CN108614482A - A kind of underground pipe gallery information system based on BIM, GIS and IOT - Google Patents
A kind of underground pipe gallery information system based on BIM, GIS and IOT Download PDFInfo
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- CN108614482A CN108614482A CN201810428272.XA CN201810428272A CN108614482A CN 108614482 A CN108614482 A CN 108614482A CN 201810428272 A CN201810428272 A CN 201810428272A CN 108614482 A CN108614482 A CN 108614482A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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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
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2612—Data acquisition interface
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Abstract
The present invention discloses a kind of underground pipe gallery information system based on BIM, GIS and IOT, including IOT data modules, BIM modules, GIS modules, smart machine development module, database module, integration module and big data analysis module；The IOT data modules include crusing robot module, the crusing robot module includes crusing robot, the crusing robot includes harvester, follow-up mechanism, adjusting apparatus and controller, the adjusting apparatus is connect with the harvester, the controller respectively with the harvester, the follow-up mechanism and world representation system connection, based on the IOT data modules, the BIM modules, the GIS modules and the smart machine development module combine the database module and build the integration module, the big data analysis module is built on the basis of the integration module.The management that Life cycle is carried out to piping lane and internal unit is realized the present invention is based on BIM, GIS and technology of Internet of things.
Description
Technical field
The present invention relates to pipe gallery technical fields, and in particular to a kind of underground pipe gallery information based on BIM, GIS and IOT
System.
Background technology
Underground pipe gallery plays an important roll to improving city integrated bearing capacity and meeting people's livelihood primary demand aspect.
Pipe gallery management is the engineering of a system and complexity, because it is embedded in underground, has city macroscopic aspect in spatial shape
Long and narrow linear character, and internal includes a variety of constructions, and information unification expression is more during design, construction and operation management
It is difficult.With the fast development of social informatization, some information technologies such as BIM and GIS technology starts to be applied to integrated pipe at present
In corridor whole-life cycle fee, but these improvement are concentrated mainly on digitlization level, realize the expression of piping lane information digitalization and pipe
Reason is information-based most basic level, and due to the self attributes of piping lane and special O＆M environment, prior art
The problems such as middle generally existing cost is high, system occupied space is big, deployment and later maintenance are difficult.
In view of drawbacks described above, creator of the present invention obtains the present invention finally by prolonged research and practice.
Invention content
To solve above-mentioned technological deficiency, the technical solution adopted by the present invention is, provides a kind of based on BIM, GIS and IOT
Underground pipe gallery information system, including IOT data modules, BIM modules, GIS modules, smart machine development module, database mould
Block, integration module and big data analysis module；The IOT data modules include crusing robot module, the inspection machine
People's module includes crusing robot, and the crusing robot includes harvester, follow-up mechanism, adjusting apparatus and controller, institute
Adjusting apparatus is stated to connect with the harvester, the controller respectively with the harvester, the follow-up mechanism and described
World representation system connects, and is opened based on the IOT data modules, the BIM modules, the GIS modules and the smart machine
It sends out module and combines the database module structure integration module, data mining skill is based on the basis of the integration module
Art and on-line analysis processing build the big data analysis module.
Further, the follow-up mechanism includes dioptric layer, heat-sink shell, thermal-induced deformation layer, piezoelectric layer and electricity from top to bottom
Pole layer, is arranged several light lead faces on the dioptric layer, is arranged between the adjacent light lead face jagged.
Further, the dioptric layer is shaped to upward convex semicircle, to recessed semicircle or semiellipse
Shape.
Further, the heat-sink shell is made of the good graphite of thermal conductivity or graphene, and the thermal-induced deformation layer is by shape
Shape memory alloys are made, and the piezoelectric layer is made of piezoelectric ceramics.
Further, the harvester includes camera, and the adjusting apparatus includes mechanical arm, the camera installation
On the mechanical arm, the mechanical arm and the camera are connect with the controller respectively, described in the controller control
Mechanical arm is moved freely in certain space.
Further, the IOT data modules further include sensor monitoring module, smart machine module and Internet of Things high in the clouds mould
Block.
Further, the crusing robot module is by the data information on instrument and meter in visual identity piping lane, and
Information is uploaded to Internet of Things high in the clouds module.
