CN209795830U - Pipe gallery inspection device - Google Patents

Abstract

The utility model discloses a pipe gallery inspection device, which comprises a track arranged in the pipe gallery and a rail car installed on the track. An inspection drone can be connected and separated from the rail car through a docking device. By setting the track in the pipe gallery and setting the rail car that can move along the track, when the inspection UAV is connected to the rail car, the rail car drives the inspection UAV to perform the whole process of autonomous inspection or quickly reach the suspected Check the faulty area. At the same time, the inspection UAV can automatically pass through the fire door and cooperate with the next section of the pipe gallery track for inspection. Compared with the traditional solution, the inspection UAV is limited by the difficult location of the pipe gallery and the complex environment. Technical bottleneck, the inspection drone provided by the utility model has high safety and high work efficiency.

Description

Pipe gallery inspection device

technical field

The utility model relates to the technical field of inspection inside a pipe gallery, in particular to a inspection device for a pipe gallery.

Background technique

With the development of the city, underground pipe corridors began to spread all over major cities, and daily inspection of pipe corridors is a task of pipe gallery management. At present, the inspection work of underground city pipe corridors is mainly done manually. Since the pipe corridors are very long, the inspection task requires a lot of time and manpower, and this work is relatively boring.

Usually, inspection drones are used to inspect the pipe gallery. Specifically, the inspection drone flies in the pipe gallery to detect the internal state of the pipe gallery. Due to the complex internal environment of the pipe gallery, there are various protrusions (metal frames, etc.), the UAV needs to avoid obstacles autonomously in real time; at the same time, there is no GPS positioning inside the pipe gallery, so it can only rely on UWB and other visual means, but the narrow and long pipe gallery The ground conditions make it difficult to use UWB to realize automatic positioning throughout the process, resulting in low security for inspection drones.

Utility model content

The purpose of the utility model is to provide a pipe gallery inspection device to improve the inspection safety and work efficiency of the inspection drone.

In order to achieve the above purpose, the utility model provides a pipe gallery inspection device, which includes an inspection drone, and also includes a track installed in the pipe gallery and a rail car installed on the track. The inspection is unmanned The machine can be connected and separated from the rail car through a docking device.

Preferably, the track and the rail car are provided in the pipe gallery between two adjacent fire doors, and the inspection drone moves along the track driven by the rail car.

Preferably, the docking device includes an electromagnetic part arranged on the rail car, an electromagnetic control device for controlling the gain and loss of power of the electromagnetic part, and an electromagnetic control device arranged on the inspection UAV and capable of being attracted to the electromagnetic part. pieces.

Preferably, the docking device includes a limit ring that engages the hook with the hook, one of the hook and the limit ring is set on the rail car, and the other is set on the patrol car. Check on the drone.

Preferably, the rail car includes a slider and a middle cabin; the slider is located in a chute of the track; the middle cabin is located at the lower part of the slider, and a driving motor is arranged inside the middle cabin, and the driving motor is used for For driving the rail car, the docking device is located at the lower part of the middle compartment.

Preferably, the rail car is provided with a first visual mark;

It also includes UWB base stations arranged at several positions on the pipe gallery, and the UWB base station is used for positioning the inspection drone inside the pipe gallery;

The inspection drones include:

A positioning device, the positioning device includes a UWB tag, and the positioning device obtains the distance between the UWB tag and the UWB base station arranged in the pipe gallery by measuring the distance between the UWB tag and the UWB base station arranged in the pipe gallery. The global position of the corridor;

The first positioning camera, the first positioning camera is located on the top of the inspection UAV, the lens of the first positioning camera faces upwards, and is used to detect and identify the first visual mark, and obtain the The relative pose of the inspection UAV and the rail car provides positioning information for the inspection UAV to realize docking;

An ultrasonic sensor, the ultrasonic sensor is distributed around the inspection drone, and realizes autonomous obstacle avoidance by measuring surrounding obstacles;

An inspection camera, the inspection camera is used to take pictures of the internal state of the pipe gallery;

A pipe gallery detection sensor, the pipe gallery detection sensor is connected to the inspection camera and integrated on the pan/tilt of the inspection drone to detect the running state of the pipe gallery.

