CN110706368A - Comprehensive pipe rack inspection system - Google Patents
Comprehensive pipe rack inspection system Download PDFInfo
- Publication number
- CN110706368A CN110706368A CN201911017150.2A CN201911017150A CN110706368A CN 110706368 A CN110706368 A CN 110706368A CN 201911017150 A CN201911017150 A CN 201911017150A CN 110706368 A CN110706368 A CN 110706368A
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- inspection system
- utility tunnel
- control unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 49
- 238000004891 communication Methods 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 15
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 7
- 239000013307 optical fiber Substances 0.000 claims description 5
- 230000035939 shock Effects 0.000 claims description 4
- 239000000126 substance Substances 0.000 claims description 3
- 230000004069 differentiation Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 25
- 101100534231 Xenopus laevis src-b gene Proteins 0.000 description 13
- 230000006870 function Effects 0.000 description 9
- 238000005192 partition Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000005286 illumination Methods 0.000 description 5
- 230000001771 impaired effect Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000002265 prevention Effects 0.000 description 3
- 239000011800 void material Substances 0.000 description 3
- 238000013016 damping Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000009423 ventilation Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000004397 blinking Effects 0.000 description 1
- 239000007795 chemical reaction product Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Astronomy & Astrophysics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Multimedia (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a comprehensive pipe rack inspection system, which comprises: the system comprises an unmanned aerial vehicle, at least one wireless power supply device, at least one area control unit and a server; the unmanned aerial vehicle is in wireless connection with the area control unit; the area control unit and the wireless power supply device are distributed in the comprehensive pipe rack; the unmanned aerial vehicle comprises a camera device, the unmanned aerial vehicle is used for collecting the internal image of the comprehensive pipe gallery and transmitting the collected internal image to the server in real time through the currently connected area control unit, and the server is used for identifying damaged equipment and positioning the damaged equipment according to the internal image by using an image identification method. The invention provides a comprehensive pipe rack inspection system which is flexible, low in price and capable of meeting daily inspection requirements of a pipe rack.
Description
Technical Field
The invention relates to the technical field related to a comprehensive pipe rack, in particular to a comprehensive pipe rack inspection system.
Background
The comprehensive pipe gallery technology is widely concerned as a municipal pipeline laying mode, mature cases exist in all countries, and in recent years, the construction of the comprehensive pipe gallery in China is rapidly developed in recent years. Utility tunnel length is great, and inner space is narrow and small, and the personnel of being inconvenient for patrol and examine. At present, a rail hanging robot or a ground inspection robot is usually adopted to replace personnel to perform internal inspection of a pipe gallery. The rail mode of hanging needs set up track and power supply line in the interval scope of patrolling and examining the robot operation, the holistic cost of piping lane that has increased. Hang rail robot and need reserve track installation space and robot walking space in piping lane inside, crowd and account for illumination, fire alarm and other supervisory equipment's installation space, need widen for guaranteeing illumination and supervisory equipment's normal use and patrol and examine the passageway. And the patrol track needs to be avoided when meeting various mouths such as pipe gallery escape holes and vent holes, and the passing speed of the patrol robot is seriously influenced. In addition, the problem that the rail-mounted robot passes through fire-proof walls, fire-proof doors and other fire-proof partitions is not solved, and a special mechanism needs to be added when the sinking section has a larger gradient. The ground inspection robot has poor passing capacity, needs to be provided with a special ramp at a sinking section, and has a slope which cannot be too large. Therefore, the current automatic inspection system is greatly restricted, and the application in the pipe gallery is very limited.
Disclosure of Invention
The invention provides a comprehensive pipe gallery inspection system which can avoid the arrangement of a special track for inspection equipment, can quickly distinguish and position the damaged part of the equipment, improves the inspection efficiency and accuracy, saves the cost and ensures the safety of personnel.
In order to realize above-mentioned purpose, provide a utility tunnel system of patrolling and examining, include: the system comprises an unmanned aerial vehicle, at least one wireless power supply device, at least one area control unit and a server; the unmanned aerial vehicle is in wireless connection with the area control unit; the area control unit and the wireless power supply device are distributed in the comprehensive pipe rack; wherein the content of the first and second substances,
the unmanned aerial vehicle comprises a camera device, the camera device is used for collecting the internal image of the comprehensive pipe gallery, the unmanned aerial vehicle transmits the internal image to the server in real time through a currently connected area control unit, and the server is used for identifying damaged equipment and positioning the damaged equipment according to the internal image by using an image identification method.