Further, the data information monitored is uploaded to described by the sensor monitoring module using timing transmission mode
Internet of Things high in the clouds module, the smart machine module is used to receive from Internet of Things high in the clouds module and order, and receives order
Frequency is consistent with the sensor monitoring module.
Further, the BIM modules include design information module and first information import modul, the design information mould
Block includes the design drawing information of piping lane, and the first information import modul is used for the BIM of the design information module construction
Model imports in the database module.
Further, the GIS modules include that the design information module, GIS data module and the second information import mould
Block, the second information import modul are used for the GIS figure layer texts by the design information module and the GIS data module construction
Part imports in the database module.
Compared with the prior art the beneficial effects of the present invention are：
1, the present invention is based on technology of Internet of things, and utilize BIM (Building Information Model) and GIS (GIS-Geographic Information System) technology
Equipment in piping lane is integrated on unified platform, and combines narrowband Internet of Things technology to realize and piping lane and internal unit are carried out entirely
The management of life cycle, and then realize and ensure that piping lane engineering is efficient, low consumption, reliably runs, and dispose and safeguard and is simple；
2, the present invention is based on piezoelectric effect principles, and follow-up mechanism is installed on crusing robot, is obtained by the follow-up mechanism
The location information of instrument and meter in piping lane is taken, and adjustment harvester to optimum position obtains on the instrument and meter in turn
Data information, the configuration of the present invention is simple, information collection accuracy is high, and information collection amount is low, effectively avoids cumbersome in the prior art
Information sifting and conversion work, reduce acquisition information occupy memory space, also help piping lane interior optimization arrangement；
3, the gas-detecting device that the present invention is arranged can be filtered and clean collection to the dust impurities in gas, keep away
Exempt from the accuracy of detection of influence device.
Description of the drawings
Fig. 1 is the topology view of crusing robot in the embodiment of the present invention one；
Fig. 2 is the topology view of follow-up mechanism in the embodiment of the present invention one；
Fig. 3 is the first working state figure of follow-up mechanism in the embodiment of the present invention two；
Fig. 4 is the second working state figure of follow-up mechanism in the embodiment of the present invention two；
Fig. 5 is the topology view of dioptric layer in the embodiment of the present invention three；
Fig. 6 is the topology view of follow-up mechanism in the embodiment of the present invention four；
Fig. 7 is that crusing robot internal module connects block diagram in the embodiment of the present invention five；
Fig. 8 is the module connection block diagram of main control terminal in the embodiment of the present invention five；
Fig. 9 is that piping lane information system module connects block diagram in the embodiment of the present invention six；
Figure 10 is the topology view of gas-detecting device in the embodiment of the present invention seven；
Figure 11 is the module connection block diagram of piping lane information system in the embodiment of the present invention eight；
Digital representation in figure：
1- runs guide rail；2- driving devices；3- harvesters；4- adjusting apparatus；5- follow-up mechanisms；6- controllers；7- is passed
Sensor component；8- sensing chamber；9- air inlets pretreatment chamber；51- dioptric layers；52- heat-sink shells；53- thermal-induced deformation layers；54- piezoelectric layers；
55- electrode layers；81- partition boards；82- first chambers；83- second chambers；84- gas sensors；85- reative cells；The analysis rooms 86-；
87- temperature inductors；88- refrigerators；91- filter screens；The light lead faces 511-；512- notches.
Specific implementation mode
Below in conjunction with attached drawing, the forgoing and additional technical features and advantages are described in more detail.
Embodiment one
The present invention provides a kind of crusing robot, as shown in Figure 1, the crusing robot includes driving device 2, acquisition dress
3, follow-up mechanism 5, adjusting apparatus 4 and controller 6 are set, the driving device 2 includes the driving wheel hung on operation guide rail 1
And the driving motor for driving the driving wheel；The harvester 3 is believed to obtain the data of instrument and meter in piping lane
Breath；The follow-up mechanism 5 is obtaining the location information of the instrument and meter in piping lane；The adjusting apparatus 4 and the acquisition
Connection, to adjust the position of the harvester 3；The controller 6 respectively with the driving device 2, the harvester
3, the follow-up mechanism 5 and the adjusting apparatus 4 communicate to connect, according to the instrument and meter of the acquisition of the follow-up mechanism 5
Location information, and feed back to the controller 6, the controller 6 controls the adjusting apparatus 4, adjust the harvester 3 with
The position of the instrument and meter is corresponding, and obtains the instrument and meter when instrument and meter described in 3 face of the harvester
On data information.
