CN109257570B

CN109257570B - Control method of pipeline detection equipment

Info

Publication number: CN109257570B
Application number: CN201811259639.6A
Authority: CN
Inventors: 章玉东; 尤陈刚; 刘冠桥; 蔡秉华; 胡仁祥
Original assignee: Zhejiang Guanmai Environment Technology Co ltd
Current assignee: Zhejiang Guanmai Environment Technology Co ltd
Priority date: 2018-10-26
Filing date: 2018-10-26
Publication date: 2021-05-07
Anticipated expiration: 2038-10-26
Also published as: CN109257570A

Abstract

The invention discloses a control method of pipeline detection equipment, which comprises a walking control method for controlling a crawler to crawl in a pipeline, a camera adjusting method for controlling a camera arranged on the crawler to ascend or descend or rotate, a video transmission method for transmitting audio and videos collected in the pipeline of the crawler to a control terminal, and a time and distance statistical superposition method for counting the moving time and distance in the pipeline of the crawler and displaying the time and distance on a video. The invention has simple, convenient and stable operation and strong anti-interference capability in the signal transmission process.

Description

Control method of pipeline detection equipment

Technical Field

The invention relates to the field of pipeline detection, in particular to a control method of pipeline detection equipment.

Background

The scale of cities is continuously enlarged, the water consumption of the cities is continuously increased, the water discharge is also increased, the tasks of pipeline dredging, pipeline repairing and pipeline dredging are also increased, and therefore the drainage pipe network in the cities needs to be periodically dredged, cleaned and repaired. Before cleaning and repairing, the whole condition of the interior of the pipeline needs to be detected in detail, and a detection report is made.

The control method of the existing pipeline detection equipment is partially developed based on a single chip microcomputer and is assisted by physical keys and an external keyboard. The operation method is rigid, the system interaction capability, the universality of hardware interfaces and the system redundancy are poor, and the difficulty in upgrading system software and expanding subsequent functions is high. Or for the development based on the PC end, a PC end control program is installed through an external notebook and a tablet computer, and the crawling system is controlled by sending a wireless signal. The stability and the anti-interference capability are poor, the requirement on the operating environment is slightly high, and the integrity of the equipment is poor.

Disclosure of Invention

The invention aims to provide a control method of pipeline detection equipment, which solves the problem of poor stability, integrity and expansibility of the equipment in an actual operation environment, and has the advantages of simple, convenient and stable operation and strong interference resistance in the signal transmission process.

The technical scheme adopted by the invention for solving the technical problems is as follows: a control method of pipeline detection equipment comprises a walking control method for controlling a crawler to crawl in a pipeline, a camera adjusting method for controlling a camera arranged on the crawler to ascend or descend or rotate, a video transmission method for transmitting audio and videos collected in the pipeline of the crawler to a control terminal, and a time and distance statistics and superposition method for counting the moving time and distance in the pipeline of the crawler and displaying the time and distance on a video. The crawler for collecting the information in the pipeline comprises a walking module for the crawler to move in the pipeline and a camera module for adjusting a camera, a data wire coil connected with the crawler and used for calculating the crawling distance of the crawler comprises a data cable connected with the crawler and a meter counter used for counting the crawling distance of the crawler, and a control terminal connected with the data wire coil and used for controlling the crawler comprises a control module used for inputting a control signal to control the crawler and a power supply module connected with the control module and used for supplying power to the control module; the control module is respectively connected with the walking module, the camera module and the meter counter. When the control terminal controls the crawler to advance, the data cable touches the meter to rotate along with the advancing movement of the crawler, real-time crawling distance data is generated, and the data is transmitted back to the control terminal through the cable, displayed in real time and recorded on videos and pictures. One end of the camera is connected with the control module, the other end of the camera is connected with the power module, and the camera directly transmits collected video or image information to the control terminal through a cable. The control terminal controls the crawler to advance, retreat and turn, and controls the lifting, lowering and rotating of the camera. Above-mentioned technical scheme, easy operation, convenience, stability, it is stable to transmit signal through the cable, and interference killing feature is strong, the fault rate is low.

Preferably, the walking control method includes the following steps: the control terminal controls a third motor arranged on the crawler to rotate by adjusting the walking switch, and the third motor rotates to drive the crawler to move front and back and left and right. The control module arranged on the control terminal comprises a first control module and a second control module, the first control module is used for remotely controlling the support lifting module and the walking module, the second control module is used for remotely controlling the camera rotating module, the first control module is respectively connected with the support lifting module and the walking module, the second control module is connected with the camera rotating module, and the first control module and the second control module are both connected with the power supply module. The first control module comprises a walking control module, the walking control module comprises a walking switch which controls a third motor arranged in the walking module to rotate so as to drive the crawler to move front and back and left and right, and the walking switch is connected with the walking module. The third motor comprises a left walking motor and a right walking motor, and the walking switch comprises a right-turn switch connected with the left walking motor, a left-turn switch connected with the right walking motor, and a front-back change-over switch connected with the left-turn switch and the right-turn switch. The front and back change-over switch comprises an advancing switch for controlling the advancing of the crawler, a retreating switch for controlling the retreating of the crawler and a stop switch for controlling the pausing of the crawler, when the left-side walking motor and the right-turn walking motor work simultaneously, the crawler advances, the equipment failure rate is reduced through two motors and the simplified switch setting, and meanwhile, the later-stage maintenance is facilitated.