In one embodiment, the server is specifically configured to differentiate the internal image, identify damaged equipment according to a difference result, and locate the damaged equipment.
In one embodiment, the drone further comprises: laser rangefinder, UWB communication device, wireless charging device and flight control device, wherein:
the UWB communication device is used for sending the internal image acquired by the unmanned aerial vehicle to a UWB relay end of the area controller unit;
the wireless charging device is used for being connected with the wireless power supply device and charging the unmanned aerial vehicle;
laser rangefinder is used for measuring unmanned aerial vehicle with distance between the utility tunnel.
In one embodiment, the flight control apparatus comprises: locator, inertial sensor, shock attenuation undercarriage, pilot lamp and radio station.
In one embodiment, the utility tunnel inspection system further comprises: a fire door control apparatus, the fire door control apparatus comprising: prevent fire door, electronic door operator and data transmission device, wherein: the data transmission device is connected with the area control unit.
In one embodiment, the image pickup apparatus includes: infrared camera and little light camera.
In one embodiment, the zone control unit includes: PLC, industrial exchanger, breaker and intermediate relay;
the PLC is connected with the industrial switch through a network; the PLC is respectively electrically connected with the circuit breaker and the intermediate relay.
In one embodiment, the zone control unit is connected to the server via optical fiber.
In one embodiment, the UWB communications device communicates using pulses having a time interval of less than 1 ns.
In one embodiment, the UWB communication device is positioned with an accuracy of no greater than 10 cm.
According to the comprehensive pipe gallery inspection system, the unmanned aerial vehicle is used for inspection to inspect the comprehensive pipe gallery, and the inspection equipment is not required to be provided with a special track, so that the occupied space at the top of the comprehensive pipe gallery and the input cost of the inspection equipment of the comprehensive pipe gallery are reduced. Through the camera that unmanned aerial vehicle carried on, can distinguish rapidly and fix a position the impaired position of equipment, improve and patrol and examine efficiency and rate of accuracy, save the cost, guarantee personnel's safety. This device can realize unmanned aerial vehicle's accurate indoor location closely through introducing UWB wireless transmission technique, and positioning error is at centimetre level. In addition, under normal conditions, the unmanned aerial vehicle communicates with the fireproof door, so that when the unmanned aerial vehicle patrols and examines, the unmanned aerial vehicle can pass through the fireproof wall or the fireproof door partition without obstacles, the patrolling and examining facilities among fireproof partitions are simplified, and the patrolling and examining specificity of fireproof partition nodes of a ventilation shaft or an escape opening is eliminated.
In conclusion, the invention provides the comprehensive pipe rack inspection system which is flexible, low in price and capable of meeting the daily inspection requirements of the pipe rack.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a utility tunnel inspection system in an embodiment of the invention;
fig. 2 is a schematic structural diagram of an unmanned aerial vehicle in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a method for using a laser ranging device according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating a method of using a wireless power device according to an embodiment of the invention;
figure 5 is a schematic view of a fire door control apparatus in an embodiment of the present invention;
fig. 6 is a schematic diagram of the principle of the utility tunnel inspection system in the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the prior art, firstly, the automatic inspection of the comprehensive pipe gallery is realized by adopting the automatic inspection mode of the rail hanging robot. Including track, transmission of electricity cable and inspection robot, wherein track and transmission of electricity cable hang respectively and establish on piping lane upper portion, lay along the piping lane, and inspection robot moves on the track, receives the electric energy through the contact of pantograph with the transmission of electricity cable. The automatic inspection system provided by the invention is designed for the inspection of the urban comprehensive pipe gallery, has the advantages of simple structure, convenience in operation, safety, reliability and high efficiency, adopts a suspension type operation mode, can adapt to the complex conditions in the comprehensive pipe gallery, cannot be influenced by accumulated water, and can realize comprehensive and rapid detection and 24h cyclic dynamic inspection of the comprehensive pipe gallery. But hang the rail mode and need set up track and power supply line in the interval scope of patrolling and examining the robot operation, increased the holistic cost of piping lane. Hang rail robot and need reserve track installation space and robot walking space in piping lane inside, crowd and account for illumination, fire alarm and other supervisory equipment's installation space, need widen for guaranteeing illumination and supervisory equipment's normal use and patrol and examine the passageway. And the patrol track needs to be avoided when meeting various mouths such as pipe gallery escape holes and vent holes, and the passing speed of the patrol robot is seriously influenced. In addition, the problem that the rail-hanging robot passes through fire-proof walls such as fire-proof doors and fire-proof doors is not solved.
