CN112150755B - Underground pipe gallery robot and wireless ad hoc network system - Google Patents
Underground pipe gallery robot and wireless ad hoc network system Download PDFInfo
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- CN112150755B CN112150755B CN201910564935.5A CN201910564935A CN112150755B CN 112150755 B CN112150755 B CN 112150755B CN 201910564935 A CN201910564935 A CN 201910564935A CN 112150755 B CN112150755 B CN 112150755B
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- 238000012544 monitoring process Methods 0.000 claims abstract description 67
- 238000007689 inspection Methods 0.000 claims abstract description 30
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 238000005259 measurement Methods 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims description 42
- 230000007613 environmental effect Effects 0.000 claims description 21
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 14
- 238000000354 decomposition reaction Methods 0.000 claims description 11
- 239000007789 gas Substances 0.000 claims description 7
- 238000012806 monitoring device Methods 0.000 claims description 7
- 238000012360 testing method Methods 0.000 claims description 4
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 239000003595 mist Substances 0.000 claims description 3
- 239000001301 oxygen Substances 0.000 claims description 3
- 229910052760 oxygen Inorganic materials 0.000 claims description 3
- 239000000779 smoke Substances 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 3
- 230000003068 static effect Effects 0.000 abstract description 2
- 238000012545 processing Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/10—Actuation by presence of smoke or gases, e.g. automatic alarm devices for analysing flowing fluid materials by the use of optical means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/12—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions
- G08B17/125—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions by using a video camera to detect fire or smoke
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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Abstract
The invention relates to the field of underground pipe gallery monitoring, in particular to an underground pipe gallery robot and a wireless ad hoc network system. The system comprises a pipe gallery robot system and a monitoring and adjusting system, wherein the pipe gallery robot system is used for carrying out inspection detection on the underground pipe gallery and reporting detection data, and the monitoring and adjusting system is used for analyzing the detection data, generating preset information of the detection data and monitoring the environment state in the underground pipe gallery. The invention realizes the automatic monitoring of the dynamic environment and the static environment in the pipe gallery and the real-time reporting of the data, improves the efficiency and fully meets the measurement and control requirements of the underground pipe gallery.
Description
Technical Field
The invention relates to the field of underground pipe gallery monitoring, in particular to an underground pipe gallery robot and a wireless ad hoc network system.
Background
At present, the monitoring of an urban underground pipe gallery engineering management system is generally carried out on the basis of a manual mode or a pipe gallery robot, a large number of personnel are required to be continuously arranged for inquiring the underground pipe gallery in the manual monitoring mode, the filling of data is carried out in the manual mode, and the filled data is required to be reported subsequently. Thus, two problems exist, one is low in efficiency and higher in cost; secondly, the generated data of monitoring management cannot be reported, so that the processing time is delayed greatly, the processing efficiency is low, and the monitoring requirement of the existing underground pipe gallery cannot be met; for manual monitoring, the mode that adopts the piping lane robot patrols the control, and it realizes reporting in real time of automatic monitoring and data, reduces the manpower needs, raises the efficiency, and the fully provided underground pipe gallery's control needs, nevertheless the piping lane robot has following problem when patrolling the control: 1) at present, the pipe gallery robot only has the patrol capacity and does not have the capacity of solving the sudden problems, the field data is sent to a processing center when the sudden problems are solved, the processing center controls the pipe gallery robot or other emergency devices to solve the sudden problems, and therefore the time for processing the sudden problems is easily delayed. 2) Under the pipe gallery environment, due to the fact that the application scene range is wide, coverage of a single high-power wireless network bridge cannot be achieved, and if a plurality of network bridge devices are arranged, the problems of corresponding channel conflict and frequency band switching can be caused.
Disclosure of Invention
The invention aims to provide an underground pipe gallery robot and a wireless ad hoc network system.
In order to achieve the purpose, the invention provides the following technical scheme: an underground pipe gallery robot and a wireless ad hoc network system comprise a pipe gallery robot system and a monitoring and adjusting system, wherein the pipe gallery robot system is used for carrying out inspection detection on an underground pipe gallery and reporting detection data, the monitoring and adjusting system is used for analyzing the detection data, generating preset information of the detection data and monitoring the environmental state in the underground pipe gallery, the pipe gallery robot system comprises an execution layer, a communication layer and a management layer, the execution layer is an inspection robot, the communication layer is a communication node system distributed in the underground pipe gallery, and the management layer is a control terminal;
the communication node is a wireless communication system, and the monitoring and adjusting system is connected with the management layer through the communication layer;
the monitoring and adjusting system comprises an environment monitoring module and a safety module in the corridor, wherein the environment monitoring module in the corridor comprises a fire monitoring unit and an environment monitoring unit, and the safety module comprises a fire extinguishing device, a security alarm device and an equipment safety monitoring device.