Preferably, the walking control method further comprises a speed-shifting control method, and the speed-shifting control method comprises the following steps: the first electronic speed regulator on the control terminal controls the rotation speed of the motor via the regulating circuit resistor. The walking control module comprises a first electronic speed regulator for regulating the moving speed, one end of the first electronic speed regulator is connected with the power supply module, and the other end of the first electronic speed regulator is connected with one end of the front-back change-over switch. The walking control module is also provided with a second fuse used for protecting the walking control module and a second motor indicator lamp used for judging whether the second motor rotates, one end of the second fuse is connected with the first electronic speed regulator in series, the other end of the second fuse is connected with the power module, the second motor indicator lamp is connected with the first electronic speed regulator in parallel, and the second motor indicator lamp is connected with the second fuse and the walking switch respectively. The first electronic speed regulator can realize stepless speed regulation of the moving speed of the crawler, so that the trolley moves more smoothly, and the speed of the trolley is convenient to control; the second fuse can be used for breaking when the current of the walking control module is overlarge, so that the walking control module and electronic components on the walking module are protected; the second motor pilot lamp can help the operator to judge whether the on-off and the motor of the circuit rotate or not, and the later-stage maintenance is facilitated.

Preferably, the camera adjusting method includes a bracket adjusting method for controlling the camera to ascend or descend and a camera rotation controlling method for controlling the camera to rotate. The camera module comprises a support lifting module used for adjusting the height of a lifting support of the camera and a camera rotating module used for adjusting the shooting angle of the camera, and the support lifting module and the camera rotating module are both connected with the control module. The camera height is adjusted and the camera rotating module is controlled to rotate up, down, left and right through the ascending and descending of the control support lifting module, information collection is carried out on pipeline defects of different places, different heights and different angles in the pipeline, and accurate detection can be carried out on all positions in the pipeline.

Preferably, the stent adjusting method comprises the following steps: the control terminal controls the camera support to ascend through the ascending switch, and when the camera support ascends to a preset position, the first limiting switch is switched off to limit the camera support to ascend; the control terminal controls the camera support to descend through the descending switch, and when the camera support descends to a preset position, the second limiting switch is switched off to limit the descending of the camera support. The bracket lifting module comprises a first motor for controlling the lifting bracket, a first limit switch for limiting the lifting bracket to ascend and a second limit switch for limiting the lifting bracket to descend, the first motor is respectively connected with the first limit switch and the second limit switch, and the first limit switch and the second limit switch are both connected with the first control module; the first control module further comprises a support lifting control module, the support lifting control module comprises an ascending switch connected with the first limit switch, a descending switch connected with the second limit switch and a stop switch used for enabling the first motor to stop rotating, and the ascending switch, the descending switch and the stop switch are all connected with the power supply module. Through above-mentioned technical scheme, prevent that support and pipeline from colliding to lead to support and pipeline impaired, prevent simultaneously that first motor from damaging because of unable rotation that rises or decline leads to.

Preferably, the camera rotation control method includes the following steps: and a control rocker switch arranged on the control terminal controls the camera to rotate up, down, left and right through a circuit. The camera rotation module comprises a second motor used for driving the camera to rotate, the second motor comprises an upper motor and a lower motor which drive the camera to rotate up and down, a left motor and a right motor which drive the camera to rotate left and right, and the upper motor and the lower motor are both connected with the second control module. One end of the camera is connected with the control module for transmitting signals, and the other end of the camera is connected with the power supply module; the second motor drives the second transmission shaft and rotates, the second transmission shaft drives the camera to rotate, and the second control module can be started or closed through controlling the second motor, so that the camera is controlled to rotate, the camera is controlled to rotate in 360 degrees in all directions through the upper motor, the lower motor, the left motor and the right motor, and the later equipment is convenient to overhaul when damaged. And a rocker switch for controlling the camera to rotate up, down, left and right is arranged on the second control module, and the rocker switch is connected with the power supply module. The upper rocker switch and the lower rocker switch control the upper motor and the lower motor, the left rocker switch and the right rocker switch control the left motor and the right motor, the rocker switches are in a cross shape, and the upper switch, the lower switch, the left switch and the right switch are connected through a connecting rod, so that the left motor, the right motor, the upper motor and the lower motor are controlled. What prior art adopted is double-deck cross rocker switch, about the upper and lower through 8 micro-gap switch control cameras, and this scheme is through single-deck cross rocker switch, about the upper and lower through 4 micro-gap switch control cameras, and the rational utilization normally opens normally closed contact and realizes, and is more succinct clear. Through above-mentioned technical scheme, overcome current camera and rotated the complicated problem of scheme, become present single-deck circuit by double-deck circuit before, adopt comparatively simple technique, reach the effect that can realize 360 rotations of camera equally.