Secondly, the problem of the rail-mounted robot shielding various orifices in the pipe gallery is solved by adopting a movable rail mode, and avoidance of the rail to various orifices is avoided. But still does not solve the problem of high overall cost of the rail hanging robot; the track and the robot walk the space and illumination, supervisory equipment conflict need increase the problem of patrolling and examining the passageway width. In addition, the method does not solve the problem that the rail-mounted robot passes through fire-proof partitions such as fire walls and fire doors.
Based on this, the embodiment of the present invention provides a utility tunnel inspection system, and referring to fig. 1, the utility tunnel inspection system includes: the system comprises an unmanned aerial vehicle, at least one wireless power supply device, at least one area control unit and a server; the unmanned aerial vehicle is in wireless connection with the area control unit; the area control unit and the wireless power supply device are distributed in the comprehensive pipe rack; wherein the content of the first and second substances,
referring to fig. 2, the unmanned aerial vehicle includes a camera device (camera) for acquiring an internal image of the utility tunnel, the unmanned aerial vehicle transmits the internal image to the server in real time through a currently connected area control unit, and the server is configured to identify a damaged device and locate the damaged device according to the internal image by using an image identification method.
The system comprises an Area Control Unit (ACU) and a wireless power supply device, wherein the ACU and the wireless power supply device are arranged inside a comprehensive pipe gallery in the extension direction of the comprehensive pipe gallery, an unmanned aerial vehicle transmits collected internal images of the comprehensive pipe gallery to a server through the currently connected Area Control Unit in real time, and the server is used for identifying damaged equipment and positioning the damaged equipment according to the internal images by using an image identification method. It can be understood that, be applied to utility tunnel inspection technical field with unmanned aerial vehicle technique, can the holistic cost of greatly reduced utility tunnel to practiced thrift piping lane inner space, solved among the prior art hang the problem that rail robot can't pass through fire prevention wall, fire prevention door etc. and cut off.
In an embodiment, the server is specifically configured to differentiate the internal image, identify a damaged device according to a difference result, and locate the damaged device.
It is to be understood that image recognition, which refers to a technique of processing, analyzing and understanding an image with a computer to recognize various patterns of targets and objects, is a practical application of applying a deep learning algorithm. Specifically, corresponding pixel values of the two images are subtracted to weaken similar portions of the images and highlight changing portions of the images. It is understood that the differential image is often able to detect the contour of the moving object, extract the trajectory of the blinking catheter, and so on. For example: there are two functions related to differences in OpenCV, one is the cvSub () function and one is the cvAbsDiff () function.
void cvSub(const CvArr*src1,const CvArr*src2,CvArr*dst,const CvArr*mask＝NULL)；
The two input images src1 and src2 and the one output image dst have the same type and size. cvSub is applicable to both the ipilimage and cvMat configurations. A simple example is as follows:
#include<opencv2/opencv.hpp>
int main()
{
IplImage*src1＝cvLoadImage("E:\\testvideo\\test1.png")；
IplImage*src2＝cvLoadImage("E:\\testvideo\\test2.png")；
assert(src1)；
IplImage*dst＝cvCreateImage(cvGetSize(src1),src1->depth,src1->nChannels)；
cvSub(src1,src2,dst)；
cvShowImage("1",src1)；
cvShowImage("2",src2)；
cvShowImage("dst",dst)；
cvWaitKey(0)；
}
if the code cvSub (src1, src2, dst); to cvSub (src2, src1, dst); the difference result is then:
the cvSub () function is a normalization to zero process that directly subtracts the pixel values of the two, with the difference being less than zero, without taking the absolute value of the difference. Meanwhile, it is also described that cvSub () supports not only a grayscale image but also a three-channel image. While the cvAbsDiff () function calculates the absolute value of the difference in the two images. The parameters of which are similar to the cvSub () function, as shown below,
void cvAbsDiff(const CvArr*src1,const CvArr*src2,CvArr*dst)；
therefore cvAbsDiff (src2, src1, dst); and cvAbsDiff (src1, src2, dst); the same result is obtained.