The scheme is further improved in that: a track is arranged in the underground pipe gallery, the inspection robot is installed on the track and moves along the track, and the inspection robot inspects and receives real-time data; the communication node system is based on wireless communication of full coverage of a pipe gallery, the inspection robot and the control terminal are connected through the wireless communication, and the inspection robot uploads the data to the control terminal through the wireless communication; and the control terminal processes the real-time data and sends feedback information and instructions to the inspection robot.
The scheme is further improved in that: the environment monitoring module in the gallery monitors the environment information in the pipe gallery and transmits the environment information to the management layer; the fire monitoring unit comprises a smoke alarm, a photoelectric detector and a monitoring camera and is used for detecting fire data in the pipe gallery; the environment monitoring unit comprises a temperature sensor, a humidity sensor, a water level sensor and a gas sensor, the environment monitoring unit is used for detecting environmental state data in the pipe gallery, and the environmental state data comprise temperature, humidity, sump water level, air oxygen content and harmful gas content.
The scheme is further improved in that: the fire extinguishing device is a high-pressure water mist spraying device communicated with a water pipe, the security alarm device is an alarm, and the equipment safety monitoring device is a camera.
The scheme is further improved in that: the system also comprises an operation and maintenance center and a measurement and control client, wherein the operation and maintenance center and the measurement and control client are used for data interaction and uploading inspection and monitoring information.
The scheme is further improved in that: the management layer receives environmental information, monitoring information, fire data and environmental state data, the management layer is right environmental information, monitoring information, fire data and environmental state data carry out the analysis and obtain the analysis result, the management layer sends the analysis result extremely executive layer and safety module, the executive layer is based on the operation that the message execution that the analysis result was predetermine corresponds, safety module cooperation the executive layer is put out a fire and is reported to the police.
The scheme is further improved in that: the inspection robot is also provided with an infrared sensor, a loudspeaker, a temperature sensor and a searchlight.
The scheme is further improved in that: the management layer further comprises a three-dimensional drawing module, a decomposition module, a gathering module, a master control module and a communication module.
The scheme is further improved in that: the control terminal further comprises a three-dimensional drawing module, a decomposition module, a gathering module and a master control module.
The scheme is further improved in that: the three-dimensional model of arranging that the module is used for drawing the place of utility tunnel, it carries out the task decomposition to the utility tunnel detection to decompose the module, the module that gathers is used for utility tunnel to detect safety control, the total control module acquires the route of patrolling and examining that the module that gathers sends and patrols and examines the robot through control and detect heavy dangerous source, communication module is wireless communication.
The invention has the beneficial effects that: the invention realizes automatic monitoring of dynamic environment and static environment in the pipe gallery and real-time reporting of data, improves efficiency, fully meets the measurement and control requirements of the underground pipe gallery, is connected with the communication layer and is in communication connection with the management layer network based on the communication layer by arranging the monitoring and adjusting system, the monitoring and adjusting system comprises an environment monitoring module and a safety module in the gallery, the environment monitoring module in the gallery monitors the environment in the gallery, and the safety module is linked to carry out operations such as fire extinguishing, alarming and the like when finding fire or other hidden dangers during routing inspection.
Drawings
Fig. 1 is a block diagram of the construction of a pipe gallery robot system and a monitoring and adjusting system according to the present invention;
fig. 2 is a schematic diagram of the pipe gallery robot system, the operation and maintenance center and the measurement and control client.
In the figure: the system comprises an execution layer 1, a communication layer 2, a management layer 3, an in-corridor environment monitoring module 4, a fire monitoring unit 41, an environment monitoring unit 42, a temperature sensor 421, a humidity sensor 422, a water level sensor 423, a gas sensor 424, a safety module 5, a fire extinguishing device 51, a security alarm device 52, an equipment safety monitoring device 53, an operation and maintenance center 6 and a measurement and control client 7.
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.