Preferably, the lighting control method further comprises the following steps: and the second electronic speed regulator arranged on the control terminal regulates the brightness of the lighting device arranged on the crawler through the regulating circuit resistor. The lighting control module is connected with the lighting control module arranged on the first control module, the lighting control module comprises a second electronic speed regulator used for regulating the illumination intensity, and the second electronic speed regulator is connected with the lighting module. The lighting control module is also provided with a third fuse for protecting the lighting control module and a lighting module indicator lamp for judging whether the lighting module is started or not, one end of the third fuse is connected with the second electronic speed regulator in series, the other end of the third fuse is connected with the power supply module, and the lighting module indicator lamp is connected with the second electronic speed regulator in parallel; the lighting module comprises a first LED lamp and a second LED lamp which are connected in parallel. The second electronic speed regulator can realize the stepless speed regulation of the brightness of the first LED lamp and the second LED lamp, so that the brightness of the first LED lamp and the brightness of the second LED lamp can be freely regulated, and the third fuse can break a circuit when the current of the lighting control module is too large, so that the lighting control module and electronic components on the lighting module are protected.

Preferably, the video transmission method comprises a video transmission method, and the video transmission method comprises the following steps:

the method comprises the following steps: after initializing relevant parameters and equipment of the video, monitoring video actions;

step two: if the video is not started, returning to the step one, and starting the video of the camera; if the video is started, creating a directory and a file for generating the video;

step three: the camera sends a message for controlling the video starting state of the terminal;

step four: the control terminal generates a video file from the video information acquired by the camera; the control terminal can generate video files circularly according to the video information continuously collected by the camera.

Step five: the control terminal judges whether to stop video recording, if so, the video recording file is closed, and a video recording stop state message is sent to the camera; and if the video recording is not stopped, returning to the step four.

By the technical scheme, the video information in the pipeline can be stably and conveniently transmitted to the remote control terminal.

Preferably, the video transmission method further includes an audio transmission method, and the audio transmission method includes the steps of:

step A: initializing audio acquisition equipment and parameters;

and B: the audio acquisition equipment preprocesses the acquired audio data and stores the preprocessed audio data into a buffer;

and C: acquiring an audio data address for coding;

step D: and transmitting the audio data in the audio acquisition equipment to the control terminal.

By the technical scheme, stable and convenient transmission of audio data to the control terminal can be realized.

Preferably, the time and distance statistical superposition method comprises the following steps:

step a: the control terminal initializes the crawler distance connected with the data wire coil;

step b: detecting whether the time and/or the distance are/is changed, and if the time and/or the distance are/is not changed, returning to the step a; if the change occurs, reading the time and/or distance of the change;

step c: controlling the display time and/or distance of the terminal to be superposed in the area of the video and displaying the size;

step d: the control terminal reads the displayed color font and superimposes time and/or distance on the video;

step e: and storing the superposed time and/or distance to the control terminal.

Through the technical scheme, the counted time and distance can be synchronously displayed on the video picture, so that the subsequent determination of the damaged position of the pipeline is facilitated.

The invention has the beneficial effects that:

1. the invention can adjust the height and the rotation angle of the camera and realize the omnibearing detection of the interior of the pipeline.

2. The invention can carry out stepless speed regulation on the walking and illumination of the crawler, so that the moving and illumination regulation of the crawler are more free and convenient.

3. The invention changes the original high voltage which is harmful to human body into the low voltage which is harmless to human body, so that the use is safer, and the heavy transformer, rectifier bridge and filter capacitor are saved.

4. The crawler protective shell can solve the problem that the crawler is easy to block and stop advancing when meeting silt, and the splicing part of the protective shell can be sealed and waterproof.

5. The invention realizes the high automation of the crawling device, can detect larger pipelines, is easy to replace parts and reduces the detection cost.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a system schematic of the present invention.

Fig. 3 is a schematic diagram of the walking module, the stand elevating module, the illumination module and the camera rotating module of the present invention.

FIG. 4 is a first control module schematic of the present invention.

FIG. 5 is a second control module schematic of the present invention.

Fig. 6 is a schematic diagram of a power module of the present invention.

Fig. 7 is a schematic view of the overall structure of the present invention with a camera mounted.

Fig. 8 is a schematic structural view of the camera-head-detached bracket of the invention.

Fig. 9 is a schematic structural diagram of a data wire coil of the present invention.

Fig. 10 is a schematic view of the uninstalled tire structure of fig. 7 or 8.