Preferably, it also includes a second visual mark arranged on the fire door, and the inspection drone also includes a second positioning camera for identifying the second visual mark, and the second positioning camera is located at the patrol Check the side end of the UAV, and guide the flight direction of the inspection UAV.

Preferably, a ground monitoring console is also included, and the ground monitoring console communicates with the inspection UAV through a data transmission device, and obtains inspection information of the inspection UAV in the pipeline corridor.

Preferably, when the rail cars are at the initial position, the rail cars are all located at the same end of the pipe gallery.

Preferably, a patrol reset device for controlling the reset of the rail car is also included.

In the above technical solution, the utility model provides a pipe gallery inspection device including a track set in the pipe gallery and a rail car installed on the track. The inspection drone can be connected and separated from the rail car through the docking device. It can be seen from the above description that in the inspection device for pipe gallery provided by the present application, a track is set in the pipe gallery and a rail car that can move along the track is set, so that when the inspection UAV is connected to the rail car, it passes through the rail The car drives the inspection drone to carry out the whole process of autonomous inspection or quickly arrive at the suspected fault area for investigation. At the same time, the inspection UAV can automatically pass through the fire door and cooperate with the next section of the pipe gallery track for inspection. Compared with the traditional solution, the inspection UAV is limited by the difficult location of the pipe gallery and the complex environment. Technical bottleneck, the inspection drone provided by the utility model has high safety and high work efficiency.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description It is only an embodiment of the utility model, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.

Fig. 1 is the layout diagram of the inspection device for the utility model provided by the embodiment of the utility model;

Fig. 2 is a partial enlarged view of the inspection device for the utility model provided by the embodiment of the utility model;

Fig. 3 is the installation location diagram of the inspection drone provided by the embodiment of the utility model;

Fig. 4 is the schematic structural diagram of the inspection drone provided by the embodiment of the utility model;

Fig. 5 is a brief structural block diagram of the work of the inspection drone provided by the embodiment of the present invention;

Fig. 6 is the working principle diagram of the inspection drone provided by the embodiment of the utility model;

FIG. 7 is a schematic structural diagram of a data transmission device provided by an embodiment of the present invention.

Among them, in Figure 1-7: 1-pipe gallery, 2-track;

3-rail car, 31-limit ring;

4-Inspection drone, 41-duct, 42-hook, 43-inspection camera, 44-pipe gallery detection sensor, 45-body, 46-first positioning camera, 47-ultrasonic sensor, 48- Second positioning camera, 49-UWB tag, 410-UAV airborne computer, 411-digital transmission module, 412-image transmission module, 413-WiFi equipment, 414-data transmission device;

5-fire door, 51-opening;

6-ground monitoring console, 7-UWB base station.

Detailed ways

The core of the utility model is to provide a pipe gallery inspection device to improve the inspection safety and work efficiency of the inspection drone.

In order to enable those skilled in the art to better understand the technical solution of the utility model, the utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments.

Please refer to Figure 1 to Figure 7.

In a specific embodiment, the inspection device for the utility model provided by the specific embodiment of the utility model includes an inspection drone 4, a track 2 arranged in the tube gallery 1, and a rail car installed on the track 2, wherein , the rail car 3 drives the inspection drone 4 to move along the track 2 . The type and material of the inspection UAV 4 are not limited, and it can be any one of an open UAV, a ducted UAV, and a micro-aircraft. As shown in the figure, the inspection UAV 4 can be a ducted 41 ducted UAV.