The harvester 3 includes camera, and the adjusting apparatus 4 includes mechanical arm, and the camera is mounted on described
On mechanical arm, the mechanical arm and the camera are connect with the controller 6 respectively, and the controller 6 controls the machinery
Arm is moved freely in certain space.The crusing robot further includes sensor module 7, the sensor module 7, institute
It states mechanical arm to be integrated in one with the crusing robot, is wholely set the stability for being conducive to the crusing robot operation,
The sensor module 7 includes temperature sensor, humidity sensor, harmful gas sensor, smoke sensor device etc., by institute
It states and disposes the sensor module 7 on crusing robot, so as to obtain the environmental parameter of different location inside piping lane immediately.
As shown in Fig. 2, Fig. 2 is the topology view of the follow-up mechanism, the follow-up mechanism 5 includes dioptric layer from top to bottom
51, heat-sink shell 52, thermal-induced deformation layer 53, piezoelectric layer 54 and electrode layer 55, wherein the dioptric layer 51 is provided with several light leads
Face 511, each light lead face 511 are different from the angle that horizontal plane is in.Correspondingly, being set on the instrument and meter in piping lane
Specific light source is set, the specific light source is arranged above or below the display screen of the instrument and meter, only when the specific light
Light lead face 511 described in the direct projection of source, the specific light source could enter the dioptric layer 51, and the specific light source enters the refractive power
It is irradiated to the heat-sink shell 52 after layer 51, if light lead face 511 described in the non-direct projection of the specific light source, the specific light source will slant
Enter other described light lead faces 511 and reflect, can not fall on the heat-sink shell 52, if other light sources such as illumination light in piping lane
The light lead face 511 is taken in source, then it is reflected in the light lead face 511, can not fall in the heat-sink shell 52；The suction
Thermosphere 52 absorbs the thermal energy in sunlight and temperature increases；52 temperature of the heat-sink shell increases so that under the heat-sink shell 52
53 temperature of thermal-induced deformation layer increase, 53 temperature of thermal-induced deformation layer raising deforms upon；The thermal-induced deformation layer 53
Deformation acts power to the piezoelectric layer 54, and the piezoelectric layer 54 is since the effect of power will produce polarization phenomena inside it, together
54 two apparent surfaces of Shi Suoshu piezoelectric layers will appear positive and negative opposite charge；The piezoelectric layer 54 generates charge can be by the electricity
Pole layer 55 collects and can identify the position for generating deformation, to send a signal to the controller 6, the control
6 embedded position analysis module of device, the location analysis module store the position of the follow-up mechanism 5 and the instrument and meter with
And the information contrast table of 53 deformation position of thermal-induced deformation layer, the deformation position that the controller 6 sends the follow-up mechanism 5
Confidence breath is contrasted with the storage data in the location analysis module, to obtain the location information of the instrument and meter, and
The adjusting apparatus 4 is controlled, it is corresponding with the position of the display screen of the instrument and meter to adjust the harvester 3.
Preferably, it is arranged jagged 512 between the adjacent light lead face 511, described on the instrument and meter
Specific light source needs direct projection that could enter the dioptric layer 51, therefore the setting of the notch 512 makes the specific light source not
The dioptric layer 51 can be entered always, i.e., the follow-up mechanism 5 will not send location information to the controller 6 all the time,
To adjust the harvester 3 opposite with the position of the instrument and meter without controlling the adjusting apparatus 4 always for the controller 6
It answers, and then reduces the working time of the adjusting apparatus 4 and drive the energy of the adjusting apparatus 4, although and being tapping mode
The relative position of the harvester 3 and the instrument and meter, but since the crusing robot has certain speed of service,
Therefore, the specific light source cannot inject the dioptric layer 51 time it is shorter, the adjusting apparatus 4 is still adjusted constantly
The relative position of the harvester 3 and the instrument and meter.
Preferably, the heat-sink shell 52 is made of the good graphite of thermal conductivity or graphene, can effectively absorb the spy
Determine the heat of light source and is transmitted to the thermal-induced deformation layer 53；The thermal-induced deformation layer 53 is made of marmem, after being heated
Deformation, it is not heated then to restore original shape；The piezoelectric layer 54 is made of piezoelectric ceramics.