In the figure: 1. a power module, 2, a first control module, 3, a second control module, 4, a bracket lifting module, 5, a camera rotating module, 6, a first power supply, 7, a second power supply, 8, a lifting switch, 9, a stop switch, 10, a descending switch, 11, a rocker switch, 12, a first cooling fan, 13, a second cooling fan, 14, a first limit switch, 15, a first motor, 16, a second limit switch, 17, a second motor, 18, an up-down motor, 19, a left-right motor, 20, a first fuse, 21, a main power switch, 22, a camera, 23, a walking module, 24, a lighting module, 25, a walking control module, 26, a lighting control module, 27, a bracket lifting control module, 28, a second fuse, 29, a first electronic speed regulator, 30, a second motor indicator lamp, 31, a front-back conversion switch, 32, a right-turn switch, 33. a left-turn switch, 34, a third fuse, 35, a second electronic governor, 36, a lighting module indicator, 37, a third motor, 38, a left-side traveling motor, 39, a right-side traveling motor, 40, a first LED lamp, 41, a second LED lamp, 42, a housing, 43, a first transmission shaft, 44, a support rod, 45, a second transmission shaft, 46, a fixing rod, 47, a mounting seat, 48, a support rod hook, 49, a protrusion, 50, a hollow portion, 51, a lighting device, 52, a mounting groove, 53, a mounting hole, 54, a driving device, 55, a waterproof sealant strip, 56, a first inclined surface, 57, a second inclined surface, 58, a third inclined surface, 59, a data wire coil, 60, a data cable, 61, a meter, 62, a wire coil, 63, a reciprocating shaft, 64, a transmission case, 65, a control terminal, 66, a first axle hole, 67, 68, a first metal clamping block, 69. first column body, 70, cover body, 71, second metal clamping block, 72, second column body, 73, inner ring, 74, fixed ring, 75, first through hole, 76, threaded hole, 77, first step hole, 78, second through hole, 79, second step hole, 80, cambered surface deep groove grain, 81 and axle

Detailed Description

The present invention will be further described with reference to the accompanying drawings and embodiments.

As shown in fig. 1-10, a control method of a pipeline inspection device according to the present invention includes a walking control method for controlling a crawler to crawl in a pipeline, a camera 22 adjustment method for controlling a camera 22 provided on the crawler to ascend or descend or rotate, a video transmission method for transmitting audio and video collected in the pipeline of the crawler to a control terminal 65, a time and distance statistics superposition method for counting the moving time and distance in the pipeline of the crawler and displaying the time and distance on a video, the control terminal 65 controls the movement of the crawler and the adjustment of the camera 22 through a circuit, the audio and video collected by the video transmission method are transmitted to the control terminal 65 through a data cable in a data wire coil connected to the crawler, the moving time and distance in the crawler pipeline are counted by a time and distance counting and overlapping method and displayed at the control terminal 65. The crawler for collecting the information in the pipeline comprises a walking module 23 used for the crawler to move in the pipeline, a bracket lifting module 4 used for adjusting the bracket height of a camera 22, a camera rotating module 5 used for adjusting the shooting angle of the camera 22, a data wire coil 59 connected with the crawler and used for calculating the crawling distance of the crawler comprises a data cable 60 connected with the crawler and a meter 61 used for counting the crawling distance of the crawler, and a control terminal 65 connected with the data wire coil 59 and used for controlling the crawler comprises a control module used for inputting a control signal to control the crawler and a power module 1 connected with the control module and used for supplying power to the control module; the control module is respectively connected with the walking module 23, the support lifting module 4, the camera rotating module 5 and the meter counter 61.

The control module comprises a first control module 2 used for remotely controlling the support lifting module 4 and the walking module 23 and a second control module 3 used for remotely controlling the camera to rotate the module 5, the first control module 2 is respectively connected with the support lifting module 4 and the walking module 23, the second control module 3 is connected with the camera rotating module 5, and the first control module 2 and the second control module 3 are both connected with the power module 1.

The first control module 2 comprises a walking control module 25, the walking control module 25 comprises a walking switch and a first electronic speed regulator 29, the walking switch is used for controlling a third motor 37 arranged in the walking module 23 to rotate to drive the crawler to move forwards, backwards and leftwards, the first electronic speed regulator 29 is used for regulating the moving speed, one end of the first electronic speed regulator 29 is connected with the power module 1, the other end of the first electronic speed regulator 29 is connected with one end of the walking switch, and the other end of the walking switch is connected with the walking module 23. The walking control module 25 is further provided with a second fuse 28 for protecting the walking control module and a second motor indicator lamp 30 for judging whether the second motor 17 rotates, one end of the second fuse 28 is connected with the first electronic speed regulator 29 in series, the other end of the second fuse 28 is connected with the power module 1, the second motor indicator lamp 30 is connected with the first electronic speed regulator 29 in parallel, and the second motor indicator lamp 30 is respectively connected with the second fuse 28 and the walking switch.

