CN102288221A - Equipment for generally surveying pipeline - Google Patents
Equipment for generally surveying pipeline Download PDFInfo
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- CN102288221A CN102288221A CN2011101700854A CN201110170085A CN102288221A CN 102288221 A CN102288221 A CN 102288221A CN 2011101700854 A CN2011101700854 A CN 2011101700854A CN 201110170085 A CN201110170085 A CN 201110170085A CN 102288221 A CN102288221 A CN 102288221A
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Abstract
The invention relates to equipment for generally surveying a pipeline, which comprises a mobile carrier and a controller communicating with the mobile carrier. The mobile carrier is provided with sensing equipment; the sensing equipment is used for obtaining the parameters of the mobile carrier in the pipeline and submitting the parameters to the controller; and the controller obtains the data of the pipeline according to the parameters and generally surveys the pipeline. In the invention, the mobile carrier is adopted to enter the pipeline; the mobile carrier can enter the pipeline at any height to the ground to generally survey the pipeline without being limited by the depth of the pipeline; the sensing equipment is arranged on the mobile carrier; the sensing equipment obtains the parameters of the mobile carrier in the pipeline and submits the parameters to the controller; the controller processes and obtains the data of the pipeline, so as to generally survey the pipeline effectively; a worker is not necessary to enter the pipeline; and the equipment is convenient, safe and quick.
Description
[technical field]
The present invention relates to a kind of detecting devices, relate in particular to a kind of pipeline generaI investigation equipment.
[background technology]
The underground utilities Miru cobweb of modern city has been gathered the underground utilities of various utility companies such as water supply pipe, natural gas line, power cable, telecommunication cable, sewer, cable of cable TV.A big problem that faces at present be the underground pipe network that built up in the past owing to historical reasons, mismanagement, construction not fully according to reasons such as design drawings, pipeline position figure accurately can't be provided, need again these pipelines to be generally investigated, obtain the three-dimensional data of these pipelines.
At present, for the generaI investigation of underground pipeline, mainly adopt electromagnetic method pipeline instrument to survey and generaI investigation.The technician reconnoitres on the ground by pipe and cable detector.But the pipe and cable detector investigation depth is limited, and the 10 meters following ratios of precision in the face of land are relatively poor, can't effectively reconnoitre basically for the pipeline of the face of land below 20 meters.Simultaneously, can not obtain the detailed data of pipeline inside, can't effectively discern defectives such as the breakage of inner surface of pipeline, crackles.Adopt this mode to reconnoitre open-air underground pipeline, the technician need cross over mountain after mountain, the cost of labor height.Another mode is to adopt the mode that manually enters the pipeline examine on the spot.It is bigger that this mode only is suitable for caliber, and the pipeline prospecting that does not have fluid to be full of.Because pipeline environment is abominable, has harmful gas or sudden flood etc., adopt the mode of artificial inlet pipe prospecting to bring life danger often for the workman in the pipeline.
[summary of the invention]
In view of this, the pipeline generaI investigation equipment that is necessary to provide a kind of convenience that underground pipeline is effectively generally investigated.
A kind of pipeline generaI investigation equipment comprises: mobile vehicle and with the controller of described mobile vehicle communication; On the described mobile vehicle awareness apparatus is installed, described awareness apparatus is used to obtain described mobile vehicle in ducted parameter and meet at described controller, and described controller is generally investigated pipeline according to described parameter acquiring pipeline data.
Preferably, described controller obtains internal diameter of the pipeline, thickness, the gradient, trend, import geographic position and outlet geographic position, and draws the pipeline three-dimensional picture according to internal diameter of the pipeline, thickness, the gradient, trend, import geographic position and outlet geographic position.
Preferably, described controller comprises cable, microprocessor, display screen and functional unit; Described cable connects described controller and mobile vehicle, is used to provide power supply and communication; Described microprocessor receives and according to described parameter, obtains pipeline data, meets at described display according to pipeline data drafting pipeline figure and shows that described functional unit is used for mobile vehicle is operated.
Preferably, described awareness apparatus comprises photoelectric encoder, is used for detecting in real time described mobile vehicle in ducted travel distance and speed.
Preferably, described pipeline generaI investigation equipment also comprises the unwrapping wire structure that is arranged on the described cable, described payingoff mechanism is provided with photoelectric encoder, and described photoelectric encoder detects described mobile vehicle in ducted travel distance and speed in real time by the travel distance and the speed of detection streamer.