The crusing robot is described when the specific light source is irradiated on the follow-up mechanism 5 in moving process
Follow-up mechanism 5 can get the location information of the instrument and meter after being compareed with the location analysis module, and by the instrument instrument
The location information Real-time Feedback of table gives the controller 6, the controller 6 to control institute according to the location information of the instrument and meter
Adjusting apparatus 4 is stated, it is corresponding with the position of the instrument and meter to adjust the harvester 3, and in 3 face of the harvester
The information on the instrument and meter is obtained when the instrument and meter.
Generally use high-speed camera shooting environmental video in the prior art, and main control end is transmitted it to, then will be clapped
The ambient video flow data taken the photograph carries out image conversion and screening, and process is cumbersome and video storage space is big, and the present invention passes through institute
It states follow-up mechanism 5 to capture the location information of the instrument and meter and feed back to the controller 6, the controller 6 controls described
Mechanical arm moves, and then adjusts the position of the camera, when the camera is in face position with the instrument and meter
It is shot, preferably, the camera is set and be continuously shot at a high speed, and shooting group picture is transmitted to main control end, this hair
It is bright to be not necessarily to Video Quality Metric be picture, main control end analyze speed is not only improved, the storage that video occupancy is also greatly saved is empty
Between.In addition, by the way that the follow-up mechanism 5 is arranged, the parameters information in piping lane can be accurately and efficiently obtained, and then can be with
More data detection devices are arranged in piping lane, so as to reduce the load of the crusing robot, reduce its power consumption
Amount, is conducive to extend the crusing robot operating time, improves the inspection machine task efficiency.
The configuration of the present invention is simple, and information collection accuracy is high, information collection amount is low, effectively avoids cumbersome in the prior art
Information sifting and conversion work, effectively reduce acquisition information occupy memory space；Also help piping lane interior optimization cloth
It sets, reduces crusing robot load.
Embodiment two
The present embodiment and embodiment one the difference is that, as shown in Figure 3,4, on the dioptric layer 51 of the present embodiment
The light lead face 511 be set as three, respectively include the first light lead face, the second light lead face and third light lead face, described first
Light lead face is located at the middle part of the dioptric layer 51, and the second light lead face and the third light lead face are respectively symmetrically distributed described
The both sides in one light lead face set the dioptric layer 51 to upward convex semi-circular shape in the present embodiment, then three light leads
The semicircular in shape shape on the dioptric layer 51 of face 511 is distributed, and semi-circular shape is provided with conducive to fully collecting the instrument instrument
The light of specific light source transmitting on table.
As shown in figure 3, the crusing robot runs to a certain position, for sake of convenience, the crusing robot at this time
Positioned at first position, when the incident ray direct projection of the specific light source transmitting set on the instrument and meter is located at the tracking
When the second light lead face in 5 left side of device, the incident ray of the specific light source transmitting and the second light lead face are vertical simultaneously
Into the dioptric layer 51, into the dioptric layer 51 after be radiated at the position at 52 edge of the heat-sink shell, the heat-sink shell 52
The upper heat absorbed with second light lead face corresponding section in sunlight, and transfer heat to the thermal-induced deformation layer 53；
The marginal position of the thermal-induced deformation layer corresponding with 52 marginal position of the heat-sink shell 53 receives dilatancy after heat, is formed
The narrow situation in intermediate width both sides, can constantly generate the piezoelectric layer 54 during 53 dilatancy of thermal-induced deformation layer and squeeze
Pressure, stress can be generated to the piezoelectric layer 54 by squeezing behavior；The piezoelectric layer 54 is by from the thermal-induced deformation layer 53
When the effect of stress, since the piezoelectric layer 54 is made of piezoelectric ceramics, under the action of by external force, the piezoelectric layer 54
Inside will produce polarization phenomena, while will appear on the surface that the piezoelectric layer 54 is in contact with the thermal-induced deformation layer 53
Negative electrical charge will appear positive charge on surface corresponding with the negative electrical charge；The electrode positioned at 54 lower section of the piezoelectric layer
Layer 55 collects the charge that the piezoelectric layer 54 is generated due to polarization phenomena, generates electric signal and identifies the thermal-induced deformation layer 53
The position of deformation, then location information is sent to the controller 6；With the continuous movement of the crusing robot, when described
Specific light source is not described in direct projection when the second light lead face, and incident ray does not enter back into the dioptric layer 51, and the heat-sink shell 52 is not
Heat is reabsorbed, and also totally, the thermal-induced deformation layer 53 restores to original shape, no slow consumption the heat originally absorbed
Extruding behavior is generated to the piezoelectric layer 54 again, the electrode layer 55 stops sending signal immediately.