The third motor 37 includes a left-side travel motor 38 and a right-side travel motor 39, the travel switches include a right-turn switch 32 connected to the left-side travel motor 38, a left-turn switch 33 connected to the right-side travel motor 39, and a front-rear changeover switch 31 connected to the left-turn switch 33 and the right-turn switch 32, and the front-rear changeover switch 31 is connected to the first electronic governor 29.

The pipeline illumination control device further comprises an illumination module 24 used for providing a pipeline internal light source, the illumination module 24 is connected with an illumination control module 26 arranged on the first control module 2, the illumination control module 26 comprises a second electronic speed regulator 35 used for regulating illumination intensity, and the second electronic speed regulator 35 is connected with the illumination module 24. The lighting control module 26 is further provided with a third fuse 34 for protecting the lighting control module 26 and a lighting module indicator lamp 36 for judging whether the lighting module 24 is started, one end of the third fuse 34 is connected with the second electronic speed regulator 35 in series, the other end of the third fuse 34 is connected with the power module 1, and the lighting module indicator lamp 36 is connected with the second electronic speed regulator 35 in parallel; the lighting module 24 comprises two parallel connected first and second LED lamps 40, 41.

The support lifting module 4 comprises a first motor 15 for controlling the support to lift, a first limit switch 14 for limiting the support to lift and a second limit switch 16 for limiting the support to descend, the first motor 15 is respectively connected with the first limit switch 14 and the second limit switch 16, and the first limit switch 14 and the second limit switch 16 are both connected with the first control module 2; the first control module 2 further comprises a support lifting control module 27, the support lifting control module 27 comprises a lifting switch 8 connected with the first limit switch 14, a lowering switch 10 connected with the second limit switch 16, and a stop switch 9 for stopping the rotation of the first motor 15, and the lifting switch 8, the lowering switch 10, and the stop switch 9 are all connected with the power module 1; the second control module 3 comprises a rocker switch 11 for controlling the camera 22 to rotate up, down, left and right, and the rocker switch 11 is connected with the power module 1. The camera rotating module 5 comprises a second motor 17 for driving the camera 22 to rotate, the second motor 17 comprises an upper motor 18 and a lower motor 18 which drive the camera 22 to rotate up and down, a left motor 19 and a right motor 19 which drive the camera 22 to rotate left and right, and the upper motor 18 and the lower motor 19 are both connected with the second control module 3. One end of the camera 22 is connected with a control for transmitting signals, and the other end of the camera 22 is connected with the power module 1. The second control module 3 further comprises a heat dissipation module for reducing the temperature, the heat dissipation module comprises a first heat dissipation fan 12 and a second heat dissipation fan 13, the first heat dissipation fan 12 is connected with the second heat dissipation fan 13 in parallel, one end of each of the first heat dissipation fan 12 and the second heat dissipation fan 13 is connected with the output end of the power module 1, and the other end of each of the first heat dissipation fan 12 and the second heat dissipation fan 13 is grounded.

The power module 1 comprises a first fuse 20 of the protection module, a main power switch 21 for opening or closing a main power, a first power supply 6 for supplying power to the first motor 15, and a second power supply 7 for supplying power to the second motor 17, wherein one end of the first fuse 20 is connected with an external power supply, the other end of the first fuse 20 is connected with the main power switch 21, the main power switch 21 is respectively connected with the first power supply 6 and the second power supply 7, the first power supply 6 is respectively connected with an ascending switch 8, a descending switch 10, a stop switch 9, a first electronic speed regulator 29 and a second electronic speed regulator 35, and the second power supply 7 is respectively connected with a rocker switch 11, a first cooling fan 12 and a second cooling fan 13. When the second fuse 28 and the third fuse 34 are provided, the first power source 1 is connected to the second fuse 28 and the third fuse 34, respectively. The scheme that 68V voltage which is harmful to a human body and is output by a transformer in the prior art is rectified by a rectifier bridge and filtered by a capacitor is improved into the scheme that 36V voltage which is harmless to the human body and is output by a switching power supply is output to a third motor 37 after being regulated by first electrons, power supply is reduced to 2 paths by a multi-circuit power supply line, and the heavy transformer, the rectifier bridge and the filter capacitor are omitted. When the current is too large, the arrangement of the fuse can protect the system from being damaged, and only the fuse needs to be replaced; the main power switch 21 can facilitate the control of the system and the stop of the operation of the system; the arrangement of the first power supply 6 and the second power supply 7 can convert the mains supply into different direct current power supplies, and the first motor 15 and the second motor 17 can be used more efficiently through different voltage settings.

The crawler includes the protective housing, and the protective housing surface is equipped with row silt structure, arranges the silt structure including establishing the inclined plane at the protective housing bottom surface, and the inclined plane includes first inclined plane 56, is located the second inclined plane 57 of first inclined plane 56 top, is located the third inclined plane 58 of second inclined plane 57 top.

The protective shell is provided with a camera 22 for shooting information in the pipeline, an illuminating device 51 for providing illumination for the camera 22, and a driving device 54 for controlling the camera 22 and the illuminating device 51 and supplying power to the camera 22 and the illuminating device 51, wherein the camera 22 and the illuminating device 51 are both arranged on the driving device 54, and the driving device 54 is connected with a data wire coil 59.

