Development Of Image Acquisition Robot For Wall Damage Of Urban Sewage Pipelines

With the continuous development of urban underground space,the subsidence caused by underground engineering activities is becoming more and more frequent,which has become a new urban geological disaster.Especially after the sewage pipeline is damaged and leaked,the soil is washed away,forming a cavity,which increases the risk of ground collapse.In order to ensure the normal operation of urban sewage pipelines,it is of great significance to carry out routine damage detection,at present,the developed pipeline robots are all driven by electricity,which are generally used in the acceptance of newly laid pipelines.There are still a lot of flammable and explosive biogas in sewage pipeline.Robots that can collect images in sewage still need to solve many technical problems.In this paper,a walking robot driven by air pressure is developed,which can adapt to 600-1050mm diameter pipeline.The robot carries the rotating mechanism of pneumatic motor that install the camera,designs a reasonable pneumatic control loop,realizes the matching of the walking logic and the rotation logic of the camera along the inner wall surface of the pipeline,and achieves image acquisition inside and outside the sewage in the sewage pipeline.Mainly completed the following work:A walking robot with walking mechanism based on cylinder support wall and link amplitude is developed,which realizes brace wall walking of pipelines with different diameters by connecting rod variable amplitude,and a low-speed rotating pneumatic motor with large deceleration ratio is developed to realize camera moving slowly along the wall,which is convenient for image acquisition.The three-dimensional modeling of the robot is completed,and the design of the upper support mechanism,the lower support mechanism and the wall-wound detection mechanism are completed.Based on the mechanical analysis,the selection of components and the manufacture of the robot are completed.The all pneumatic control system of the actuator was designed.Based on the pneumatic logic schematic diagram,the signal-action state diagram of the system is drawn,and the pneumatic control loop is simulated with FluidSIM software to determine the reliability of the design.The prototype and pipeline experiment of the pipeline inspection robot was completed.On the basis of theoretical analysis,the non-standard parts are designed and processed,and the standard parts are purchased and the prototype is assembled.The prototype was developed and in laboratory experiments and field tests to verify the feasibility of robots in sewage detection.The pipeline detection robot developed in this paper that adopts all pneumatic control,so it has high safety and can complete the detection work in sewage pipes of different diameters.