As shown in figure 4, when the crusing robot runs to the second position, what is set on the instrument and meter is described specific
When the incident ray direct projection of light source transmitting is located at the first light lead face of 5 section middle section of the follow-up mechanism, the spy
Determine light source transmitting incident ray it is vertical with the first light lead face and entrance the dioptric layer 51, into after the dioptric layer 51
Position corresponding with the first light lead face is radiated on the heat-sink shell 52；On the heat-sink shell 52 with first light lead
Face corresponding section absorbs the heat in sunlight, and transfers heat to the thermal-induced deformation layer 53；The thermal-induced deformation layer 53
Deformation is expanded after receiving heat, the narrow situation in intermediate wide both sides is formed, in 53 dilatancy mistake of the thermal-induced deformation layer
Extruding constantly is generated to the piezoelectric layer 54 in journey, the piezoelectric layer 54 is squeezed, and inside generates polarization phenomena, negative electricity occurs
Lotus and positive charge, the electrode layer 55 collect charge, generate electric signal and identify the position that the thermal-induced deformation layer 53 deforms,
Location information is sent to the controller 6 again；The controller 6 controls the position that the mechanical arm adjusts the camera,
Make instrument and meter described in the camera face, the camera claps the display screen on the instrument and meter at this time
According to.Reflecting layer is coated on the third light lead face, when the crusing robot proceeds to the third place, is patrolled positioned at described
The instrument and meter for examining robot rear, third described in the incident ray direct projection of the specific light source transmitting set thereon are drawn
When smooth surface, due to the setting in reflecting layer, light does not enter back into the dioptric layer 51, and the follow-up mechanism does not generate deformation data,
Into without to the controller 6 send location information, to prevent interfering.
The follow-up mechanism is arranged at the side of the crusing robot, the institute of follow-up mechanism tracking piping lane side
Instrument and meter is stated, it is equal in the both sides of the crusing robot when needing the instrument and meter to piping lane both sides to be tracked
The follow-up mechanism is set, if using the traffic direction of the crusing robot as front, is now placed in the inspection machine
The reflecting layer is set on the light lead face at people rear.
When the crusing robot runs to position corresponding with the instrument and meter, due to the second light lead face
Setting, the controller 6 can control the position that the mechanical arm adjusts the camera in advance so that when the specific light
Described in the direct projection of source when the first light lead face, the camera extremely position corresponding with the instrument and meter can be quickly adjusted, into
And obtain the information on the instrument and meter in optimum position, instrument and meter described in the optimum position, that is, camera face
When position.
Embodiment three
As shown in figure 5, the present embodiment and embodiment two the difference is that, the setting of dioptric layer 51 described in the present embodiment
It is formed to recessed shape for three on the dioptric layer 51 light lead faces 511 to recessed semi-circular shape, are then arranged,
So set, first so that the installation in the light lead face 511 is simpler, secured, since the dioptric layer 51 is to recessed, at it
It places the light lead face 511 on concave surface to be more prone to, and the light lead face 511 is placed on the concave surface and more consolidates, secondly
The light lead face 511 is enclosed in the dioptric layer 51, and the dioptric layer 51 is to recessed setting to the light lead face 511 1
Determine that there is protective effect in degree, material can also be saved again.