Example 1
As shown in fig. 1-2, an underground pipe gallery robot and wireless ad hoc network system, including pipe gallery robot system and control adjustment system, pipe gallery robot system is used for patrolling and examining the underground pipe gallery and detects and report the testing data, and control adjustment system is used for carrying out the analysis, takes place to detect the data predetermine the message and monitor the environmental condition in the underground pipe gallery, its characterized in that to the testing data: the pipe gallery robot system comprises an execution layer 1, a communication layer 2 and a management layer 3, wherein the execution layer 1 is an inspection robot, the communication layer 2 is a communication node system distributed in an underground pipe gallery, and the management layer 3 is a control terminal;
the communication node is a wireless communication system, and the monitoring and adjusting system is connected with the management layer 3 through the communication layer 2;
the monitoring and adjusting system comprises an in-corridor environment monitoring module 4 and a safety module 5, wherein the in-corridor environment monitoring module 4 comprises a fire monitoring unit 41 and an environment monitoring unit 41, and the safety module 5 comprises a fire extinguishing device 51, a security alarm device 52 and an equipment safety monitoring device 53.
A track is arranged in the underground pipe gallery, the inspection robot is installed on the track and moves along the track, and the inspection robot receives real-time data in an inspection mode;
the communication node system is based on wireless communication of full coverage of the pipe gallery, the inspection robot and the control terminal are connected in a wireless communication mode, and the inspection robot uploads the data to the control terminal through the wireless communication;
and the control terminal processes the real-time data and sends feedback information and instructions to the inspection robot.
The intra-corridor environment monitoring module 4 monitors the environment information in the pipe corridor and transmits the environment information to the management layer 3;
the fire monitoring unit 41 comprises a smoke alarm, a photoelectric detector and a monitoring camera, and the fire monitoring unit 41 is used for detecting fire data in the pipe gallery;
the environment monitoring unit 41 includes a temperature sensor 421, a humidity sensor 422, a water level sensor 423 and a gas sensor 424, the environment monitoring unit 41 is used for detecting environmental status data in the pipe rack, and the environmental status data includes temperature, humidity, water level of the water collection pit, oxygen content of air and harmful gas content.
The fire extinguishing device 51 is a high-pressure water mist spraying device communicated with a water pipe, the security alarm device 52 is an alarm, and the equipment safety monitoring device 53 is a camera.
The system further comprises an operation and maintenance center 6 and a measurement and control client 7, wherein the operation and maintenance center 6 and the measurement and control client 7 are used for data interaction and uploading inspection and monitoring information.
Management layer 3 receives environmental information, monitoring information, fire data and environmental state data, and management layer 3 analyzes environmental information, monitoring information, fire data and environmental state data and reachs the analysis result, and management layer 3 sends the analysis result to execution layer 1 and safety module 5, and execution layer 1 carries out the operation that corresponds based on the predetermined message execution of analysis result, and safety module 5 cooperates execution layer 1 to put out a fire and report to the police.
The inspection robot is also provided with an infrared sensor, a loudspeaker, a temperature sensor 421 and a searchlight.
Example 2
The management layer 3 comprises a three-dimensional drawing module, a decomposition module, a collection module, a master control module and a communication module.
The three-dimensional drawing module is used for using the place arrangement of underground pipe gallery design drawing for draw the place arrangement model of underground pipe gallery, and the three-dimensional drawing module is connected with the decomposition module.
The decomposition module is used for carrying out the task decomposition to the underground pipe gallery detection, and the decomposition module is through establishing the detection node at the underground pipe gallery, and the detection node combines with the site layout model preparation different stages's detection operating mode picture, and the operating mode picture includes once detects stage, secondary detection stage and cubic detection stage, and the decomposition module is connected with the module that gathers.
The module that gathers is used for the underground pipe gallery to detect safety control, and the module that gathers combines different stages underground pipe gallery construction conditions, gathers the great danger source in each stage, and the module that gathers arranges the model and draws the route of patrolling and examining the robot through the danger source place according to different stages, gathers the module and is connected with total control module.
The communication module is in wireless communication.