Preferably, described awareness apparatus also comprises distance measuring sensor, is used for obtaining in real time the distance of described mobile vehicle and inner and outer walls of pipeline; Described microprocessor obtains internal diameter of the pipeline, external diameter and thickness in real time according to the distance of mobile vehicle and inner and outer walls of pipeline.
Preferably, described awareness apparatus also comprises the digital elevation meter, is used to obtain the sea level elevation of described mobile vehicle with respect to ground; Described microprocessor obtains the sea level elevation of pipeline in real time according to the sea level elevation of mobile vehicle, and described microprocessor obtains the gradient of pipeline in real time according to the sea level elevation and the travel distance of mobile vehicle.
Preferably, described awareness apparatus also comprises gyroscope, is used to obtain described mobile vehicle in ducted attitude; Described microprocessor obtains pipeline rout according to the attitude and the travel distance of mobile vehicle.
Preferably, described awareness apparatus also comprises the global location instrument, is used to obtain the geographic position of described mobile vehicle, and described microprocessor obtains the pipeline geographic position according to the geographic position of mobile vehicle.
Preferably, mobile vehicle is a crawl device, and described crawl device is wheeled mobile robot or crawler type climbing robot.
Above-mentioned pipeline generaI investigation equipment, adopt mobile vehicle to enter pipeline, can enter apart from the pipeline of any degree of depth in ground and generally investigate, not limited by pipeline depth, mobile vehicle is provided with awareness apparatus, and awareness apparatus obtains mobile vehicle in ducted parameter, meet at the controller processing and obtain pipeline data, thereby effectively pipeline is generally investigated, be need not manually to enter pipeline, convenient, safety, quick.
[description of drawings]
Fig. 1 is the structural representation of pipeline generaI investigation equipment among the embodiment;
Fig. 2 is pipeline generaI investigation equipment inner structure figure among the embodiment.
[embodiment]
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.
Fig. 1 is the structural representation of pipeline generaI investigation equipment among the embodiment.Fig. 2 is pipeline generaI investigation equipment inner structure figure among the embodiment.In conjunction with Fig. 1 and Fig. 2, this pipeline generaI investigation equipment comprise mobile vehicle 100 and with the controller 200 of mobile vehicle 100 communications.Mobile vehicle 100 is equipped with at least one awareness apparatus 300, awareness apparatus 300 is used to obtain mobile vehicle 100 and meets at controller 200 in ducted parameter, controller 200 is according to the parameter acquiring pipeline data, further, controller 200 is drawn the pipeline figure according to pipeline data, and pipeline is generally investigated.
Among this embodiment, mobile vehicle 100 adopts crawl device, and crawl device is wheeled mobile robot or crawler type climbing robot.Awareness apparatus 300 is installed on the crawl device.Crawl device can make things convenient for walking freely in pipeline, be not subjected to restrictions such as pipe diameter.
Gyroscope 340 is used to obtain mobile vehicle 100 in ducted attitude.Mobile vehicle 100 attitudes during with mobile vehicle 100 initial positions attitude be reference object.
Cable 210 connects controller 200 and mobile vehicle 100, is used to provide power supply and communication.
In preferred embodiment, microprocessor 220 obtains internal diameter of the pipeline, external diameter and thickness in real time according to the distance of mobile vehicle 100 with inner and outer walls of pipeline; Microprocessor 220 obtains the sea level elevation of pipeline in real time according to the sea level elevation of mobile vehicle 100.Microprocessor 220 obtains conduit slope according to the sea level elevation and the travel distance of mobile vehicle 100.Microprocessor 220 at ducted attitude and travel distance, obtains pipeline rout according to mobile vehicle 100.Microprocessor 220 obtains the pipeline geographic position according to the geographic position of mobile vehicle 100, especially obtains the geographic position of conduit entrance and outlet.
Obtain and pipeline datas such as definite internal diameter of the pipeline, thickness, the gradient, trend, import geographic position and outlet geographic position after, microprocessor 220 is according to internal diameter of the pipeline, thickness, the gradient, trend, import geographic position and outlet geographic position, real-time rendering pipeline three-dimensional picture, thus the drafting that a segment pipe is complete is come out.