Example IV
As shown in fig. 6, the present embodiment and above-described embodiment are the difference is that the dioptric layer 51 is shaped to
Half elliptic is evenly arranged with the 4th light lead face, the 5th light lead face and the 6th light lead face on the dioptric layer 51, and the described 4th draws
Smooth surface is located at the middle part of the dioptric layer 51, and the 5th light lead face and the 6th light lead face are located at the 4th light lead
In the symmetric position of face both sides.When the specific light source vertically injects the dioptric layer 51 from the 4th light lead face, due to
The 4th light lead face is located at the middle part in the refractive power face, and the incident ray of the specific light source is vertically into the dioptric layer
51；When the specific light source injects the dioptric layer 51 from the 5th light lead face or the 6th light lead face, due to described
5th light lead face and the 6th light lead face are located at two side positions of the dioptric layer 51, deviate centre position, inject described in
The sunlight of dioptric layer 51 can reflect, and the refracted light in the 5th light lead face and the 6th light lead face will not cross institute
State the incident ray in the 4th light lead face.Centered on the 4th light lead face, the dioptric layer 51 is divided for left area and the right side
Side region, the present embodiment are arranged so that after the light lead face of 51 liang of side positions of the dioptric layer enters the dioptric layer 51
Each comfortable respectively region of side of light namely the 4th light lead face and the 5th light lead face entered by the dioptric layer 51
The light of the heat-sink shell 52 has substantially common direction.
Embodiment five
On the basis of the above embodiments, the present invention also provides a kind of pipe gallery automatic tour inspection systems, including information to adopt
Collect platform and control platform, described information acquisition platform passes through wireless network connection, described information acquisition with the control platform
Platform is built by crusing robot, and the control platform is built by main control terminal.The crusing robot is responsible for environment in piping lane
The information collection of intelligent instrumentation in information monitoring, fault hazard analysis and piping lane, and will be detected by the wireless network
To piping lane internal state be sent to the main control terminal.The main control terminal is responsible for collecting and showing that the crusing robot is adopted
The environmental information collected, is handled by analysis, is reallocated to the crusing robot task.
As shown in fig. 7, Fig. 7 is the crusing robot internal module connection figure, the controller 6 uses arm processor,
The arm processor has Multi-serial port structure, can be with each sensor such as environment parameter sensing in the sensor module 7
Device, ultrasonic sensor, noise transducer and audible-visual annunciator etc. constitute serial communication network, according to communication protocol into line program
The acquisition to sensing data is completed in design.The controller 6 is designed with relay output function, to realize the control of alarm
System.The controller 6 is also devised with multichannel I/O input interfaces, can be to being identified close on off state.Using the ARM
Processor can be convenient for communication firmware to develop, and can be connected to host computer wireless router.In addition, on the crusing robot
The described camera the present embodiment carried is preferably arranged to temperature measuring type thermal imaging binocular monopod video camera, and the crusing robot is also
Command intercommunication module, the temperature measuring type thermal imaging binocular monopod video camera and the interaction commander intercommunication module logical equipped with interaction
It crosses to connect with wireless routing and transmits information into the wireless network.
The crusing robot software use modularized design, in order to system maintenance and upgrading and main program into
The scheduling of row task.Preferably, the crusing robot software is additionally provided with the functions such as digital filtering and house dog, can effectively press down
Interference outside system.
The controller 6 is communicated to connect with the instrument and meter and the main control terminal respectively, the instrument and meter fixed point
The status data of smart machine and pipeline in acquisition piping lane in real time, and data are uploaded to by the crusing robot by institute in real time
State main control terminal.
As shown in figure 8, the main control terminal includes main control processor, hardware module and main control software module, the master control
Processor uses Intel Core i5 processor, the hardware module to be built by GTX960 video cards, and the main control software module includes data
Communication module, data processing module, mission planning module and human-computer interaction module.The wherein described data communication module, responsible pair
The parsing of communication protocol, and extract the data information that the crusing robot uploads；The data processing module is responsible for extraction
The data information that arrives carries out analyzing processing, and the data processing module includes high-definition image acquisition, instrument and meter information collection, red
Outer Image Acquisition, pipeline surface detection, cradle head control, site infrare analysis, interactive voice, environmental data collecting and inspection machine
The sub-modules such as people's control；The mission planning module is responsible in the crusing robot operational process, according to collected existing
Field information carries out analysis decision, and the distribution and scheduling of task, the mission planning mould are then carried out to the crusing robot
Block includes patrol task planner；The human-computer interaction module is used to provide a user intuitive, easy-to-use interpersonal interactive interface, and
Simplify the use program of user, and then save the time, promotes user experience.
The main control terminal is communicated to connect with the controller 6 and the instrument remote respectively, heretofore described
Communication connection uses narrowband Internet of Things (NB-IoT), the main control terminal by with the crusing robot, the instrument and meter
Real time data and instruction interaction can exist the monitoring informations such as piping lane internal environment and line equipment, crusing robot working face
It is shown on the interface of the human-computer interaction module.