Specifically, one of the pipe gallery 1 and the rail car 3 is provided with a chute, and the other is provided with a track 2 matched with the chute. Preferably, the rail car 3 moves along the length direction of the pipe gallery 1 . Wherein, the track 2 can be a C-shaped suspension rail, or an I-shaped suspension rail. In order to improve the connection stability, there may be two chutes, the two chutes are arranged in parallel, and the chutes and the rails 2 are arranged in one-to-one correspondence.

In order to facilitate the cooperation between the inspection drone 4 and the rail car 3, preferably, the track 2 is arranged on the top of the inner wall of the pipe gallery 1. Specifically, the track 2 is laid on the ceiling of the underground pipe gallery 1, and the inspection drone 4 is installed on the track The bottom end of car 3. Of course, the position of track 2 can be modified according to actual needs.

Rails 2 and railcars 3 are provided in the pipe gallery 1 between two adjacent fire doors 5, wherein when the fire doors 5 are opened, the fire doors 5 form openings 51 for the inspection drone 4 to pass through. Since the rail car 3 cannot pass through the fire door 5, a rail car 3 is arranged between the two fire doors 5. The rail car 3 is used as a carrier for carrying drones. The same inspection drone 4 can be implemented in multiple pipe corridors. 1 inspection work.

It can be seen from the above description that in the pipe gallery inspection device provided in the specific embodiment of the present application, the track 2 is set in the pipe gallery 1, and the rail car 3 that can move along the track 2 is set, so that when the inspection drone 4 When connected to the rail car 3, the rail car 3 drives the inspection UAV 4 to move, and the rail car 3 drives the inspection UAV 4 to perform the whole process of autonomous inspection or quickly arrive at the suspected fault area for troubleshooting. At the same time, the inspection UAV 4 can automatically pass through the fire door and cooperate with the track 2 in the next section of the pipe corridor for inspection. Compared with the traditional solution, the inspection UAV is restricted by factors such as high difficulty in locating the pipe gallery and complex environment. The technical bottleneck of inspection, the inspection UAV 4 provided by the utility model has high safety in use and high work efficiency.

Specifically, the docking device includes an electromagnetic part arranged on the railcar 3, an electromagnetic control device for controlling the power-on and off of the electromagnetic part, and an attracting part arranged on the inspection drone 4 and capable of being attracted to the electromagnetic part. Specifically, the electromagnetic part can be an electromagnetic sucker. Specifically, when docking is required, the electromagnetic sucker on the rail car 3 is energized to work, and the inspection drone 4 is adsorbed and fixed by the electromagnetic sucker, and the flight control system of the inspection drone 4 is closed. ; When separation is required, the flight control system of the inspection UAV 4 is opened, and the electromagnetic chuck of the rail car 3 is powered off, and stops working, and the inspection UAV 4 is separated from the rail car 3.

Of course, in another specific embodiment, the docking device includes a hook 42 and a stop ring 31 snapped together with the hook 42, one of the hook 42 and the stop ring 31 is arranged on the rail car 3, and the other Or set on the inspection UAV 4. When docking is required, adjust the position of the docking mechanism to achieve anchoring and fixation, and the flight control system of the inspection UAV 4 is turned off; when separation is required, the flight control system of the inspection UAV 4 is turned on, and the relative position of the docking structure is adjusted to realize The inspection drone 4 is separated from the rail car 3 .

Preferably, the rail car 3 includes a slide block and a middle cabin; the slide block is located in the chute of the track 2; the middle cabin is located at the bottom of the slide block, and the inside of the middle cabin is provided with a drive motor, and the drive motor is used to drive the rail car 3. The docking device is located in the lower part of the middle compartment.

Further, the rail car is provided with a first visual mark; specifically, the first visual mark is arranged around the middle compartment, that is, a plurality of rail cars 3 with the first visual mark are arranged on the track 2 . Among them, the first visual mark guides the UAV to approach the rail car, and docking and fixing is carried out through the docking device such as the above-mentioned hook or magnetic sucker. Of course, the docking device can be a vacuum adsorption structure, and the inspection UAV 4 can be docked with the rail car 3 through vacuum adsorption.