Difference of images
Requiring input and output images to have the same format and size
*/
void cvSub(IplImage*src1,IplImage*src2,IplImage*dst)
{
IplImage*src1_gray＝cvCreateImage(cvGetSize(src1),8,1)；
IplImage*src2_gray＝cvCreateImage(cvGetSize(src2),8,1)；
cvCvtColor(src1,src1_gray,CV_RGB2GRAY)；
cvCvtColor(src2,src2_gray,CV_RGB2GRAY)；
CvScalarpixel；
for(int i＝0；i<src1->height；i++)
for(int j＝0；j<src1->width；j++)
{
CvScalarp1＝cvGet2D(src1_gray,i,j)；
CvScalarp2＝cvGet2D(src2_gray,i,j)；
pixel.val [0] ═ abs (p1.val [0] -p2.val [0]) 120/(p1.val [0 ]); // relative gray value
cvSet2D(dst,i,j,pixel)；
}
cvReleaseImage(&src1_gray)；
cvReleaseImage(&src2_gray)；
cvShowImage("result",dst)；
}
In an embodiment, referring to fig. 2, the drone further comprises: laser rangefinder, UWB communication device, wireless charging device and flight control device, wherein:
the UWB communication device is used for sending the internal image acquired by the unmanned aerial vehicle to a UWB relay end of the area controller unit;
the wireless charging device is used for being connected with the wireless power supply device and charging the unmanned aerial vehicle;
referring to fig. 3, the laser ranging device is used for measuring the distance between the unmanned aerial vehicle and the utility tunnel.
It can be understood that the camera device of unmanned aerial vehicle front end can gather utility tunnel's inside image and fix a position impaired equipment and impaired position thereof. The camera device transmits a pulse radio signal to the UWB relay terminal through a communication module in the UWB communication device, further transmits the pulse radio signal to an Area Control Unit (ACU) arranged in the comprehensive pipe rack, and further transmits the pulse radio signal to the server through an optical fiber.
In the process of patrolling and examining, the UWB communication module of unmanned aerial vehicle end transmits unmanned aerial vehicle's real-time position information to utility tunnel's ACU, and is further, with unmanned aerial vehicle's real-time position information through optic fibre transmission to the server on.
When unmanned aerial vehicle reachs when preventing near fire door appointed regional scope, unmanned aerial vehicle real-time positional information is received to utility tunnel's ACU, and is further, through the logical operation in the ACU, sends control information to the electronic door operator that sets up on preventing fire door, realizes opening or closing of preventing fire door.
Preferably, the drone further comprises a battery detection module.
Referring to fig. 4, when unmanned aerial vehicle gets into between the wireless power supply device that sets up in the utility tunnel, equipment can charge automatically.
In one embodiment, the flight control apparatus comprises: locator, inertial sensor, shock attenuation undercarriage, pilot lamp and radio station.
It will be appreciated that the localizer in the flight control device may locate the drone using GPS location or SLAM techniques, and that the inertial sensors are primarily to detect and measure acceleration, tilt, shock, vibration, rotation and multiple degrees of freedom of the drone. Similar to the function of landing gear in large aircraft, the damping landing gear is an important part with bearing and maneuverability in the unmanned aerial vehicle, and the damping landing gear is a necessary supporting part for takeoff, landing, running, ground moving and parking of the unmanned aerial vehicle. The unmanned aerial vehicle carries out data communication through a radio station and a ground control device (such as a remote controller), and the unmanned aerial vehicle is guided jointly by using the GPS technology and inertial navigation of an inertial sensor.
In one embodiment, referring to fig. 5, the fire door control apparatus includes: electronic door operator and data transmission device, wherein: the data transmission device is connected with the area control unit.
Referring to fig. 6, in the ACU of utility tunnel with unmanned aerial vehicle's positional information transmission through unmanned aerial vehicle's UWB communication module, when unmanned aerial vehicle reachd prevent fire near fire door appointed regional within range, utility tunnel's ACU control sets up the electronic door operator on preventing fire door, realizes preventing opening or closing of fire door.
In one embodiment, the imaging apparatus includes: infrared camera and little light camera.
In one embodiment, the zone control unit includes: PLC (Programmable Logic Controller), industrial switch, circuit breaker and intermediate relay. The PLC is connected with the industrial switch through a network; the PLC is respectively electrically connected with the circuit breaker and the intermediate relay.
It can be understood that the PLC is connected with the industrial exchanger, and the PLC is arranged in the area control unit and used for carrying out logic control on the collected switching value and the analog value. Industrial switches, also known as industrial ethernet switches, are used for data transmission in complex industrial environments. The circuit breaker is a switching device capable of closing, carrying and opening/closing a current under a normal circuit condition and a current under an abnormal circuit condition within a predetermined time. The circuit breaker can be used for distributing electric energy, starting an asynchronous motor infrequently, protecting a power supply circuit, the motor and the like, automatically cutting off a circuit when faults such as serious overload, short circuit, undervoltage and the like occur, and has the function equivalent to the combination of a fuse type switch, a thermal relay and the like. Intermediate relays (relays) are used in relay protection and automatic control systems to increase the number and capacity of contacts for transmitting intermediate signals in control circuits.