When this pipeline generaI investigation equipment is generally investigated pipeline, at first this equipment delivery is arrived pipeline to be detected, find the inlet (perhaps outlet) of pipeline.Mobile vehicle 100 is put into the inlet (perhaps outlet) of pipeline, connect cable 210, open equipment, start-up control device 200.Obtain the longitude and the latitude information of mobile vehicle 100 by global location instrument 350, and import numbering or other identification informations of pipeline to be checked by keyboard.With control lever control mobile vehicle 100 center line direction running along pipeline in pipeline, simultaneously, the parameter of mobile vehicle 100 is opened and obtained separately to distance measuring sensor 310, photoelectric encoder 320, digital elevation meter 330 and gyroscope 340 then.Controller 200 is according to the parameter of obtaining, obtain internal diameter of the pipeline, thickness, the gradient, trend, import geographic position and outlet geographic position, real-time rendering pipeline three-dimensional picture, thus the drafting that a segment pipe is complete come out, and on display screen 230, show.This pipeline generaI investigation equipment, adopt mobile vehicle 100 to enter pipeline, the pipeline that can enter any degree of depth in ground is generally investigated, and not limited by pipeline depth, and mobile vehicle 100 is provided with awareness apparatus 300, awareness apparatus 300 obtains mobile vehicle 100 in ducted parameter, meet at controller 200 processing and obtain pipeline data, thereby effectively pipeline is generally investigated, especially can effectively generally investigate pipe interior, need not manually to enter pipeline, convenient, safety, quick.
The pipeline data of this pipeline can be saved, and also can send to other notebook computer or industrial computer by the wireless serial communication.This pipeline data can with the flow of water, information such as reservoir are carried out interface.
In other embodiments, mobile vehicle 100 is connected by cable 210 with controller 200, cable 210 is provided with payingoff mechanism 400, payingoff mechanism 400 is provided with photoelectric encoder or odometer, be used for the length and the speed of detection streamer 210 retractable cables, thereby obtain the travel distance and the speed of mobile vehicle 100 indirectly.
Simultaneously, video camera is installed also on the mobile vehicle 100, pipe interior is made a video recording, more effectively pipeline is generally investigated.
Above-mentioned pipeline generaI investigation equipment, adopt mobile vehicle to enter pipeline, can enter apart from the pipeline of any degree of depth in ground and generally investigate, not limited by pipeline depth, mobile vehicle is provided with awareness apparatus, and awareness apparatus obtains mobile vehicle in ducted parameter, meeting at the controller processing obtains pipeline data and draws the pipeline figure, thereby effectively pipeline is generally investigated, be need not manually to enter pipeline, convenient, safety, quick.
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. pipeline generaI investigation equipment is characterized in that, comprising: mobile vehicle and with the controller of described mobile vehicle communication; On the described mobile vehicle awareness apparatus is installed, described awareness apparatus is used to obtain described mobile vehicle in ducted parameter and meet at described controller, and described controller is generally investigated pipeline according to described parameter acquiring pipeline data.
2. pipeline generaI investigation equipment according to claim 1, it is characterized in that, described controller obtains internal diameter of the pipeline, thickness, the gradient, trend, import geographic position and outlet geographic position, and draws the pipeline three-dimensional picture according to internal diameter of the pipeline, thickness, the gradient, trend, import geographic position and outlet geographic position.
3. pipeline generaI investigation equipment according to claim 2 is characterized in that described controller comprises cable, microprocessor, display screen and functional unit; Described cable connects described controller and mobile vehicle, is used to provide power supply and communication; Described microprocessor receives and according to described parameter, obtains pipeline data, meets at described display according to pipeline data drafting pipeline figure and shows that described functional unit is used for mobile vehicle is operated.
4. pipeline generaI investigation equipment according to claim 3 is characterized in that described awareness apparatus comprises photoelectric encoder, is used for detecting in real time described mobile vehicle in ducted travel distance and speed.
5. pipeline generaI investigation equipment according to claim 3, it is characterized in that, described pipeline generaI investigation equipment also comprises the unwrapping wire structure that is arranged on the described cable, described payingoff mechanism is provided with photoelectric encoder, and described photoelectric encoder detects described mobile vehicle in ducted travel distance and speed in real time by the travel distance and the speed of detection streamer.
6. pipeline generaI investigation equipment according to claim 3 is characterized in that described awareness apparatus also comprises distance measuring sensor, is used for obtaining in real time the distance of described mobile vehicle and inner and outer walls of pipeline; Described microprocessor obtains internal diameter of the pipeline, external diameter and thickness in real time according to the distance of mobile vehicle and inner and outer walls of pipeline.
7. according to claim 4 or 5 described pipeline generaI investigation equipment, it is characterized in that described awareness apparatus also comprises the digital elevation meter, be used to obtain the sea level elevation of described mobile vehicle with respect to ground; Described microprocessor obtains the sea level elevation of pipeline in real time according to the sea level elevation of mobile vehicle, and described microprocessor obtains the gradient of pipeline in real time according to the sea level elevation and the travel distance of mobile vehicle.