The inspection drone 4 includes a fuselage 45, a positioning device, a first positioning camera 46, an ultrasonic sensor 47, an inspection camera 43 and a pipe gallery detection sensor 44, etc., wherein the positioning device, the first positioning camera 46, the ultrasonic sensor 47, The inspection camera 43 and the pipe gallery detection sensor 44 are both arranged on the fuselage 45 .

The positioning device includes a UWB tag 49, wherein the UWB tag 49 cooperates with the UWB base station 7, and the UWB base station 7 is located in the pipe corridor, and its position is fixed. The positioning device obtains the global position of the drone inspection in the pipeline gallery 1 by measuring the distance between the UWB tag 49 and the UWB base station 7 arranged in the pipeline gallery 1, and the inspection drone 4 uses UWB technology to achieve global positioning. The pipe gallery inspection device also includes UWB base stations 7 at several positions of the pipe gallery 1, which can realize the global positioning of the drone inside the pipe gallery 1. The UWB base station 7 obtains power through the wires arranged in the pipe gallery 1, and uses its The mark of the belt provides a local point reference landmark for the inspection UAV 4 .

The first positioning camera 46, the first positioning camera 46 is located at the top of the inspection drone 4, the lens of the first positioning camera 46 faces upwards to detect and identify the first visual mark, and obtains the inspection drone by visual means 4 and the relative pose of the rail car 3 to provide accurate local positioning information for the inspection UAV 4. The inspection UAV 4 uses the first positioning camera 46 and the first visual marker to approach the rail car to realize docking with the rail car 3 .

The ultrasonic sensor 47 is distributed around the inspection UAV 4, and by measuring the surrounding obstacles, autonomous obstacle avoidance is realized and the flight safety of the inspection UAV 4 is improved.

Inspection camera 43, the inspection camera 43 is used to take pictures of the internal state of the pipe gallery 1.

The pipe gallery detection sensor 44, the pipe gallery detection sensor 44 is connected with the inspection camera 43, and is integrated on the inspection drone 4 platform to detect the running state of the pipe gallery 1. The pipe gallery detection sensor 44 can be a gas sensor, an infrared sensor, a visible light camera, and the like.

Considering weight reduction, cost saving, and convenient transportation of the UAV, preferably, the fuselage 45 of the inspection UAV 4 is preferably made of foam material, so that more loads can be used to carry various sensors.

The pipe corridor inspection device also includes a second visual mark arranged on the fire door 5, and the inspection UAV 4 also includes a second positioning camera 48 for identifying the second visual mark, and the second positioning camera 48 is located at the inspection site. The side end of the UAV 4, specifically, the second positioning camera 48 is located at the front end of the fuselage 45. The set first visual mark and the second visual mark are used to guide the flight direction of the drone, and guide the flight direction of the inspection drone 4 .

The pipeline inspection device also includes a ground monitoring console 6. The ground monitoring console 6 communicates with the inspection UAV 4 through equipment such as a data transmission device 414, and at the same time issues commands to the inspection UAV 4, and obtains Inspect the inspection information of the UAV 4 in the pipe corridor 1, wherein the data transmission device 414 includes a WiFi device 413, a data transmission module 411, an image transmission module 412, etc. Specifically, the UAV obtains various information in the pipe gallery 1 through the inspection camera 43 and the pipe gallery detection sensor 44, and sends it to the ground monitoring console 6 through the data transmission module 411, the image transmission module 412, and the WiFi device 413. The ground monitoring console 6 is used to monitor the situation of the inspection UAV 4 in the pipe gallery 1, and at the same time issue execution instructions to the inspection UAV 4, and receive information fed back by the inspection UAV 4.

