three-dimensional point cloud information;

the control module 600: controlling the drive assembly to move in a drive mode corresponding to the first radial distance based on the first radial distance. Optionally, the control module 600 is communicatively connected to the first driver, the second driver, the third driver, the fourth driver and the fifth driver, respectively, such as by cables.

Preferably, the control system further comprises an image recognition module 500 and a three-dimensional point cloud processing module 800. The image identification module 500 identifies the image information to obtain first data to be modeled; the three-dimensional point cloud processing module 800 obtains second data to be modeled based on the three-dimensional point cloud information. The pipeline modeling module 1000 performs data fusion on the first data to be modeled and the second data to be modeled to obtain a three-dimensional model of the pipeline to be traveled, and is used for obtaining a first radial distance.

The omnibearing detection radar vehicle system with the self-adaptive pipe diameter provided by the invention consists of a cable vehicle on the ground, a control terminal and an omnibearing detection radar vehicle robot in a pipeline. The system can complete self-adaption of pipe diameters in the pipeline, detect the internal environment of the pipeline in an all-around mode, and has the obstacle crossing function of protecting the radar vehicle from being damaged, so that the whole routing inspection project can be smoothly carried out. The system is divided into three major components, and the components are introduced as follows:

a cable car: and a power supply, a network, control signals of all parts, a wire take-up and pay-off function and the like are provided for the whole system.

The control terminal: the control cable car and the radar car under the pipeline, namely the control cable car take-up and pay-off operation, and the control cable car controls the running action, the lifting of the mechanical arm, the posture and the lifting action of the radar equipment and the like of the radar car in the pipeline in an all-dimensional mode.

Omnibearing detection of radar vehicles: the device is positioned in an underground pipeline, has the functions of self-adaptive pipe diameter, omnibearing radar detection and obstacle crossing, and is a main body for detecting the inner wall of the pipeline.

The invention has the following advantages:

(1) the pipe diameter can be adapted in a self-adaptive manner, the mechanical arm is attached to the pipe wall, the radar detection device can be kept to be always in the horizontal position of the center of the pipe, a good detection environment is provided for radar detection equipment, the detection data obtained by the whole inspection work is stable and reliable, and the comprehensive analysis can be conveniently carried out by an operator;

(2) the radar detection equipment can be controlled in three dimensions, and omnibearing detection is realized;

(3) the system has the obstacle crossing function, when an obstacle exists in front of or behind the advancing direction of the radar vehicle, the laser radar ranging module 800 on the radar vehicle can capture the distance of the obstacle, the mechanical arm automatically ascends and contracts in advance, and passes through the obstacle when passing through the obstacle, so that the whole obstacle crossing operation is completed, and the inspection process can be smoothly completed without damaging all parts of the radar vehicle; due to the possible presence of obstacles in the pipe to be walked. The control method further comprises the following steps: identifying whether an obstacle exists and the thickness of the obstacle by identifying image information of a pipeline to be walked; and/or a distance measuring module (such as a laser distance measuring sensor) is arranged on the robot and used for detecting whether barriers exist in the front and the rear directions, and when the barriers exist, a certain part of a driving wheel set of the driving assembly is controlled to stretch and retract so as to avoid the barriers to continue to advance for detection, so that the all-dimensional detection radar vehicle can easily complete the inspection project without being damaged.

Referring to fig. 3, fig. 3 is a schematic structural diagram of a terminal device in a hardware operating environment according to an embodiment of the present invention.

The terminal device may be a User Equipment (UE) such as a Mobile phone, a smart phone, a laptop, a digital broadcast receiver, a Personal Digital Assistant (PDA), a tablet computer (PAD), a handheld device, a vehicle-mounted device, a wearable device, a computing device or other processing device connected to a wireless modem, a Mobile Station (MS), a projection device, a smart tv, etc. The terminal device may be referred to as a user terminal, a portable terminal, a desktop terminal, etc.

Generally, the terminal device includes: at least one processor 701, at least one memory 702, and a control program stored on the memory 702 and executable on the processor, the control program being configured to implement the steps of the preceding control method.

The processor 701 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 701 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 701 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 701 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. The processor 701 may further include an AI (Artificial Intelligence) processor for processing relevant control method operations so that the control method model may be trained and learned autonomously, improving efficiency and accuracy.

Memory 702 may include one or more computer-readable storage media, which may be non-transitory. Memory 702 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 702 is used to store at least one instruction for execution by processor 701 to implement the control methods provided by the method embodiments herein.

And the processor 701 may be configured to call the control program stored in the memory 705, and may be capable of performing at least the following operations:

s01: acquiring image information of a pipeline to be walked and three-dimensional point cloud information of laser radar ranging;

s02: identifying the image information and the three-dimensional point cloud information, and performing real-time three-dimensional modeling on a pipeline to be walked to obtain a first radial distance between the driving assembly and the inner wall of the pipeline section to be walked;

s03: controlling the drive assembly to move in a drive mode corresponding to the first radial distance based on the first radial distance.