8. according to claim 4 or 5 described pipeline generaI investigation equipment, it is characterized in that described awareness apparatus also comprises gyroscope, be used to obtain described mobile vehicle in ducted attitude; Described microprocessor obtains pipeline rout according to the attitude and the travel distance of mobile vehicle.
9. pipeline generaI investigation equipment according to claim 3 is characterized in that described awareness apparatus also comprises the global location instrument, is used to obtain the geographic position of described mobile vehicle, and described microprocessor obtains the pipeline geographic position according to the geographic position of mobile vehicle.
10. pipeline generaI investigation equipment according to claim 1 is characterized in that mobile vehicle is a crawl device, and described crawl device is wheeled mobile robot or crawler type climbing robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101700854A CN102288221A (en) | 2011-06-22 | 2011-06-22 | Equipment for generally surveying pipeline |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011101700854A CN102288221A (en) | 2011-06-22 | 2011-06-22 | Equipment for generally surveying pipeline |
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| CN102288221A true CN102288221A (en) | 2011-12-21 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103699140A (en) * | 2013-12-05 | 2014-04-02 | 上海工程技术大学 | Embedded system and method capable of realizing positioning control to rail vehicle-mounted laser scanner |
| CN104078088A (en) * | 2014-07-01 | 2014-10-01 | 中科华核电技术研究院有限公司 | Nuclear power station climbing robot system and method for detecting secondary side of steam generator |
| CN105049803A (en) * | 2015-07-14 | 2015-11-11 | 武汉中仪物联技术股份有限公司 | Portable pipeline inspection controller |
| CN105651301A (en) * | 2015-12-30 | 2016-06-08 | 北京隆科兴非开挖工程股份有限公司 | Real-time mileage measuring mechanism based on photoelectric encoder |
| CN106093973A (en) * | 2016-07-19 | 2016-11-09 | 厦门市佳图测绘有限公司 | The trajectory measurement of a kind of buried pipeline and the method for internal detection |
| CN109002054A (en) * | 2018-05-25 | 2018-12-14 | 南京维朴水务工程有限公司 | A kind of unmanned plane drainage pipeline mapping inspection system and its patrolling method |
| CN110146004A (en) * | 2019-06-13 | 2019-08-20 | 北京科技大学 | A kind of detection device using rare earth permanent-magnetic material detection steel pipe |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103699140A (en) * | 2013-12-05 | 2014-04-02 | 上海工程技术大学 | Embedded system and method capable of realizing positioning control to rail vehicle-mounted laser scanner |
| CN103699140B (en) * | 2013-12-05 | 2016-04-27 | 上海工程技术大学 | Embedded system and the method for the vehicle-mounted laser scanner positioning control of track can be realized |
| CN104078088A (en) * | 2014-07-01 | 2014-10-01 | 中科华核电技术研究院有限公司 | Nuclear power station climbing robot system and method for detecting secondary side of steam generator |
| CN104078088B (en) * | 2014-07-01 | 2017-11-10 | 中广核研究院有限公司 | Nuclear power station Climbing Robot System and the method for detecting steam generator secondary side |
| CN105049803A (en) * | 2015-07-14 | 2015-11-11 | 武汉中仪物联技术股份有限公司 | Portable pipeline inspection controller |
| CN105651301A (en) * | 2015-12-30 | 2016-06-08 | 北京隆科兴非开挖工程股份有限公司 | Real-time mileage measuring mechanism based on photoelectric encoder |
| CN105651301B (en) * | 2015-12-30 | 2018-09-25 | 北京隆科兴非开挖工程股份有限公司 | Real-time mileage measuring mechanism based on photoelectric encoder |
| CN106093973A (en) * | 2016-07-19 | 2016-11-09 | 厦门市佳图测绘有限公司 | The trajectory measurement of a kind of buried pipeline and the method for internal detection |
| CN109002054A (en) * | 2018-05-25 | 2018-12-14 | 南京维朴水务工程有限公司 | A kind of unmanned plane drainage pipeline mapping inspection system and its patrolling method |
| CN110146004A (en) * | 2019-06-13 | 2019-08-20 | 北京科技大学 | A kind of detection device using rare earth permanent-magnetic material detection steel pipe |
| CN110146004B (en) * | 2019-06-13 | 2021-03-30 | 北京科技大学 | Detection apparatus for utilize tombarthite permanent magnet material to detect steel pipe |
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Application publication date: 20111221 |