It can be understood that, unmanned aerial vehicle patrols and examines the in-process, its position and patrol and examine information and transmit earlier to this fire prevention subregion ACU by wireless data transmission device in, transmit to the server by ACU again. The server integrates a GIS system, an environment and equipment monitoring system, a security system, a fire fighting system, power monitoring, energy monitoring and other systems, and has the functions of data communication, information acquisition and comprehensive processing.
In an embodiment, the drone further comprises a remote control.
In one embodiment, the area control unit is connected to the server through an optical fiber.
In the unmanned aerial vehicle inspection process, inspection information of each fireproof partition is transmitted to the ACU and then transmitted to the server through the optical fiber, and the server performs centralized processing on data information.
In one embodiment, the UWB communications device communicates using pulses having a time interval of less than 1 ns.
In one embodiment, the positioning accuracy of the UWB communication device is no greater than 10 cm.
It can be understood that UWB communication device adopts the pulse that time interval is less than 1ns to communicate, and the highest positioning accuracy can reach 10cm, can the position of accurate location unmanned aerial vehicle in utility tunnel.
According to the comprehensive pipe gallery inspection system, the unmanned aerial vehicle is used for inspection to inspect the comprehensive pipe gallery, and the inspection equipment is not required to be provided with a special track, so that the occupied space at the top of the comprehensive pipe gallery and the input cost of the inspection equipment of the comprehensive pipe gallery are reduced. Through the camera that unmanned aerial vehicle carried on, can distinguish rapidly and fix a position the impaired position of equipment, improve and patrol and examine efficiency and rate of accuracy, save the cost, guarantee personnel's safety. This device can realize unmanned aerial vehicle's accurate indoor location closely through introducing UWB wireless transmission technique, and positioning error is at centimetre level. In addition, under normal conditions, the unmanned aerial vehicle communicates with the fireproof door, so that when the unmanned aerial vehicle patrols and examines, the unmanned aerial vehicle can pass through the fireproof wall or the fireproof door partition without obstacles, the patrolling and examining facilities among fireproof partitions are simplified, and the patrolling and examining specificity of fireproof partition nodes of a ventilation shaft or an escape opening is eliminated.
In conclusion, the invention provides the comprehensive pipe rack inspection system which is flexible, low in price and capable of meeting the daily inspection requirements of the pipe rack.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results.
Although embodiments of the present description provide method steps as described in embodiments or flowcharts, more or fewer steps may be included based on conventional or non-inventive means. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. When an actual apparatus or end product executes, it may execute sequentially or in parallel (e.g., parallel processors or multi-threaded environments, or even distributed data processing environments) according to the method shown in the embodiment or the figures. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the presence of additional identical or equivalent elements in a process, method, article, or apparatus that comprises the recited elements is not excluded.
The above description is only an example of the embodiments of the present disclosure, and is not intended to limit the embodiments of the present disclosure. Various modifications and variations to the embodiments described herein will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiments of the present specification should be included in the scope of the claims of the embodiments of the present specification.
Claims (10)
1. The utility model provides a utility tunnel system of patrolling and examining which characterized in that includes: the system comprises an unmanned aerial vehicle, at least one wireless power supply device, at least one area control unit and a server; the unmanned aerial vehicle is in wireless connection with the area control unit; the area control unit and the wireless power supply device are distributed in the comprehensive pipe rack; wherein the content of the first and second substances,
unmanned aerial vehicle includes camera device, camera device is used for gathering utility tunnel's inside image, unmanned aerial vehicle can with inside image transmits extremely through the regional control unit of current connection in real time the server, the server is used for the basis damaged equipment is discerned and fixed a position to inside image.
2. The utility tunnel inspection system according to claim 1, wherein the server is specifically configured to differentiate the internal images, identify damaged equipment and locate the damaged equipment based on the differentiation.
3. The utility tunnel inspection system according to claim 1, wherein the unmanned aerial vehicle further comprises: laser rangefinder, UWB communication device, wireless charging device and flight control device, wherein:
the UWB communication device is used for sending the internal image acquired by the unmanned aerial vehicle to a UWB relay end of the area controller unit;
the wireless charging device is used for being connected with the wireless power supply device and charging the unmanned aerial vehicle;
laser rangefinder is used for measuring unmanned aerial vehicle with distance between the utility tunnel.