In some embodiments, the terminal may further include: a communications interface 703 and at least one peripheral device. The processor 701, the memory 702, and the communication interface 703 may be connected by buses or signal lines. Various peripheral devices may be connected to communications interface 703 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 704, a display screen 705, and a power supply 706.

The communication interface 703 may be used to connect at least one peripheral device related to I/O (Input/Output) to the processor 701 and the memory 702. In some embodiments, processor 701, memory 702, and communication interface 703 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 701, the memory 702 and the communication interface 703 may be implemented on a single chip or circuit board, which is not limited in this embodiment.

The Radio Frequency circuit 704 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 704 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 704 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 704 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 704 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: metropolitan area networks, various generation mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the radio frequency circuit 704 may also include NFC (Near Field Communication) related circuits, which are not limited in this application.

The display screen 705 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 705 is a touch display screen, the display screen 705 also includes the ability to acquire touch signals on or over the surface of the display screen 705. The touch signal may be input to the processor 701 as a control signal for processing. At this point, the display 705 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display 705 may be one, the front panel of the electronic device; in other embodiments, the display 705 may be at least two, respectively disposed on different surfaces of the electronic device or in a foldable design; in still other embodiments, the display 705 may be a flexible display disposed on a curved surface or on a folded surface of the electronic device. Even more, the display 705 may be arranged in a non-rectangular irregular pattern, i.e. a shaped screen. The Display 705 may be made of LCD (liquid crystal Display), OLED (Organic Light-Emitting Diode), or the like.

The power supply 706 is used to power various components in the electronic device. The power source 706 may be alternating current, direct current, disposable batteries, or rechargeable batteries. When the power source 706 comprises a rechargeable battery, the rechargeable battery may support wired or wireless charging. The rechargeable battery may also be used to support fast charge technology. Those skilled in the art will appreciate that the configuration shown in fig. 5 does not constitute a limitation of the control device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.

Furthermore, an embodiment of the present invention provides a storage medium, where a computer-readable storage medium stores a control program, and the control program, when executed by a processor, implements the steps of any one of the control methods described above. Therefore, a detailed description thereof will be omitted. In addition, the beneficial effects of the same method are not described in detail. For technical details not disclosed in embodiments of the computer-readable storage medium referred to in the present application, reference is made to the description of embodiments of the method of the present application. It is determined that, by way of example, the program instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

The embodiment provides a geological radar robot and the control method is applied. Referring to fig. 4, the main mechanical structure of the geological radar robot includes:

the driving assembly is in contact with the inner wall of the pipeline and drives the geological radar robot in the pipeline to move along the axial direction of the pipeline; said drive assembly comprising a first drive mechanism 100a and a second drive mechanism 100b, the drive assembly being capable of performing a drive assembly movement in a drive mode corresponding to said first radial distance;

a geological radar mounting assembly 200 for mounting a geological radar 200 c;

a mounting stage 300, the mounting stage 300 being connected between the first drive mechanism 100a and the second drive unit 100 b; the geological radar installation assembly 200 is connected to the mounting platform 300.

Alternatively, as shown in fig. 6, the mounting stage 300 includes a first housing 300a, an inner gear 300b, and an outer gear 300 c; the first housing 300a is coupled to the geological radar mounting assembly 200; the internal gear 300b is fixedly coupled to the inner wall of the first housing 300a, and the internal gear 300b and the external gear 300c are engaged such that the first housing 300a can rotate. With this arrangement, when the inner gear 300b rotates to drive the outer gear 300c, the first housing 300a rotates, and the radar on the geological radar mounting assembly 200 can detect cavities in the formation in different radial directions of the pipe. Specifically, the internal gears 300b are connected end to form a circle, whereby the first housing 300a can be rotated by 360 °. For example, the internal gear 300b may have a contour of 3/4 circle (270 °), semicircle (180 °), etc., when the first housing 300a is rotated within a certain angle. In a specific embodiment, the internal gear 300b is fixed to the inner wall of the first housing 300a by means of a stud, welding, or the like. In another specific implementation, referring to fig. 5 or 3, the mounting table 300 includes an inner gear end cover 300i, and the inner gear end cover 300i is connected to the inner gear 300b through a stud; the outer circumferential surface of the internal gear end cap 300i has a circumferential protrusion (not numbered), the inner wall of the first outer shell 300a has a corresponding circumferential groove, and the circumferential protrusion is in interference fit with the circumferential groove, thereby fixing the first outer shell 300a and the internal gear 300 b; when the outer gear 300c rotates, the inner gear 300b is rotated, and thus the first housing 300a rotates.

Optionally, the mounting stage 300 further includes a fixed shaft 300d and a first driving member 300e, the first driving member 300e is connected to the fixed shaft 300d, wherein the first driving member 300e is configured to drive the internal gear 300 b; the first housing 300a is coaxial with the fixed shaft 300 d. Preferably, the first driving member 300e is a servo motor or a stepping motor. In a specific implementation, the output shaft of the first driving member 300e is fixedly connected to the external gear 300c to drive the internal gear 300b to rotate. The first housing 300a has a sufficient hollow area therein for mounting the first driving member 300e and the fixed shaft 300 d; the fixed shaft 300a and the first driving member 300e are connected by a stud. The fixed shaft 300d is installed at the center of the first housing 300a and is coaxial with the fixed shaft, so that the first housing 300a rotates around the axis of the fixed shaft 300 d; in general, when the robot travels through the tunnel, the axis of the fixed shaft 300d coincides with or is parallel to the axis of the tunnel.