The data transmission generally use monolithic machine host of instrument and meter described in the prior art is collected data and is transmitted
To the main control terminal, but since the Intelligent hardware and sensor device and piping lane that are equipped with magnanimity in piping lane are located at closing
The underground space, internal O＆M environment is poor etc., prior art usually have broadband transmission data congestion, cost it is higher,
Deployed with devices and it is difficult in maintenance the defects of, the present invention is based on technology of Internet of things, and the instrument and meter is wireless by narrowband Internet of Things
Be transmitted to the main control terminal, not only deployed with devices is simple, while connect sensor it is more, and due to narrowband Internet of Things possess it is ultralow
Power consumption, maintenance cost also reduce.
Pipe gallery automatic tour inspection system provided by the invention carries out piping lane internal environment by the crusing robot
Inspection builds information collecting platform, can accurately collect the data information of the instrument and meter inside piping lane, and effective riser
The safety of corridor patrol task.
Embodiment six
On the basis of the above embodiments, as shown in figure 9, the present invention includes monitoring system, cruising inspection system and the master control
Terminal, it includes described to carrying out fixed point comprehensively monitoring, the cruising inspection system in piping lane that the monitoring system, which is based on technology of Internet of things,
Crusing robot, application of the crusing robot in piping lane run through BIM technology, and the crusing robot can complete piping lane
Internal unit, environment measuring and information collection, the monitoring system are logical with the main control terminal respectively with the cruising inspection system
Letter connection, and the real time data that monitoring data and inspection obtain is uploaded to the main control terminal, the main control terminal is to data
The monitoring system and the cruising inspection system are fed back to after carrying out analyzing processing, the monitoring system and the cruising inspection system receive
After feedack and execute operate corresponding with feedback information.
The monitoring system includes control centre, environmental monitoring system, fire hazard monitoring system, invades monitoring system, described
Control centre connect with the environmental monitoring system, the fire hazard monitoring system and the intrusion monitoring system communication respectively, uses
To receive the monitoring data of the environmental monitoring system, the fire hazard monitoring system and the intrusion monitoring system, the control
Center is connect with the main control terminal.
The intrusion monitoring system includes infrared detector, the infrared detector be arranged underground pipe gallery entrance and
Feeding port, to monitor, there is fortuitous event and alarm, and alarm signal is accessed the control into artificial situation in personnel at entrance
Center processed.The environment monitoring module is responsible for monitoring the environmental information in piping lane, including gas-detecting device, to monitor buried pipe
Air quality, humiture in corridor ensure Environmental security in underground pipe gallery.
The fire hazard monitoring system includes temperature-sensitive smoke detector and wireless transport module, the temperature-sensitive smoke detector with
It is connect with the control centre by the wireless transport module.By a fire compartment is arranged per 200m inside piping lane, often
The temperature-sensitive smoke detector is both provided in a fire compartment, the fire hazard monitoring system further includes warning device, the report
Alarm device includes buzzer and flashing light, standard module built in the control centre, be preset in the standard module temperature and
Monitoring signals are sent to the control centre by flue gas concentration standard value, the temperature-sensitive smoke detector, and the control centre will
Monitoring signals are compared with the standard module, when the monitor value that monitoring signals are shown is more than the standard value, the control
Center controls the alarm activation.The fire hazard monitoring system further includes several fire extinguishing sprayers, and the fire extinguishing sprayer passes through
Steering mechanism is arranged on piping lane inner wall, and the steering mechanism connect with the control centre.When fire occurs, the temperature-sensitive
When smoke detector monitors that temperature and flue gas concentration rise to critical value, the control centre receives the temperature-sensitive smoke detection
The signal that device is sent out, and position startup distance signal is sent out according to signal and sends out the nearest fire extinguishing sprayer progress in position temporarily
Fire extinguishing, and transmit a signal to the main control terminal and carry out fire extinguishing prompt.
Monitoring system and cruising inspection system is arranged simultaneously inside piping lane in the present invention, exists when avoiding only with fixed point monitoring
Monitor blind area and dead angle or the higher defect of cost.