When the pipe gallery inspection device starts to inspect, the rail car 3 is attached to the track 2, and the inspection drone 4 is connected to the rail car 3 through the docking mechanism. The man-machine 4 uses the inspection camera 43 and the pipe gallery detection sensor 44 to obtain the information in the pipe gallery 1 and transmits it to the ground monitoring station through WiFi. When encountering the fire door 5, the inspection UAV 4 breaks away from the rail car 3 through the docking mechanism, and obtains the marking information of the rail car 3 through the first positioning camera 46 on the inspection UAV 4, combined with the information of the rail car 3 The onboard computer 410 means of marking information and inspection UAV 4 realizes the autonomous positioning and obstacle avoidance of the UAV in the pipe gallery 1, and utilizes the second positioning camera 48 to detect the second vision on the fire door 5. Marking, guide the UAV to pass through the fire door 5 through the second visual mark, so as to obtain the mark information of the next section of the rail car 3, and realize the acquisition of the inspection UAV 4 and the rail car 4 through the first visual mark and the first positioning camera 46 3, and guide the inspection UAV 4 to dock with the rail vehicle 3 to continue the inspection task. Specifically, by suspending the operation of the rail car 3, the inspection UAV 4 and the rail car 3 are fixed for observation; in the inspection process, the inspection UAV 4 can be controlled to leave the rail car 3 for suspicious and detailed inspections. , control the inspection UAV 4 to approach the area to be detected, and perform multi-angle observation.

In order to facilitate the inspection drone 4 to perform inspection tasks in a timely and efficient manner, when the rail car 3 is in the initial position, the rail car 3 is located at the same end of the pipe gallery 1. For example, when the inspection UAV 4 flies from left to right, the initial position of the rail car 3 is on the left side, so that when the inspection UAV 4 flies from one section of pipe gallery 1 to the next section of pipe gallery 1, it will be faster Docking with rail car 3.

Further, the utility gallery inspection device also includes an inspection reset device for controlling the reset of the rail car 3 . Specifically, the inspection reset device includes a limit switch arranged at the end of the track 2 and a drive control mechanism that drives the rail car 3 to move in reverse. When the rail car 3 touches the limit switch, the drive control mechanism drives the rail car 3 to reverse Move to the initial position. When the inspection UAV 4 is inspecting the pipe gallery 1, when it is necessary to stop halfway on the track 2, the rail car 3 stops working, and the inspection UAV 4 is separated from the rail car 3. At this time, the rail car stops running and waits. After the inspection drone 4 is in place, the rail car 3 starts again. Considering that the limit switch is purely controlled automatically, there may be deviations in cooperation with the inspection drone 4. Preferably, a control structure for controlling the operation of the limit switch is provided outdoors, that is, the operation of the limit switch is manually controlled by the staff of the ground station.

This application realizes the automatic inspection of the pipe gallery 1 through the combination of the inspection drone 4 and the inner track 2 of the pipe gallery 1, and the safety is guaranteed. At the same time, the inspection UAV 4 and the rail car 3 can be separated to observe suspected fault points at close range, with a wider viewing angle and more flexible inspection. The inspection UAV 4 is docked with the corresponding rail car 3 through the docking device, and the inspection UAV 4 passes through the fire door 5 to inspect each section of the pipe gallery 1, and at the same time avoids the need to arrange inspections in each section of the pipe gallery 1 equipment, reducing costs. UWB base station 7 and UWB tag 49 are used to realize the general position of the UAV inside the pipe gallery 1, and visual means and visual markings are used to realize the local precise positioning of the UAV. The automatic inspection scheme mentioned in this application is more practical. It is feasible, practical and convenient for widespread promotion.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.

The above description of the disclosed embodiments enables those skilled in the art to realize or use the utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. The utility model provides a pipe rack inspection device, is including patrolling and examining unmanned aerial vehicle (4), its characterized in that, still including setting up track (2) in pipe rack (1) and installing railcar (3) on track (2), it can through interfacing apparatus with railcar (3) connection and separation to patrol and examine unmanned aerial vehicle (4).