Optionally, referring to fig. 6, the mounting table 300 further includes a flange 300g, the flange 300g is fixedly connected to the fixed shaft 300d, the first driving mechanism 100a includes a frame 100a-1, and the frame 100a-1 is fixedly connected to the flange 300 g. In a specific implementation, the fixing shaft 300d extends out of the first housing 300a, and specifically, an outer circumferential surface of the gear cover 300i and an inner circumferential surface of the first housing 300a contact each other, and the gear cover 300g has a through hole, so that the fixing shaft 300d extends out of the first housing 300 a. The outer end face of the gear end cap 300i has a flange 300g, and the flange 300g is connected to the fixed shaft 300d (e.g., by interference fit or by a stud). In a specific implementation process, the rack 100a-1 is provided with a stepped hole (not shown) matched with the flange plate 300g, the hole wall of the stepped hole is in contact with the peripheral surface of the flange plate 300g, and the end surface of the stepped hole is provided with a threaded hole; the flange 300g has screw holes 300g-1 fitted to the screw holes, so that the flange 300g and the frame 100a-1 can be fixedly connected to connect the first drive mechanism 100a and the mounting table 300. In the same configuration, the first drive mechanism 100a is connected to the other end of the mounting table 300, and the first drive mechanism 100a and the second drive mechanism 100b are provided at both ends of the mounting table 300.

Alternatively, as shown in fig. 5 and 3, a lifting lug 300h is fixed to the first housing 100a for lifting the robot.

The geological radar robot of the invention: by mounting a geological radar to the geological radar mounting assembly 200; connecting the geological radar installation assembly 200 to a carrying platform 300, wherein a first driving mechanism 100a and a second driving mechanism 100b are connected to two ends of the carrying platform 300; first actuating mechanism 100a and second actuating mechanism 100b walk along the inner wall axial of pipeline, and the geological radar surveys the cavity underground in the underground piping, can solve simultaneously and can't compromise the technical problem who surveys the degree of depth and survey resolution ratio: when the low-frequency antenna is selected, the cavity with larger depth can be detected, and the cavity with smaller size can be distinguished; when the medium-high frequency antenna is selected, the cavity with smaller size can be distinguished, and although the signal attenuation is faster, the cavity with larger depth can be detected when the pipeline runs.

In addition, compared with the prior art, the invention has at least the following technical advantages:

firstly, the method comprises the following steps: the ground detection scene is changed into an underground detection scene, so that the influence of ground detection on road traffic is avoided;

secondly, the method comprises the following steps: in the traditional manual hand-push or vehicle-mounted geological radar detection, automatic detection is automatically implemented by a robot, so that the workload in the detection process is greatly reduced, and the detection efficiency is improved;

thirdly, the method comprises the following steps: the method avoids the trade-off between the detection depth and the detection resolution when the geological radar is used for detecting the underground cavity on the ground;

fourthly: the geological radar is moved into the pipeline, so that the geological radar is closer to a disease body (loose soil/void soil/cavity around the pipeline), and a high-frequency antenna can be selected for detection, thereby not only improving the resolution of a detection result, but also detecting and distinguishing the disease body with a smaller size, and further discovering that the disease body is in a 'budding' state, and playing a role in preventing in advance;

fifth, the method comprises the following steps: the smaller distance between the geological radar antenna and the target disease body can weaken the attenuation of signals, so that the reflection intensity formed in a radar map is larger, the contrast with background noise is obvious, and the reliability of radar map interpretation is improved;

sixth: the driving components (the first driving mechanism and the second driving mechanism) of the geological radar robot in the pipe can stretch and retract automatically to adapt to pipe diameters with different sizes, and the driving wheel set is always kept to be tightly attached to the pipe wall so as to keep the overall stability of the robot;

seventh: the lifting mechanism in the radar component can be adaptive to the size of the pipe diameter and always keeps the contact or approach of a signal transmitting surface of the radar antenna and the inner wall of the pipeline;

eighth: the autorotation and the turnover of the radar antenna can meet the detection of a space around the pipeline at 360 degrees;

ninth: the CCTV carried by the holder can detect the invisible area around the pipeline by a geological radar and simultaneously perform visual detection on the interior of the pipeline; to obtain image information

The geological radar robot, the control system, the control method, the terminal and the readable storage medium provided by the invention are used for moving an application scene of a geological radar from the ground to an underground pipeline aiming at the traditional geological radar for detecting underground cavities from the ground, and are specially used for detecting diseases such as soil looseness/void/cavities and the like caused by the damage of the pipeline at the periphery of the pipeline.

The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.