4. The utility tunnel inspection system according to claim 3, wherein the flight control device includes: locator, inertial sensor, shock attenuation undercarriage, pilot lamp and radio station.
5. The utility tunnel inspection system according to claim 1, further comprising: a fire door control apparatus, the fire door control apparatus comprising: prevent fire door, electronic door operator and data transmission device, wherein: the data transmission device is connected with the area control unit.
6. The utility tunnel inspection system according to claim 3, wherein the camera device includes: infrared camera and little light camera.
7. The utility tunnel inspection system according to claim 1, wherein the area control unit includes: PLC, industrial exchanger, breaker and intermediate relay;
the PLC is connected with the industrial switch through a network; the PLC is respectively electrically connected with the circuit breaker and the intermediate relay.
8. The utility tunnel inspection system according to claim 1, wherein the area control unit is connected to the server by optical fibers.
9. The utility tunnel inspection system according to claim 3, wherein the UWB communication device communicates using pulses having a time interval of less than 1 ns.
10. The utility tunnel inspection system according to claim 3, wherein the UWB communication device positioning accuracy is no greater than 10 cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911017150.2A CN110706368A (en) | 2019-10-24 | 2019-10-24 | Comprehensive pipe rack inspection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911017150.2A CN110706368A (en) | 2019-10-24 | 2019-10-24 | Comprehensive pipe rack inspection system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110706368A true CN110706368A (en) | 2020-01-17 |
Family
ID=69201151
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911017150.2A Pending CN110706368A (en) | 2019-10-24 | 2019-10-24 | Comprehensive pipe rack inspection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110706368A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113778135A (en) * | 2021-08-06 | 2021-12-10 | 苏州荷清智能科技有限公司 | Wireless charging station for coal mine environment |
-
2019
- 2019-10-24 CN CN201911017150.2A patent/CN110706368A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113778135A (en) * | 2021-08-06 | 2021-12-10 | 苏州荷清智能科技有限公司 | Wireless charging station for coal mine environment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10643444B2 (en) | Facility management system using Internet of things (IoT) based sensor and unmanned aerial vehicle (UAV), and method for the same | |
| US20220306170A1 (en) | Trackside device, track starlink system and train operation control system | |
| CN107390676B (en) | Tunnel inspection robot and tunnel inspection system | |
| CN206194076U (en) | Substation equipment detecting system | |
| CN108957240A (en) | Electric network fault is remotely located method and system | |
| CN103235562A (en) | Patrol-robot-based comprehensive parameter detection system and method for substations | |
| CN108262736A (en) | Indoor intelligent crusing robot and system | |
| CN108345305A (en) | Railless free-wheeled vehicle intelligent vehicle-mounted system, underground vehicle scheduling system and control method | |
| CN206628891U (en) | Substation equipment monitoring system | |
| CN202563344U (en) | Magnetic navigation and routing inspection robot | |
| CN107380163A (en) | Automobile intelligent alarm forecasting system and its method based on magnetic navigation | |
| CN106227220A (en) | Independent navigation crusing robot based on Distributed Architecture | |
| CN112382131B (en) | Airport scene safety collision avoidance early warning system and method | |
| CN105575021A (en) | Airport runway safety early warning system and airport runway safety early warning method | |
| CN103550883A (en) | Fire-fighting robot for transformer substation | |
| CN102317039A (en) | Route inspecting robot and system | |
| CN108107904A (en) | A kind of patrolling railway and contact net for power supplying foreign matter based on multi-rotor unmanned aerial vehicle remove system and its method for patrolling railway | |
| CN102541064A (en) | Magnetic navigation routing inspection robot | |
| CN105743017A (en) | Unmanned aerial vehicle inspection ground measurement and control station and transportation safeguard system used for power transmission line | |
| CN106325277A (en) | Distributed framework based autonomous navigation and inspection robot control method | |
| CN112464813B (en) | Mountain fire monitoring method and device | |
| CN106741008B (en) | Railway line foreign matter identification method and system | |
| CN109491380A (en) | A kind of intelligent automobile Unmanned Systems and application method | |
| CN103729908A (en) | Intelligent inspection device of railway tunnel and application method thereof | |
| CN109785670A (en) | A kind of low altitude airspace emergency managing and control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |