CN107590876A - Pipe gallery crusing robot and pipe gallery cruising inspection system - Google Patents
Pipe gallery crusing robot and pipe gallery cruising inspection system Download PDFInfo
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- CN107590876A CN107590876A CN201710820590.6A CN201710820590A CN107590876A CN 107590876 A CN107590876 A CN 107590876A CN 201710820590 A CN201710820590 A CN 201710820590A CN 107590876 A CN107590876 A CN 107590876A
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Abstract
The invention discloses a kind of pipe gallery crusing robot and pipe gallery cruising inspection system, the crusing robot includes：The motion module that is slidably mounted on guide rail, the motion carrier being connected in motion module, the inspection machine human body, the sensor cluster on the inspection machine human body and the manipulator that are slidably mounted on motion carrier and the intelligent control module for controlling the crusing robot, the motion module, the sensor cluster and the manipulator are connected with the intelligent control module.The present invention carries out inspection by adapting to the crusing robot of complex conditions inside pipe gallery to pipe gallery, realizes comprehensive quick detection and the 24h circulation dynamic inspections of pipe gallery, greatly enhances security, the routing inspection efficiency of pipe gallery inspection.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of pipe gallery crusing robot and integrated pipe
Corridor cruising inspection system.
Background technology
To implement unified planning, design, construction and maintenance, be built in Urban Underground be used for municipal administration lay municipal public use pipeline
Municipal public use is set to pipe gallery.Pipe gallery increasingly becomes the system such as city or dense population areas power network, the network of rivers
Important component, its reliable and stable operation is to ensure the basis of city function.
Existing pipe gallery inspection monitoring relies primarily on manual inspection.Manual inspection, which mainly passes through under people, arrives underground,
Mutually deployed to ensure effective monitoring and control of illegal activities a little by the relevant device in eye recognition piping lane, environment etc., internet of things sensors fixed point monitoring in piping lane
Environment, equipment state etc..
However, existing manual inspection has the following disadvantages：
First, personnel underground inspection, narrow space, ventilation is poor, and visualized operation environment is poor, inflammable, explosive, poisonous gas
Larger life threat is formed to patrol officer；
2nd, inspection position in personnel underground can not accurately embody, once there is Personal Risk, can not be promptly and accurately rescue
Help；
3rd, under the unit exception failure in piping lane and dangerous scene, can not manually go into the well, can not obtain the very first time
The abnormal conditions of underground, decision support data can not be accurately provided, can not timely handle abnormal failure and dangerous item station, should
Anxious responsiveness is poor；
4th, personnel's inspection, cost is high, and daily inspection O＆M number is few, can not realize circulation dynamic inspection in 24 hours；Every time
For inspection, it is required for expending higher human and material resources, vehicle resources (need more people to coordinate, using crane by the capping of piping lane
Sling, ground and underground are required for someone to be linked up by intercom) have to potential safety failure, risk in piping lane
The monitoring of effect.
The content of the invention
In view of this, a kind of pipe gallery crusing robot and pipe gallery cruising inspection system provided by the invention, preferably
The above-mentioned problems of the prior art and defect are overcome, by the crusing robot pair for adapting to complex conditions inside pipe gallery
Pipe gallery carries out inspection, realizes comprehensive quick detection of pipe gallery, greatly enhances the peace of pipe gallery inspection
Quan Xing, routing inspection efficiency, the saturability for ensureing patrol task and be easy to remote monitoring, can to potential safety in pipe gallery therefore
Barrier, risk are monitored, and realize timely processing abnormal failure and risk control.
A kind of pipe gallery crusing robot, including：The motion module that is slidably mounted on guide rail, it is connected to motion
Motion carrier in module, the inspection machine human body being slidably mounted on motion carrier, installed in the inspection machine
Sensor cluster and manipulator on human body and the intelligent control module for controlling the crusing robot, the motion mould
Block, the sensor cluster and the manipulator are connected with the intelligent control module.
In some embodiments, the crusing robot also includes the shooting being arranged on the inspection machine human body
Device, the camera device are connected with the intelligent control module.
In some embodiments, the camera device is installed on the inspection machine human body by a movable head
On.
In some embodiments, the crusing robot also includes the illumination being arranged on the inspection machine human body
Device.
In some embodiments, the sensor cluster include infrared sensor, temperature sensor, humidity sensor,
Smoke Sensor, air-borne dust sensor and harmful gas sensor.
In some embodiments, in addition to the energy conversion supplying module on the motion carrier, it is used for
Power source is provided to the motion module.
In some embodiments, the motion module include be arranged on guide rail on driving pulley component, for driving
The servomotor and the metallic conductor installed in guide rail bottom of the driving pulley component；The servomotor is controlled with the intelligence
Molding block connects.
In some embodiments, the inspection machine human body can move up and down along the motion carrier.
In some embodiments, the crusing robot also includes being used for the electricity for providing electric energy to the crusing robot
Pond component.
Present invention also offers a kind of pipe gallery cruising inspection system, including：The survey monitor being slidably mounted on guide rail
Device people, wireless communication module and remote monitoring terminal.
Compared with prior art, the beneficial effect of pipe gallery crusing robot of the invention and pipe gallery cruising inspection system
It is：
(1) crusing robot of the invention is simple in construction, reasonable in design, and practical and using effect is good, and efficiency high.
(2) present invention carries out inspection by crusing robot to pipe gallery, adapts to the complex conditions inside pipe gallery,
Comprehensive quick detection and the 24h circulation dynamic inspections of pipe gallery can be realized, greatly enhances pipe gallery inspection
Security, routing inspection efficiency, ensure patrol task saturability and be easy to remote monitoring, can be to potentially pacifying in pipe gallery
Total failure, risk are monitored, and realize timely processing abnormal failure and risk control.
In summary, the special structure of the present invention, it has the advantages of above-mentioned many and practical value, and in like product
In there are no similar method and publish or use and really belong to innovation, generate handy and practical effect, more existing skill
Art has the multinomial effect promoted, and so as to more be suitable to practicality, and has extensive industrial value.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the structural representation of the crusing robot of the present invention；
Fig. 2 is the structural representation of the motion module of the present invention；
Fig. 3 is the structural representation of the pipe gallery cruising inspection system of the present invention.
Drawing reference numeral explanation：
10 guide rails
20 wireless communication modules
30 remote monitoring terminals
100 motion modules
110 driving slide assemblies
111 shift(ing) rings
112 balls
120 servomotors
130 metallic conductors
200 motion carriers
300 inspection machine human bodies
400 sensor clusters
500 manipulators
600 intelligent control modules
700 camera devices
800 lighting devices
900 energy conversion supplying modules
Embodiment
For the ease of understanding the present invention, pipe gallery crusing robot and pipe gallery are patrolled below with reference to relevant drawings
Check system is described more fully.The first choice of pipe gallery crusing robot and pipe gallery cruising inspection system is given in accompanying drawing
Embodiment.But pipe gallery crusing robot and pipe gallery cruising inspection system can be realized in many different forms, and
It is not limited to embodiment described herein.On the contrary, the purpose for providing these embodiments is made to pipe gallery crusing robot
And the disclosure of pipe gallery cruising inspection system more thorough and comprehensive.
Hereinafter, disclosed in the term " comprising " that can be used in various embodiments of the present invention or " may include " instruction
Function, operation or the presence of element, and do not limit the increase of one or more functions, operation or element.In addition, such as exist
Used in various embodiments of the present invention, term " comprising ", " having " and its cognate are meant only to represent special characteristic, number
Word, step, operation, the combination of element, component or foregoing item, and be understood not to exclude first one or more other
Feature, numeral, step, operation, element, component or foregoing item combination presence or one or more features of increase, numeral,
Step, operation, element, component or foregoing item combination possibility.
In various embodiments of the present invention, " A or/and B " include any combinations or the institute of the word listed file names with for statement
There is combination, such as, it may include A, it may include B or may include A and B both.
In the description of the invention, it is to be understood that term " longitudinal direction ", " transverse direction ", " on ", " under ", "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " vertical ", " transverse direction ", " top ", " bottom ", " interior ", " outer " is based on accompanying drawing institutes
The orientation or position relationship shown, it is for only for ease of the description present invention and simplifies description, rather than instruction or the dress for implying meaning
Put or element there must be specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to limit of the invention
System.In addition, term " first ", " second ", " the 3rd " etc. are only used for distinguishing description, and it is not intended that indicating or implying relatively heavy
The property wanted.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
In the description of the invention, unless otherwise prescribed with limit, it is necessary to explanation, term " installation ", " connected ",
" connection " should be interpreted broadly, for example, it may be mechanical connection or electrical connection or the connection of two element internals, can
To be to be joined directly together, can also be indirectly connected by intermediary, for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term.Unless otherwise defined, all terms (including the technology being otherwise used herein
Term and scientific terminology) with identical with the implication that various embodiments of the present invention one skilled in the art are generally understood that
Implication.The term (term such as limited in the dictionary typically used) is to be interpreted as having with leading in correlation technique
Situational meaning identical implication in domain and the implication with Utopian implication or overly formal will be not construed as, unless
It is clearly defined in various embodiments of the present invention.
Refering to Fig. 1 and Fig. 2, the invention provides a kind of pipe gallery crusing robot, including：It is slidably mounted in and leads
Motion module 100 on rail 10, the motion carrier 200 being connected in motion module 100, it is slidably mounted in motion carrier
Inspection machine human body 300 on 200, sensor cluster 400 and manipulator on the inspection machine human body 300
500 and for controlling the intelligent control module 600 of the crusing robot.The motion module 100, the sensor group
Part 400 and the manipulator 500 are connected with the intelligent control module 600.
It should be noted that the inspection machine human body 300, the sensor cluster 400 and the manipulator 500 collect
Integrally, and by the motion module 100 and motion carrier 200 it is arranged on the guide rail 10, can be carried out along guide rail 10
It is mobile, and can be moved up and down along motion carrier 200.The crusing robot can detect pipeline, the cable near guide rail 10 in real time
And ambient condition, and the sensing data monitored is sent to intelligent control module 600.Preferably, the guide rail 10 is pipe
Guide rail.
Above-mentioned manipulator 500 is mainly used for：When crusing robot is pinpointed the problems and confirmed during inspection, patrol
Inspection robot first determines whether the problem is that for example fuse is blown the problem of being easier to processing, change the outfit again one it is same
Specification；Such as screw loosens again, tightens again；These are simply repaired, and part is exchanged, without the annoying work of labor
Processing, so general simple fault is handled by the manipulator 500 of crusing robot, and cost is low, and reliability is high, underground
The O＆M cost of piping lane is just very low.
Seen from the above description, crusing robot of the invention is simple in construction, reasonable in design, practical, adapts to comprehensive
The complex conditions inside piping lane are closed, comprehensive quick detection and the 24h circulation dynamic inspections of pipe gallery can be realized, largely
On improve the security of pipe gallery inspection, routing inspection efficiency, the saturability for ensureing patrol task.
Preferably, in the embodiment of the present invention, the crusing robot also includes being arranged on the inspection machine human body 300
On camera device 700, the camera device 700 is connected with the intelligent control module 600.
Preferably, in the embodiment of the present invention, the camera device 700 includes being connected to the inspection machine human body 300
On Universal-head and the camera on the Universal-head.
It is understood that above-mentioned camera can be used for gathering in real time along the image and video around pipe orbital path,
As piping lane excess surface water situation, duct wall and top crack or hollow breakage, various pipes overall integrity and piping lane are attached
Attribute Plant in good condition monitors, while can be additionally used in safety monitoring.The camera is commercially available prod, in embodiments of the present invention
It is preferred that using high definition CCD minisize pick-up heads, the high definition CCD minisize pick-up heads are completed by the digitizer for being built in camera
Digitized process, it can so reduce image noise；Compared with simulating camera, the high definition CCD minisize pick-up heads, improve
The signal to noise ratio of camera, increase the dynamic range of camera and maximize gradation of image scope.
Certainly, above-mentioned camera can also be enumerated as sextuple camera, infrared camera and one kind or several in VR cameras
Kind.
It is understood that by the way that the camera device 700 is arranged on Universal-head so that camera is using process
In can be rotated with all angles, be easy to become apparent from the situation for photographing pipe gallery various places inside.
Preferably, in the embodiment of the present invention, the crusing robot also includes being arranged on the inspection machine human body 300
On lighting device 800.
It is understood that it is of the invention by setting lighting device 800 on inspection machine human body 300, for patrolling
Illumination is provided during inspection, is easy to clear observation, shooting, its is easy to use.The implementation of the lighting device 800 is again a lot
Kind, in the first implementation, LED is set on inspection machine human body 300, LED is set with outside and inspection machine
Human body 300 be tightly connected translucent cover, LED can built-in power or it is configured on inspection machine human body 300 in
Power supply in wire connection inspection machine human body 300.In second of implementation, set light guide fine around camera
Dimension, the receiving terminal of optical fiber are connected with the power supply in inspection machine human body 300.
Preferably, in the embodiment of the present invention, the sensor cluster 400 includes infrared sensor, temperature sensor, humidity
Sensor, Smoke Sensor, air-borne dust sensor and harmful gas sensor.
It is understood that on the one hand whether above-mentioned infrared sensor can be used for detection heat distribution pipeline and cable channel temperature
It is abnormal.
The Temperature Humidity Sensor is used to detect the environment temperature and humidity in pipe gallery in real time.
The Smoke Sensor is used to judge whether there is smog generation in pipe gallery, finds potential fire risk in time
And avoid that serious fire incident occurs.
The air-borne dust sensor and the harmful gas sensor be then respectively used to detect pipe gallery in dust and
The species and concentration of pernicious gas.
Certainly, sensor of the invention component 400 is not restricted to the sensor species, the sensor cluster 400
It may also include gas sensor, sonac etc.；The gas sensor is used for the species and concentration for judging gas leakage；Institute
Sonac is stated to be used to detect fuel oil feed channel and the leakage aperture of water pipe and leakage rate.
Preferably, in the embodiment of the present invention, the crusing robot also includes the energy being arranged on the motion carrier 200
Amount conversion supplying module 900, it is used to provide power source to the motion module 100.
It should be noted that energy conversion supplying module 900 is used to provide power source to crusing robot, ensure inspection
The normal walking of robot；The principle of its energy resource supply is：20-2000KHz electromagnetic wave, energy conversion are injected on guide rail 10
Supplying module 900 is provided with special resonance circuit, and survey monitor is supplied for extracting the frequency electromagnetic and converting it into direct current
Device people uses.
Preferably, in the embodiment of the present invention, the motion module 100 includes the driving pulley component being arranged on guide rail 10
110th, for driving the servomotor 120 of the driving pulley component 110 and the metallic conductor 130 installed in the bottom of guide rail 10；
The servomotor 120 is connected with the intelligent control module 600.
Preferably, in the embodiment of the present invention, the metallic conductor 130 is pure cu conductor.
Preferably, the 110 C-shaped structure of driving pulley component.The driving pulley component 110 includes shift(ing) ring 111
Some balls 112 with being rotatablely connected with the shift(ing) ring 111, are rolled by some balls 112, so that motion module 100
It can be moved forward or rearward along guide rail 10, and movement velocity is divided into below for example 2 kinds：Cruising speed-per minute 3 meters；Inspection
Degree of testing the speed-per minute 1 meter.In addition, the motion module 100 can also move up and down along motion carrier 200；Its speed by
Remote monitoring terminal manual control.
The metallic conductor 130 passes through mobile contact body such as carbon brush or roller and the opening of the motion module of C-shaped structure
End in contact, so as to realize that metallic conductor 130 is connected with the crusing robot.Preferably, the quantity of the ball 112 is 16.
It should be noted that above-mentioned metallic conductor 130 is to be bonded in the splendid bonding agent of insulating properties under guide rail 10
Portion, the one side of metallic conductor 130 are used to power：When the electricity for having low frequency (20KHz) and high pressure (400V) in metallic conductor 130
During stream flowing, crusing robot can obtain energy resource supply at any time from metallic conductor 130, and the energy for supplementing crusing robot disappears
Consumption；On the other hand can be used for communicating：The video image of all shootings of crusing robot and order obtain, and can all pass through metallic conductor
130 transmit signals to complete, and its communication frequency is 1MHz.Because the frequency phase-difference for these two aspects is too big, therefore metal is led
It is not in situation about interfering that body 130, which is used to power and communicate,.
Preferably, in the embodiment of the present invention, the crusing robot also includes being used to provide electricity to the crusing robot
The battery component (not shown) of energy.
It is understood that the battery component can be enumerated as battery or lithium-ion-power cell, the battery pack
Part is respectively with the motion module 100, the sensor cluster 400, the manipulator 500, the intelligent control module 600 etc.
Electrical connection.
As shown in figure 3, present invention also offers a kind of pipe gallery cruising inspection system, including：It is slidably mounted in guide rail
Crusing robot, wireless communication module 20 and remote monitoring terminal 30 on 10.
It should be noted that above-mentioned wireless communication module 20 can be enumerated as wireless wifi, GPRS, 2G, 3G or 4G etc..It is described
Intelligent control module 600 in crusing robot is communicated to connect by wireless communication module 20 and remote monitoring terminal 30, is made remote
Range monitoring terminal 30 can manage control crusing robot and with its information exchange.Further, the remote monitoring terminal 30 can
Including smart machine, real-time live image, vision signal and detection data for receiving the transmission of wireless communication module 20 etc., and
Control instruction etc. is sent to crusing robot by wireless communication module 20.
In summary, the beneficial effect of pipe gallery crusing robot of the invention and pipe gallery cruising inspection system is：
(1) crusing robot of the invention is simple in construction, reasonable in design, and practical and using effect is good, and efficiency high.
(2) present invention carries out inspection by crusing robot to pipe gallery, adapts to the complex conditions inside pipe gallery,
Can realize pipe gallery comprehensive quick detection and and 24h circulation dynamic inspection, greatly enhance pipe gallery and patrol
The security of inspection, routing inspection efficiency, the saturability for ensureing patrol task and it is easy to remote monitoring, can be to potential in pipe gallery
Safety failure, risk are monitored, and realize timely processing abnormal failure and risk control.
Although more above used the term for representing structure, such as " inspection machine human body ", " motion module ", " fortune
Dynamic load body " etc., but it is not precluded from the possibility using other terms.Using these terms just for the sake of more easily description and
Explain the essence of the present invention；Any additional limitation is construed as all to disagree with spirit of the present invention.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.
Claims (10)
- A kind of 1. pipe gallery crusing robot, it is characterised in that：Including：Be slidably mounted in motion module on guide rail, The motion carrier that is connected in motion module, the inspection machine human body being slidably mounted on motion carrier, installed in institute The sensor cluster on inspection machine human body and manipulator and the intelligent control module for controlling the crusing robot are stated, The motion module, the sensor cluster and the manipulator are connected with the intelligent control module.
- 2. pipe gallery crusing robot according to claim 1, it is characterised in that：Also include being arranged on the survey monitor Camera device on device human body, the camera device are connected with the intelligent control module.
- 3. pipe gallery crusing robot according to claim 2, it is characterised in that：The camera device can live by one Dynamic head is installed on the inspection machine human body.
- 4. pipe gallery crusing robot according to claim 1, it is characterised in that：Also include being arranged on the survey monitor Lighting device on device human body.
- 5. pipe gallery crusing robot according to claim 1, it is characterised in that：The sensor cluster includes infrared One in sensor, temperature sensor, humidity sensor, Smoke Sensor, air-borne dust sensor and harmful gas sensor Kind is a variety of.
- 6. pipe gallery crusing robot according to claim 1, it is characterised in that：Also include being arranged on the motion load Energy conversion supplying module on body, it is used to provide power source to the motion module.
- 7. pipe gallery crusing robot according to claim 1, it is characterised in that：The motion module includes being arranged on Driving pulley component on guide rail, the servomotor for driving the driving pulley component and the metal installed in guide rail bottom Conductor；The servomotor is connected with the intelligent control module.
- 8. pipe gallery crusing robot according to claim 1, it is characterised in that：The inspection machine human body can Moved up and down along the motion carrier.
- 9. pipe gallery crusing robot according to claim 1, it is characterised in that：Also include being used for the survey monitor Device people provides the battery component of electric energy.
- A kind of 10. pipe gallery cruising inspection system, it is characterised in that：Including：Be slidably mounted on guide rail such as claim Crusing robot, wireless communication module and remote monitoring terminal described in any one of 1-9.
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| CN201710820590.6A CN107590876A (en) | 2017-09-13 | 2017-09-13 | Pipe gallery crusing robot and pipe gallery cruising inspection system |
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|---|---|---|---|
| CN201710820590.6A CN107590876A (en) | 2017-09-13 | 2017-09-13 | Pipe gallery crusing robot and pipe gallery cruising inspection system |
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| CN108104878A (en) * | 2018-02-05 | 2018-06-01 | 刘春梅 | A kind of intelligent inspection system for underground |
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| CN108335480A (en) * | 2018-03-30 | 2018-07-27 | 国网江苏省电力有限公司电力科学研究院 | Integral intelligent inspection device |
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| CN108582107A (en) * | 2018-05-07 | 2018-09-28 | 哈工大（张家口）工业技术研究院 | A kind of pipe gallery information system based on technology of Internet of things |
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| CN108775930A (en) * | 2018-08-29 | 2018-11-09 | 吉林建筑大学 | A kind of automatic tour inspection system suitable for piping lane project |
| CN109048948A (en) * | 2018-10-12 | 2018-12-21 | 中冶京诚工程技术有限公司 | Multifunctional pipe gallery robot |
| CN109176460A (en) * | 2018-10-28 | 2019-01-11 | 厦门精图信息技术有限公司 | A kind of wisdom piping lane intelligent robot inspection total management system |
| CN109176460B (en) * | 2018-10-28 | 2024-03-26 | 厦门精图信息技术有限公司 | Intelligent comprehensive management system for intelligent inspection of intelligent pipe gallery robot |
| CN110113573A (en) * | 2019-05-08 | 2019-08-09 | 南京科瑞节能环保科技有限公司 | A kind of monitoring device for coke oven basement inspection |
| CN111862597A (en) * | 2020-03-31 | 2020-10-30 | 同济大学 | Tunnel risk-avoiding early warning system |
| CN111988565A (en) * | 2020-08-13 | 2020-11-24 | 杭州巨骐信息科技股份有限公司 | Backflow cable area early warning device based on 5G network |
| CN112396719A (en) * | 2020-10-29 | 2021-02-23 | 广东电网有限责任公司 | Electric power capital construction inspection device |
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