The protective shell is also provided with a lifting support for lifting the illuminating device 51 and the camera 22, and the lifting support is arranged on the driving device 54; the lifting bracket comprises a shell 42 for mounting the camera 22 and the lighting device 51, a first motor 15 and a first transmission shaft 43 connected with the first motor 15, the first transmission shaft 43 is clamped on a support rod 44 for lifting the shell 42, the support rod 44 is connected with the shell 42, and the shell 42, the first motor 15, the first transmission shaft 43 and the support rod 44 are all arranged on a driving device 54; the support rod 44 is provided with a support rod hook-shaped part 48, and the first transmission shaft 43 is clamped on the support rod hook-shaped part 48; a second transmission shaft 45 for rotating the camera 22 is arranged in the shell 42, and the camera 22 is rotatably and fixedly arranged on the second transmission shaft 45; a second motor 17 for driving the second transmission shaft 45 to rotate is further arranged in the shell 42, and the second motor 17 is respectively connected with the second transmission shaft 45 and the rocker switch 11; the casing 42 is provided with a fixing rod 46 for fixing the casing 42, the first transmission shaft 43 is fixedly connected to a mounting seat 47, one end of the fixing rod 46 is connected with the casing 42, the other end of the fixing rod 46 is fixedly connected to the mounting seat 47, and the mounting seat 47 is arranged on the driving device 54. The housing 42 is provided with a mounting groove 52 for mounting the lighting device 51, the mounting groove 52 is provided with a mounting hole 53, and the groove surface of the mounting groove 52 is arc-shaped. The fixing rod 46 is arranged to prevent the shell 42 from turning over due to gravity, the fixing rod 46 can be arranged above or below the supporting rod 44, the supporting rod 44 and the fixing rod 46 form a parallelogram, the first motor 15 is started to transmit power to the shell 42 in parallel through the parallelogram, so that the shell 42 is horizontally lifted, and the whole support is lifted more stably; the lighting device 51 is used to provide a light source for the camera 22 in a dark environment, so that the shooting is clearer. The mounting hole 53 is arranged in the middle of the arc, the lighting device 51 is more easily fixed on the mounting groove 52 due to the design of the mounting hole 53 and is not easy to drop, and the lighting device 51 is more stably mounted due to the arc design. The supporting rod 44 is provided with a convex part 49 for increasing the strength of the supporting rod 44, and a hollow part 50 is arranged below the convex part 49. The bulge 49 is arranged in the middle of the support rod 44, the support rod 44 is easy to break, and the breakage often occurs in the middle position, so that the support rod 44 is not easy to break due to the arrangement of the bulge 49, the strength of the support rod 44 is improved, and the support of the camera 22 is more attractive; the hollowed-out portion 50 reduces the weight of the camera 22 holder, saves material, and the hollowed-out portion 50 makes the camera 22 holder more attractive.

The tire of the pipeline crawler comprises a tire body 67 and a hub device which is detachably fixed in the tire body 67, wherein the hub device comprises a first metal clamping block 68 which is detachably fixed in the tire body and a second metal clamping block 71 which is detachably fixed in the first metal clamping block 68, and the tire body 67 is arranged between the first metal clamping block 68 and the second metal clamping block 71, so that the second metal clamping block 71 detachably fixes the first metal clamping block 68 in the tire body 67. The first metal clamping block 68 comprises a first cylinder 69 detachably fixedly sleeved in a second metal clamping block 71, and a cover 70 connected with the first cylinder 69 into a whole, wherein the diameter of the first cylinder 69 is smaller than that of the cover 70, and the cover 70 is detachably fixedly sleeved in the tire body 67 through the first cylinder 69. The inner ring 73 corresponding to the cover 70 is arranged at the center of the tire body 67, the wall of the inner ring 73 is provided with a fixed ring 74 with the inner diameter corresponding to the first cylinder 69, the first cylinder 69 is detachably fixedly sleeved in the second metal clamping block 71 after penetrating through the fixed ring 74, the cover 70 is embedded in the inner ring 73, and the cover 70 is matched with one side surface of the fixed ring 74, so that the first metal clamping block 68 is detachably fixedly sleeved in the tire body 67. The second metal clamping block 71 comprises a second cylinder 72 corresponding to the inner ring 73, a first through hole 75 corresponding to the first cylinder 69 is formed in the center of the second cylinder 72, the second cylinder 72 is embedded in the inner ring 73, the second cylinder is matched with the other side surface of the fixed ring 74, the first cylinder 69 passes through the fixed ring 74 and then is detachably fixedly sleeved in the first through hole 75, and therefore the first metal clamping block 68 and the second metal clamping block 71 are detachably fixedly sleeved in the tire body 67. The second column 72 is provided with a threaded hole 76, the cover 70 is provided with a first step hole 77 corresponding to the threaded hole 76, and the fixed ring 74 is provided with a second through hole 78 corresponding to the threaded hole 76; the second post 72 and the cover 70 are detachably fixed on both sides of the ring 74 by screws. The cover 70 is provided with a second stepped hole 79, and the axle 81 and the cover 70 are detachably fixedly connected by screws passing through the second stepped hole 79. The outer surface of the carcass 67 is provided with deep cambered grooves 80 to prevent slippage of the carcass. The carcass 67 has an arcuate outer shape. The first post 69 defines a second axle bore that is cooperatively associated with the axle 81, the second axle bore of the first post 69 being aligned with the first axle bore 66 of the creeper, and the axle 81 passing through the second axle bore and into the first axle bore 66.

The walking control method comprises the following steps: the control terminal 65 controls the third motor 37 arranged on the crawler to rotate by adjusting the walking switch, and the third motor 37 rotates to drive the crawler to move back and forth and left and right.

The walking control method also comprises a speed shifting regulation and control method, and the speed shifting regulation and control method comprises the following contents: a first electronic governor 29 provided on the control terminal 65 controls the speed of rotation of the motor by adjusting the circuit resistance.

The adjustment method of the camera 22 includes a bracket adjustment method for controlling the raising or lowering of the camera 22 and a camera 22 rotation control method for controlling the rotation of the camera 22.

The support adjusting method comprises the following steps: the control terminal 65 controls the camera 22 bracket to ascend through the ascending switch 8, and when the camera 22 bracket ascends to the preset position, the first limit switch 14 is switched off to limit the camera 22 bracket to ascend; the control terminal 65 controls the camera 22 bracket to descend through the descending switch 10, and when the camera 22 bracket descends to a preset position, the second limit switch 16 is switched off to limit the camera 22 bracket to descend.

The camera 22 rotation control method includes the following steps: the control rocker switch 11 arranged on the control terminal 65 controls the camera 22 to rotate up, down, left and right through a circuit.

The lighting control method comprises the following steps: the second electronic governor 35 provided on the control terminal 65 adjusts the brightness of the lighting device provided on the crawler through the adjusting circuit resistance.

The video transmission method comprises a video transmission method, and the video transmission method comprises the following steps:

the method comprises the following steps: after initializing relevant parameters and equipment of the video, monitoring whether the video is started;

step two: if the video is not started, returning to the step one, and starting the video of the camera 22; if the video is started, creating a directory and a file for generating the video;

step three: the camera 22 sends a message of a video recording start state to the control terminal 65;

step four: the control terminal 65 generates a video file from the video information acquired by the camera 22;

step five: the control terminal 65 judges whether to stop recording, if so, closes the recording file, and sends a recording stop state message to the camera 22; and if the video recording is not stopped, returning to the step four.

The video transmission method further comprises an audio transmission method, and the audio transmission method comprises the following steps:

step A: initializing audio acquisition equipment and parameters;

and C: acquiring an audio data address for coding;

step D: and transmitting the audio data in the audio acquisition device to the control terminal 65.

The time and distance statistical superposition method comprises the following steps:

step a: the control terminal 65 initializes the crawler distance connected with the data wire coil;

step c: the control terminal 65 displays the time and/or distance superposed in the video area and displays the size;

step d: the control terminal 65 reads the displayed color font and superimposes the time and/or distance onto the video;

step e: the post-superimposition time and/or distance is stored to the control terminal 65.

The moving distance of the crawler in the pipeline is calculated by a meter 61 in the data wire coil 59 according to the stretched length of a data cable 60 connected with the crawler, the data wire coil 59 sends data counted in real time to a control terminal 65, and the control terminal 65 simultaneously generates display of receiving time and distance.

The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method of pipeline detection equipment is characterized in that: the method comprises a walking control method for controlling a crawler to crawl in a pipeline, a camera (22) adjusting method for controlling the camera (22) arranged on the crawler to ascend or descend or rotate, a video transmission method for transmitting audio and videos collected in the pipeline of the crawler to a control terminal (65), and a time and distance statistical superposition method for counting the moving time and distance in the pipeline of the crawler and displaying the time and distance on a video, wherein the control terminal (65) controls the movement of the crawler and the adjustment of the camera (22) through a circuit, the audio and videos collected by the video transmission method are transmitted to the control terminal (65) through a data cable in a data wire coil connected with the crawler, and the moving time and distance in the pipeline of the crawler are counted and displayed on the control terminal (65) through the time and distance statistical superposition method;

the upper part, the lower part, the left part and the right part of the camera are controlled by 4 micro switches through a single-layer cross rocker switch;

the walking control method comprises the following steps: the control terminal (65) controls a third motor (37) arranged on the crawler to rotate by adjusting the walking switch, and the third motor (37) rotates to drive the crawler to move forwards, backwards, leftwards and rightwards; the control module arranged on the control terminal comprises a first control module and a second control module, wherein the first control module is used for remotely controlling the support lifting module and the walking module, the second control module is used for remotely controlling the camera rotating module, the first control module is respectively connected with the support lifting module and the walking module, the second control module is connected with the camera rotating module, and the first control module and the second control module are both connected with the power supply module; the first control module comprises a walking control module, the walking control module comprises a walking switch which controls a third motor arranged in the walking module to rotate so as to drive the crawler to move front and back and left and right, and the walking switch is connected with the walking module; the third motor comprises a left walking motor and a right walking motor, and the walking switch comprises a right turn switch connected with the left walking motor, a left turn switch connected with the right walking motor, and a front-back change-over switch connected with the left turn switch and the right turn switch; the front-back conversion switch comprises a forward switch for controlling the forward movement of the crawler, a backward switch for controlling the backward movement of the crawler and a stop switch for controlling the pause of the crawler, and when the left-side walking motor and the right-turn walking motor work simultaneously, the crawler moves forward;

the walking control method also comprises a speed shifting regulation and control method, and the speed shifting regulation and control method comprises the following contents: a first electronic speed regulator (29) arranged on the control terminal (65) controls the rotating speed of the motor through a regulating circuit resistor; the walking control module comprises a first electronic speed regulator for regulating the moving speed, one end of the first electronic speed regulator is connected with the power supply module, and the other end of the first electronic speed regulator is connected with one end of the front-back change-over switch; the walking control module is also provided with a second fuse used for protecting the walking control module and a second motor indicator lamp used for judging whether a second motor rotates or not, one end of the second fuse is connected with the first electronic speed regulator in series, the other end of the second fuse is connected with the power supply module, the second motor indicator lamp is connected with the first electronic speed regulator in parallel, and the second motor indicator lamp is respectively connected with the second fuse and the walking switch; the first electronic speed regulator can realize stepless speed regulation of the moving speed of the crawler, so that the trolley moves more smoothly, and the speed of the trolley is convenient to control; the second fuse can be used for breaking when the current of the walking control module is overlarge, so that the walking control module and electronic components on the walking module are protected; the second motor pilot lamp can help the operator to judge whether the on-off and the motor of the circuit rotate or not, and the later-stage maintenance is facilitated.

2. The control method of a pipeline inspecting apparatus according to claim 1, characterized in that: the adjusting method of the camera (22) comprises a bracket adjusting method for controlling the camera (22) to ascend or descend and a camera (22) rotation control method for controlling the camera (22) to rotate.

3. The control method of a pipeline inspecting apparatus according to claim 2, characterized in that: the support adjusting method comprises the following steps: the control terminal (65) controls the camera (22) bracket to ascend through the ascending switch (8), and when the camera (22) bracket ascends to a preset position, the first limit switch (14) is switched off to limit the ascending of the camera (22) bracket; the control terminal (65) controls the camera (22) bracket to descend through the descending switch (10), and when the camera (22) bracket descends to a preset position, the second limit switch (16) is switched off to limit the descending of the camera (22) bracket.

4. The control method of a pipeline inspecting apparatus according to claim 3, characterized in that: the camera (22) rotation control method comprises the following steps: the control rocker switch (11) arranged on the control terminal (65) controls the camera (22) to rotate up, down, left and right through a circuit.

5. The control method of the pipeline inspecting apparatus according to claim 1, 2 or 3, wherein: the lighting control method comprises the following steps: a second electronic speed regulator (35) arranged on the control terminal (65) regulates the brightness of the lighting device arranged on the crawler through a regulating circuit resistor.

6. The control method of a pipeline inspecting apparatus according to claim 5, characterized in that: the video transmission method comprises a video transmission method, and the video transmission method comprises the following steps:

step two: if the video is not started, returning to the step one, and starting the video of the camera (22); if the video is started, creating a directory and a file for generating the video;

step three: the camera (22) sends a message of a video recording starting state to the control terminal (65);

step four: the control terminal (65) generates a video file from the video information acquired by the camera (22);

step five: the control terminal (65) judges whether to stop recording, if so, the video recording file is closed, and a video recording stop state message is sent to the camera (22); and if the video recording is not stopped, returning to the step four.

7. The control method of a pipeline inspecting apparatus according to claim 6, characterized in that: the video transmission method further comprises an audio transmission method, and the audio transmission method comprises the following steps:

step A: initializing audio acquisition equipment and parameters;

and C: acquiring an audio data address for coding;

step D: and transmitting the audio data in the audio acquisition equipment to a control terminal (65).

8. The control method of a pipeline inspecting apparatus according to claim 1, 3, 4 or 7, characterized in that: the time and distance statistical superposition method comprises the following steps:

step a: the control terminal (65) initializes the crawler distance connected with the data wire coil;

step c: controlling the terminal (65) to display the time and/or the distance to be superposed in the video area and display the size;

step d: the control terminal (65) reads the displayed color font and superimposes the time and/or distance onto the video;

step e: the post-stack time and/or distance is stored to the control terminal (65).