The total control module acquires the routing inspection route sent by the collecting module and detects the heavy hazard source by controlling the routing inspection robot.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides an underground pipe gallery robot and wireless ad hoc network system, includes pipe gallery robot system and control adjustment system, pipe gallery robot system is used for patrolling and examining the underground pipe gallery and detects and report the test data, control adjustment system is used for right the test data carries out the analysis, takes place detect the data predetermine the message and monitor the environmental condition in the underground pipe gallery, its characterized in that:
the pipe gallery robot system comprises an execution layer, a communication layer and a management layer, wherein the execution layer is an inspection robot, the communication layer is a communication node system distributed in an underground pipe gallery, and the management layer is a control terminal;
the communication node is a wireless communication system, and the monitoring and adjusting system is connected with the management layer through the communication layer;
the monitoring and adjusting system comprises an environment monitoring module and a safety module in the corridor, wherein the environment monitoring module in the corridor comprises a fire monitoring unit and an environment monitoring unit, and the safety module comprises a fire extinguishing device, a security alarm device and an equipment safety monitoring device.
2. The underground pipe gallery robot and wireless ad hoc network system according to claim 1, wherein: a track is arranged in the underground pipe gallery, the inspection robot is installed on the track and moves along the track, and the inspection robot inspects and receives real-time data;
the communication node system is based on wireless communication of full coverage of a pipe gallery, the inspection robot and the control terminal are connected through the wireless communication, and the inspection robot uploads the data to the control terminal through the wireless communication;
and the control terminal processes the real-time data and sends feedback information and instructions to the inspection robot.
3. The underground pipe gallery robot and wireless ad hoc network system according to claim 1, wherein: the environment monitoring module in the gallery monitors the environment information in the pipe gallery and transmits the environment information to the management layer;
the fire monitoring unit comprises a smoke alarm, a photoelectric detector and a monitoring camera and is used for detecting fire data in the pipe gallery;
the environment monitoring unit comprises a temperature sensor, a humidity sensor, a water level sensor and a gas sensor, the environment monitoring unit is used for detecting environmental state data in the pipe gallery, and the environmental state data comprise temperature, humidity, sump water level, air oxygen content and harmful gas content.
4. The underground pipe gallery robot and wireless ad hoc network system according to claim 1, wherein: the fire extinguishing device is a high-pressure water mist spraying device communicated with a water pipe, the security alarm device is an alarm, and the equipment safety monitoring device is a camera.
5. The underground pipe gallery robot and wireless ad hoc network system according to claim 1, wherein: the system also comprises an operation and maintenance center and a measurement and control client, wherein the operation and maintenance center and the measurement and control client are used for data interaction and uploading inspection and monitoring information.
6. The underground pipe gallery robot and wireless ad hoc network system according to claim 1, wherein: the management layer receives environmental information, monitoring information, fire data and environmental state data, the management layer is right environmental information, monitoring information, fire data and environmental state data carry out the analysis and obtain the analysis result, the management layer sends the analysis result extremely executive layer and safety module, the executive layer is based on the operation that the message execution that the analysis result was predetermine corresponds, safety module cooperation the executive layer is put out a fire and is reported to the police.
7. The underground pipe gallery robot and wireless ad hoc network system according to claim 2, wherein: the inspection robot is also provided with an infrared sensor, a loudspeaker, a temperature sensor and a searchlight.
8. The underground pipe gallery robot and wireless ad hoc network system according to claim 1, wherein: the control terminal further comprises a three-dimensional drawing module, a decomposition module, a gathering module and a master control module.
9. The underground pipe gallery robot and wireless ad hoc network system according to claim 8, wherein: the three-dimensional model of arranging that the module is used for drawing the place of utility tunnel, it carries out the task decomposition to the utility tunnel detection to decompose the module, the module that gathers is used for utility tunnel to detect safety control, the total control module acquires the route of patrolling and examining that the module that gathers sends and patrols and examines the robot through control and detect heavy dangerous source, communication module is wireless communication.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910564935.5A CN112150755B (en) | 2019-06-27 | 2019-06-27 | Underground pipe gallery robot and wireless ad hoc network system |
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| CN201910564935.5A CN112150755B (en) | 2019-06-27 | 2019-06-27 | Underground pipe gallery robot and wireless ad hoc network system |
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| CN112150755B true CN112150755B (en) | 2021-11-02 |
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2019
- 2019-06-27 CN CN201910564935.5A patent/CN112150755B/en active Active
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|---|---|---|---|---|
| WO2017088555A1 (en) * | 2015-11-26 | 2017-06-01 | 深圳市施罗德工业测控设备有限公司 | Intelligent pipe network system based on orbital robot |
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