CN208238844U - Composite duct inspection device - Google Patents
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Abstract
本实用新型旨在提供一种综合管道巡检装置，包括：视频采集装置、温湿度检测器、漏电检测器、气体检测装置、飞行器检测装置、主控制器、存储器、通信装置、云服务器、飞行器；所述的视频采集装置、温湿度检测器、漏电检测器、气体检测装置、飞行器检测装置、主控制器、存储器、通信装置均设置于飞行器上；所述的视频采集装置、温湿度检测器、漏电检测器、气体检测装置、飞行器检测装置与主控制器电连接，并将各自检测到的信号传输至主控制器，所述的主控制器通过通信装置与云服务器无线连接。该综合管道巡检装置克服现有技术缺陷，具有机动灵活、检测范围广、效率高的特点。
The utility model aims to provide a comprehensive pipeline inspection device, including: a video acquisition device, a temperature and humidity detector, a leakage detector, a gas detection device, an aircraft detection device, a main controller, a memory, a communication device, a cloud server, and an aircraft ; The video acquisition device, temperature and humidity detector, leakage detector, gas detection device, aircraft detection device, main controller, memory, and communication device are all arranged on the aircraft; the video acquisition device, temperature and humidity detector , the leakage detector, the gas detection device, and the aircraft detection device are electrically connected to the main controller, and transmit the detected signals to the main controller, and the main controller is wirelessly connected to the cloud server through the communication device. The comprehensive pipeline inspection device overcomes the defects of the prior art, and has the characteristics of flexible maneuverability, wide detection range and high efficiency.
Description
技术领域technical field
本实用新型涉及智能巡检设备领域，具体涉及一种综合管道巡检装置。The utility model relates to the field of intelligent inspection equipment, in particular to a comprehensive pipeline inspection device.
背景技术Background technique
传统的管道巡检均采用人工巡检方式，由于受巡视人员心理素质、业务水平、工作经验和精神状态等诸多因素的制约，漏检、误检的情况时有发生，并不能保证工作人员检查完全到位，这些原因导致管道设备和线路的缺陷或隐患得不到及时的处理而引发安全事故。目前，采用的管道巡检技术主要有机器人巡检和无人机巡检，其中无人机巡检均基于地面检测。对于城市大型地下管道，综合布置有电力、通信、地下水、自来水和天然气管道，若采用传统的人工巡检方式，不仅加大了巡检的工作量，而且需要投入大量人力资源，费时费力，成本高；若采用机器人巡检，由于不能在地下任意位置进行定点检测，加上管道数量多，进一步降低了巡检的效率，甚至会出现部分漏检的情况。Traditional pipeline inspections all use manual inspections. Due to the constraints of many factors such as the psychological quality, professional level, work experience and mental state of the inspectors, missed inspections and false inspections occur from time to time, which cannot guarantee that the inspection personnel These reasons lead to defects or hidden dangers of pipeline equipment and lines that cannot be dealt with in time and cause safety accidents. At present, the pipeline inspection technologies used mainly include robot inspection and UAV inspection, among which UAV inspection is based on ground inspection. For large-scale underground pipelines in cities, there are power, communication, groundwater, tap water and natural gas pipelines in a comprehensive arrangement. If the traditional manual inspection method is adopted, it will not only increase the workload of inspection, but also require a lot of human resources, which is time-consuming, laborious, and costly. High; if robots are used for inspection, fixed-point detection cannot be performed at any position underground, and the large number of pipelines further reduces the efficiency of inspection, and even some missed inspections may occur.
实用新型内容Utility model content
本实用新型旨在提供一种综合管道巡检装置，该综合管道巡检装置克服现有技术缺陷，具有机动灵活、检测范围广、效率高的特点，且适合在复杂环境下工作。The utility model aims to provide a comprehensive pipeline inspection device, which overcomes the defects of the prior art, has the characteristics of flexible maneuverability, wide detection range and high efficiency, and is suitable for working in complex environments.
为实现上述目的，本实用新型采用的技术方案如下：In order to achieve the above object, the technical scheme adopted by the utility model is as follows:
一种综合管道巡检装置，包括：视频采集装置、温湿度检测器、漏电检测器、气体检测装置、飞行器检测装置、主控制器、存储器、通信装置、云服务器、飞行器；A comprehensive pipeline inspection device, comprising: a video acquisition device, a temperature and humidity detector, a leakage detector, a gas detection device, an aircraft detection device, a main controller, a memory, a communication device, a cloud server, and an aircraft;
所述的视频采集装置、温湿度检测器、漏电检测器、气体检测装置、飞行器检测装置、主控制器、存储器、通信装置均设置于飞行器上；The video acquisition device, temperature and humidity detector, leakage detector, gas detection device, aircraft detection device, main controller, memory, and communication device are all arranged on the aircraft;
所述的视频采集装置、温湿度检测器、漏电检测器、气体检测装置、飞行器检测装置、飞行器均与主控制器电连接，并将各自检测到的信号传输至主控制器，所述的主控制器通过通信装置与云服务器无线连接。The video acquisition device, the temperature and humidity detector, the leakage detector, the gas detection device, the aircraft detection device, and the aircraft are all electrically connected to the main controller, and transmit the detected signals to the main controller. The controller is wirelessly connected with the cloud server through the communication device.
优选地，所述的视频采集装置包括高清摄像机、红外摄像机和LED灯，高清摄像机、红外摄像机用于将拍到的视频画面发送至主控制器；所述的LED灯用于照明。Preferably, the video collection device includes a high-definition camera, an infrared camera and LED lights, the high-definition camera and infrared camera are used to send the captured video images to the main controller; the LED lights are used for lighting.
优选地，所述的气体检测装置包含：H2S气体传感器、CO气体传感器以及甲烷气体传感器，所述的H2S气体传感器、CO气体传感器以及甲烷气体传感器均与主控制器电连接，用于将检测到的信号发送至主控制器。Preferably, the gas detection device includes: H 2 S gas sensor, CO gas sensor and methane gas sensor, and the H 2 S gas sensor, CO gas sensor and methane gas sensor are all electrically connected to the main controller for To send the detected signal to the main controller.
优选地，所述的飞行器检测装置包括：姿态采集器、位置定位器、速度检测器、超声波传感器；姿态采集器、位置定位器、速度检测器均与主控制器电连接，用于将检测到的信号发送至主控制器；Preferably, the aircraft detection device includes: an attitude collector, a position locator, a speed detector, and an ultrasonic sensor; the attitude collector, the position locator, and the speed detector are all electrically connected to the main controller for detecting The signal is sent to the main controller;
所述的超声波传感器与主控制器电连接，用于检测障碍物的距离信号，并发送至主控制器；The ultrasonic sensor is electrically connected to the main controller for detecting the distance signal of the obstacle and sending it to the main controller;
主控制器接收姿态采集器、位置定位器、速度检测器、超声波传感器发来的检测信号并传输至云服务器，用于向用户展示飞行器的运行状态。The main controller receives the detection signals from the attitude collector, position locator, speed detector, and ultrasonic sensor and transmits them to the cloud server for displaying the operating status of the aircraft to the user.
优选地，还包括用户终端，所述的用户终端通过无线网络与云服务器连接，用于通过云服务器接收主控制器发来的信号并进行显示，同时将用户指令发送至云服务器。Preferably, it also includes a user terminal, the user terminal is connected to the cloud server through a wireless network, and is used to receive and display the signal sent by the main controller through the cloud server, and send user instructions to the cloud server at the same time.
本实用新型的工作过程如下：The working process of the present utility model is as follows:
本实用新型装置工作时，飞行器延管道中的待检测的线路飞行，飞行器可根据编程自动飞行或是由使用者进行远程操控飞行；视频采集装置拍摄飞行器所处位置周围的视频画面，并将视频画面发回主控制器；温湿度检测器检测飞行器所处位置的环境温度和湿度，并将视频画面发回主控制器；漏电检测器检测飞行器所在位置附近电缆的电磁感应信号，并将信号发回主控制器；气体检测装置检测飞行器所处位置的H2S、CO和甲烷气体浓度，并将浓度信号发送至主控制器；飞行器检测装置采集当前飞行器的飞行状态信息，并将信息发送至主控制器，飞行状态信息包括飞行器姿态信息、位置信息、速度信息、障碍物距离信息；When the utility model device works, the aircraft flies along the line to be detected in the pipeline, and the aircraft can automatically fly according to the programming or be remotely controlled by the user; The picture is sent back to the main controller; the temperature and humidity detector detects the ambient temperature and humidity of the position of the aircraft, and sends the video picture back to the main controller; the leakage detector detects the electromagnetic induction signal of the cable near the position of the aircraft, and sends the signal to Back to the main controller; the gas detection device detects the concentration of H 2 S, CO and methane gas at the location of the aircraft, and sends the concentration signal to the main controller; the aircraft detection device collects the flight status information of the current aircraft and sends the information to Main controller, flight status information includes aircraft attitude information, position information, speed information, obstacle distance information;
主控制器将接收到的信号通过通信装置发送至云服务器，进而发送至用户终端，相应的信息在用户终端进行显示；使用者能够通过用户终端发送相应的控制指令到云服务器，进而转发至主控制器，由主控制器控制相应的装置完成控制指令的操作。The main controller sends the received signal to the cloud server through the communication device, and then sends it to the user terminal, and the corresponding information is displayed on the user terminal; the user can send the corresponding control command to the cloud server through the user terminal, and then forward it to the main server. Controller, the main controller controls the corresponding device to complete the operation of the control instruction.
某处管道视频画面传回用户终端显示，若发现出现有破损或者腐蚀现象，则巡检工人进入地下通道具体位置进行抢修更换；The video screen of a certain pipeline is sent back to the user terminal for display. If any damage or corrosion is found, the inspection workers will enter the specific location of the underground passage for emergency repair and replacement;
若某处电缆出现过热点，则在用户终端发出相应的报警信号和显示相应的位置信息，提醒巡检工人进入地下通道具体位置进行抢修更换；If there is a hot spot in a certain cable, a corresponding alarm signal will be issued on the user terminal and the corresponding location information will be displayed to remind the inspection workers to enter the specific location of the underground passage for emergency repair and replacement;
若某处管道环境温度和湿度值高于标准值，则在用户终端发出相应的报警信号和显示相应的位置信息，提醒巡检工人进入地下通道具体位置进行抢修更换；If the ambient temperature and humidity of a certain pipeline are higher than the standard value, a corresponding alarm signal will be sent out on the user terminal and the corresponding location information will be displayed to remind the inspection workers to enter the specific location of the underground passage for emergency repair and replacement;
若某处管道出现漏电，则在用户终端发出相应的报警信号和显示相应的位置信息，提醒巡检工人进入地下通道具体位置进行抢修更换；If there is a leakage in a certain pipeline, the corresponding alarm signal will be sent out on the user terminal and the corresponding location information will be displayed to remind the inspection workers to enter the specific location of the underground passage for emergency repair and replacement;
若某处管道的H2S、CO和甲烷浓度高于标准值，则在用户终端发出相应的报警信号和显示相应的位置信息，提醒巡检工人进入地下通道具体位置进行抢修更换。If the concentration of H 2 S, CO and methane in a certain pipeline is higher than the standard value, a corresponding alarm signal will be sent out on the user terminal and the corresponding location information will be displayed to remind the inspection workers to enter the specific location of the underground passage for emergency repair and replacement.
本实用新型通过多个装置的整合，实现了多功能的操作，包括视频采集、温湿度检测、漏电检测、气体检测、姿态采集、位置定位、速度检测、超声波避障等功能，涵盖管道巡检过程中有可能出现的故障和异常，功能全面、检测范围广、针对性强；并且本实用新型装置成本低，运行稳定，具有广泛的应用前景。Through the integration of multiple devices, the utility model realizes multifunctional operations, including video collection, temperature and humidity detection, leakage detection, gas detection, posture collection, position positioning, speed detection, ultrasonic obstacle avoidance and other functions, covering pipeline inspection Faults and abnormalities that may occur during the process have comprehensive functions, a wide detection range, and strong pertinence; and the utility model has low cost, stable operation, and wide application prospects.
附图说明Description of drawings
图1为本实用新型综合管道巡检装置的结构框图。Fig. 1 is a structural block diagram of the comprehensive pipeline inspection device of the present invention.
具体实施方式Detailed ways
下面结合具体实施例和附图详细说明本实用新型。The utility model will be described in detail below in conjunction with specific embodiments and accompanying drawings.
实施例1Example 1
如图1所示，本实施例提供的一种综合管道巡检装置，包括：视频采集装置、温湿度检测器、漏电检测器、气体检测装置、飞行器检测装置、主控制器、存储器、通信装置、云服务器、飞行器；As shown in Figure 1, a comprehensive pipeline inspection device provided in this embodiment includes: a video acquisition device, a temperature and humidity detector, a leakage detector, a gas detection device, an aircraft detection device, a main controller, a memory, and a communication device , cloud server, aircraft;
所述的视频采集装置、温湿度检测器、漏电检测器、气体检测装置、飞行器检测装置、主控制器、存储器、通信装置均设置于飞行器上；The video acquisition device, temperature and humidity detector, leakage detector, gas detection device, aircraft detection device, main controller, memory, and communication device are all arranged on the aircraft;
所述的视频采集装置、温湿度检测器、漏电检测器、气体检测装置、飞行器检测装置、飞行器均与主控制器电连接，并将各自检测到的信号传输至主控制器，所述的主控制器通过通信装置与云服务器无线连接；The video acquisition device, the temperature and humidity detector, the leakage detector, the gas detection device, the aircraft detection device, and the aircraft are all electrically connected to the main controller, and transmit the detected signals to the main controller. The controller is wirelessly connected to the cloud server through the communication device;
所述的视频采集装置包括高清摄像机、红外摄像机和LED灯，高清摄像机、红外摄像机用于将拍到的视频画面发送至主控制器；所述的LED灯用于照明；The video acquisition device includes a high-definition camera, an infrared camera and an LED light, and the high-definition camera and the infrared camera are used to send the captured video images to the main controller; the LED light is used for lighting;
所述的气体检测装置包含：H2S气体传感器、CO气体传感器以及甲烷气体传感器，所述的 H2S气体传感器、CO气体传感器以及甲烷气体传感器均与主控制器电连接，用于将检测到的信号发送至主控制器；The gas detection device includes: H 2 S gas sensor, CO gas sensor and methane gas sensor, and the H 2 S gas sensor, CO gas sensor and methane gas sensor are all electrically connected to the main controller for detecting The received signal is sent to the main controller;
所述的飞行器检测装置包括：姿态采集器、位置定位器、速度检测器、超声波传感器；姿态采集器、位置定位器、速度检测器均与主控制器电连接，用于将检测到的信号发送至主控制器。The aircraft detection device comprises: an attitude collector, a position locator, a speed detector, and an ultrasonic sensor; the attitude collector, the position locator, and the speed detector are all electrically connected to the main controller for sending detected signals to the main controller.
所述的超声波传感器与主控制器电连接，用于检测障碍物的距离信号，并发送至主控制器；The ultrasonic sensor is electrically connected to the main controller for detecting the distance signal of the obstacle and sending it to the main controller;
主控制器接收姿态采集器、位置定位器、速度检测器、超声波传感器发来的检测信号并传输至云服务器，用于向用户展示飞行器的运行状态；The main controller receives the detection signals from the attitude collector, position locator, speed detector, and ultrasonic sensor and transmits them to the cloud server to display the operating status of the aircraft to the user;
还包括用户终端，所述的用户终端通过无线网络与云服务器连接，用于通过云服务器接收主控制器发来的信号并进行显示，同时将用户指令发送至云服务器；It also includes a user terminal, the user terminal is connected to the cloud server through the wireless network, and is used to receive and display the signal sent by the main controller through the cloud server, and at the same time send the user instruction to the cloud server;
还包括用户终端，所述的用户终端通过无线网络与云服务器连接，用于通过云服务器接收主控制器发来的信号并将用户指令发送至云服务器。It also includes a user terminal, the user terminal is connected to the cloud server through the wireless network, and is used for receiving the signal sent by the main controller through the cloud server and sending the user instruction to the cloud server.
本实施例的工作过程如下：The working process of this embodiment is as follows:
本实用新型装置工作时，飞行器延管道中的待检测的线路飞行，飞行器可根据编程自动飞行或是由使用者进行远程操控飞行；视频采集装置拍摄飞行器所处位置周围的视频画面，并将视频画面发回主控制器；温湿度检测器检测飞行器所处位置的环境温度和湿度，并将视频画面发回主控制器；漏电检测器检测飞行器所在位置附近电缆的电磁感应信号，并将信号发回主控制器；气体检测装置检测飞行器所处位置的H2S、CO和甲烷气体浓度，并将浓度信号发送至主控制器；飞行器检测装置采集当前飞行器的飞行状态信息，并将信息发送至主控制器，飞行状态信息包括飞行器姿态信息、位置信息、速度信息、障碍物距离信息；When the utility model device works, the aircraft flies along the line to be detected in the pipeline, and the aircraft can automatically fly according to the programming or be remotely controlled by the user; The picture is sent back to the main controller; the temperature and humidity detector detects the ambient temperature and humidity of the position of the aircraft, and sends the video picture back to the main controller; the leakage detector detects the electromagnetic induction signal of the cable near the position of the aircraft, and sends the signal to Back to the main controller; the gas detection device detects the concentration of H 2 S, CO and methane gas at the position of the aircraft, and sends the concentration signal to the main controller; the aircraft detection device collects the flight status information of the current aircraft and sends the information to Main controller, flight status information includes aircraft attitude information, position information, speed information, obstacle distance information;
主控制器将接收到的信号通过通信装置发送至云服务器，进而发送至用户终端，相应的信息在用户终端进行显示；使用者能够通过用户终端发送相应的控制指令到云服务器，进而转发至主控制器，由主控制器控制相应的装置完成控制指令的操作。The main controller sends the received signal to the cloud server through the communication device, and then sends it to the user terminal, and the corresponding information is displayed on the user terminal; the user can send the corresponding control command to the cloud server through the user terminal, and then forward it to the main server. Controller, the main controller controls the corresponding device to complete the operation of the control instruction.
某处管道视频画面传回用户终端显示，若发现出现有破损或者腐蚀现象，则巡检工人进入地下通道具体位置进行抢修更换；The video screen of a certain pipeline is sent back to the user terminal for display. If any damage or corrosion is found, the inspection workers will enter the specific location of the underground passage for emergency repair and replacement;
若某处电缆出现过热点，则在用户终端发出相应的报警信号和显示相应的位置信息，提醒巡检工人进入地下通道具体位置进行抢修更换；If there is a hot spot in a certain cable, a corresponding alarm signal will be issued on the user terminal and the corresponding location information will be displayed to remind the inspection workers to enter the specific location of the underground passage for emergency repair and replacement;
若某处管道环境温度和湿度值高于标准值，则在用户终端发出相应的报警信号和显示相应的位置信息，提醒巡检工人进入地下通道具体位置进行抢修更换；If the ambient temperature and humidity of a certain pipeline are higher than the standard value, a corresponding alarm signal will be sent out on the user terminal and the corresponding location information will be displayed to remind the inspection workers to enter the specific location of the underground passage for emergency repair and replacement;
若某处管道出现漏电，则在用户终端发出相应的报警信号和显示相应的位置信息，提醒巡检工人进入地下通道具体位置进行抢修更换；If there is a leakage in a certain pipeline, the corresponding alarm signal will be sent out on the user terminal and the corresponding location information will be displayed to remind the inspection workers to enter the specific location of the underground passage for emergency repair and replacement;
若某处管道的H2S、CO和甲烷浓度高于标准值，则在用户终端发出相应的报警信号和显示相应的位置信息，提醒巡检工人进入地下通道具体位置进行抢修更换。If the concentration of H 2 S, CO and methane in a certain pipeline is higher than the standard value, a corresponding alarm signal will be sent out on the user terminal and the corresponding location information will be displayed to remind the inspection workers to enter the specific location of the underground passage for emergency repair and replacement.
本实施例提供中：This example provides:
高清摄像机的型号为HP-DRCO427激光摄像机；红外摄像机的型号为FILR公司的A300红外摄像机；LED灯的型号为P-P4-102；漏电检测器采用发明专利(CN201310651398.0)公开的非接触式漏电检测仪；温湿度检测器的型号为DHT11；速度检测器型号为LIS3DHTR；姿态采集器采用ADI公司生产的集成惯性测量单元ADIS16405；位置定位器选用u-bloxAG公司的 ANTARIS4GPS接收机；超声波传感器型号为HY-SRF05；CO气体传感器型号为MQ-7；H2S气体传感器型号为H2S-A4；甲烷气体传感器型号为MQ-4；主控制器的型号为STM32；通信装置选用红心物联科技公司的UART-WiFi模块TLN13UA06；存储器为16M容量的Flash(华邦公司 W25Q128)和4G容量的SD卡组成；云服务器的型号T-link1883；飞行器型号为大疆御MAVICPRO。The model of the high-definition camera is HP-DRCO427 laser camera; the model of the infrared camera is A300 infrared camera of FILR; the model of the LED light is P-P4-102; Leakage detector; the model of temperature and humidity detector is DHT11; the model of speed detector is LIS3DHTR; the attitude collector adopts the integrated inertial measurement unit ADIS16405 produced by ADI; the position locator uses ANTARIS4GPS receiver of u-bloxAG company; the model of ultrasonic sensor The model of the CO gas sensor is MQ-7; the model of the H2S gas sensor is H2S-A4; the model of the methane gas sensor is MQ-4; the model of the main controller is STM32; -WiFi module TLN13UA06; the memory is composed of 16M Flash (Winbond W25Q128) and 4G SD card; the cloud server model is T-link1883; the aircraft model is DJI MAVICPRO.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111028377A (en) * | 2019-11-22 | 2020-04-17 | 深圳供电局有限公司 | Inspection system of transmission line and transmission method of inspection data |
| CN115761926A (en) * | 2022-10-12 | 2023-03-07 | 东北石油管道有限公司 | Intelligent pipeline inspection system for multi-source signal monitoring |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111028377A (en) * | 2019-11-22 | 2020-04-17 | 深圳供电局有限公司 | Inspection system of transmission line and transmission method of inspection data |
| CN111028377B (en) * | 2019-11-22 | 2022-07-05 | 深圳供电局有限公司 | Inspection system of power transmission line and transmission method of inspection data |
| CN115761926A (en) * | 2022-10-12 | 2023-03-07 | 东北石油管道有限公司 | Intelligent pipeline inspection system for multi-source signal monitoring |
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