2. The pipe rack inspection device according to claim 1, characterized in that the rails (2) and the rail cars (3) are arranged in the pipe rack (1) between two adjacent fireproof doors (5), and the inspection unmanned aerial vehicle (4) is driven by the rail cars (3) to move along the rails (2).

3. The pipe gallery inspection device according to claim 1, wherein the docking device includes an electromagnetic part disposed on the rail car (3), an electromagnetic control device for controlling the electromagnetic part to lose power, and an attraction part disposed on the inspection unmanned aerial vehicle (4) and capable of attracting the electromagnetic part.

4. The pipe rack inspection device according to claim 1, wherein the docking device comprises a hook (42) and a spacing ring (31) which is clamped with the hook (42), one of the hook (42) and the spacing ring (31) is arranged on the rail car (3), and the other is arranged on the inspection unmanned aerial vehicle (4).

5. The pipe rack inspection device according to claim 1, characterized in that the rail car (3) comprises a slide and a middle compartment; the sliding block is positioned in a sliding groove of the track (2); the middle cabin is located on the lower portion of the sliding block, a driving motor is arranged inside the middle cabin and used for driving the rail car (3) to run, and the butt joint device is located on the lower portion of the middle cabin.

6. The pipe rack inspection device according to claim 1, characterized in that the railcar (3) is provided with a first visual marker;

the system is characterized by further comprising UWB base stations (7) arranged at a plurality of positions on the pipe rack (1), wherein the UWB base stations (7) are used for positioning the inspection unmanned aerial vehicle (4) inside the pipe rack (1);

patrol and examine unmanned aerial vehicle (4) and include:

A positioning device comprising a UWB tag (49), the positioning device obtaining a global position of the inspection unmanned aerial vehicle (4) at the pipe gallery (1) by measuring a distance between the UWB tag (49) and the UWB base station (7) arranged in the pipe gallery (1);

The first positioning camera (46), the first positioning camera (46) is located at the top end of the inspection unmanned aerial vehicle (4), the lens of the first positioning camera (46) faces upwards and is used for detecting and identifying a first visual mark, the relative pose of the inspection unmanned aerial vehicle (4) and the rail car (3) is obtained through a visual means, positioning information is provided for the inspection unmanned aerial vehicle (4), and butt joint is achieved;

The ultrasonic sensors (47) are distributed around the inspection unmanned aerial vehicle (4), and the autonomous obstacle avoidance is realized by measuring surrounding obstacles;

The inspection camera (43), wherein the inspection camera (43) is used for photographing the internal state of the pipe gallery (1);

piping lane detection sensor (44), piping lane detection sensor (44) with it connects to patrol and examine camera (43), and integrated patrol and examine on the cloud platform of unmanned aerial vehicle (4) for detect the running state of piping lane (1).

7. The pipe rack inspection device according to claim 6, further comprising a second visual marker disposed on the fire door (5), the inspection unmanned aerial vehicle (4) further comprising a second positioning camera (48) for identifying the second visual marker, the second positioning camera (48) being located at a side end of the inspection unmanned aerial vehicle (4), to guide a flight direction of the inspection unmanned aerial vehicle (4).

8. The pipe rack inspection device according to claim 6, further comprising a ground monitoring console (6), wherein the ground monitoring console (6) communicates with the inspection unmanned aerial vehicle (4) through a data transmission device (414) and acquires inspection information of the inspection unmanned aerial vehicle (4) in the pipe rack (1).

9. Pipe rack inspection device according to claim 1, characterized in that when the rail cars (3) are in the initial position, the rail cars (3) are all located at the same end of the pipe rack (1).

10. The pipe rack inspection device according to claim 9, further comprising an inspection reset device that controls the railcar (3) to reset.