Embodiment seven
On the basis of the above embodiments, as shown in Figure 10, the gas-detecting device includes sensing chamber 8, the detection
Partition board 81 is provided in room 8, the sensing chamber 8 is divided into multiple chambers by the partition board 81, the number of chamber described in the present embodiment
Amount is set as two, respectively first chamber 82 and second chamber 83, and gas sensor 84 is arranged in the first chamber 82,
The gas sensor 84 is preferably provided at the bottom of the first chamber 82, the gas sensor 84 and the control centre
Connection；Reative cell 85 is set in the second chamber 83, and the reative cell 85 is used for the measurement of specific gas, the reative cell
85 side is provided with analysis room 86, and the analysis room 86 is communicated to connect with the control centre, and the analysis room 86 is to described
Measurement in reative cell 85 carries out interpretation of result, and transmits the result to the control centre.
Temperature inductor 87 and refrigerator 88, institute are additionally provided on the side wall of the partition board 81 in the first chamber 82
It states temperature inductor 87 and the refrigerator 88 is connect with the control centre respectively, when the temperature in the first chamber 82 is super
When crossing setting value, the control centre, which receives the signal of the transmission of the temperature inductor 87 and controls the refrigerator 88, is dropped
Temperature processing, until the temperature inductor 87 no longer sends signal to the control centre, the refrigerator 88 is closed.
Due to needing to be detected in piping lane to different types of gas, such as detection methane toxic and harmful gas and right
Detecting whether for oxygen content is exceeded etc., is typically that detector is respectively set in the prior art, and, maintenance more with equipment point is not
Just the shortcomings of.The present invention is according to the difference of gas with various testing principle, the multiple chambers of setting, Jin Erfen in the sensing chamber 8
Not carry out gas with various measurement, occupied space is few, and is easy to repair and maintenance.
Due to containing dust impurities inside piping lane, the detection of gas is had adverse effect, therefore the gas detection fills
It further includes air inlet pretreatment chamber 9 to set, and the air inlet pretreatment chamber 9 is arranged in the lower section of the sensing chamber 8, the air inlet pretreatment
9 bottom of room uniformly starts air admission hole, and dust-extraction unit is provided in the air inlet pretreatment chamber 9, and the dust-extraction unit includes holding
Row mechanism and filter screen 91, the filter screen 91 is arranged in the executing agency, specifically, in the pretreatment chamber of entering
Portion is provided with the filter screen 91, and the filter screen 91 can filter the dust in gas.Since long-time uses, the filtering
Certain dust can be accumulated on net 91, influenced gas and entered in the sensing chamber 8.The executing agency include sliding rail, sliding block and
Motor is controlled, the sliding rail is set on the symmetrical side of the air inlet pretreatment chamber 9, and the sliding rail is arranged in the filtering
The sliding block is arranged on the sliding rail in the upside of net 91, and the sliding block is connect with the control motor, the control motor and institute
State control centre's connection, the control centre controls the startup or closing of the control motor, in the sliding block setting with it is described
The adaptable card slot of sliding rail, the control motor drive the sliding block to be moved on the sliding rail.The dust-extraction unit includes clear
Except brush, the removing brush is arranged in the both sides of the sliding block, and is arranged diagonally downward, the shifting for removing brush with the sliding block
It moves and carries out dust cleaning on the filter screen 91.
The air inlet pretreatment chamber 9 further includes dust bag, and the dust bag is removed for receiving from the filter screen 91
Impurity, the dust bag such as dust be fixed on one side on the inner wall of the air inlet pretreatment chamber 9, the dust bag
Another side is arranged on the sliding block, when the sliding block is moved to the other side, the collection from the side of the air inlet pretreatment chamber 9
Dirt bag is unfolded under the drive of the sliding block.The setting of the dust bag advantageously reduces the Dust Capacity inside piping lane so that from
Dust impurities under being removed on the filter screen 91 do not continue to spread in the piping lane, and then enter the gas detection in gas
Processing need to be dusted when device again.
Heretofore described gas-detecting device carried out the dust impurities in gas by the way that the dust-extraction unit is arranged
Filter and cleaning are collected, and avoid influencing accuracy of detection.
Embodiment eight
As shown in figure 11, the present invention provides a kind of based on Building Information Model (BIM), GIS-Geographic Information System (GIS) and object
The underground pipe gallery information system of networked system (IOT), including the exploitation of IOT data modules, BIM modules, GIS modules, smart machine
Module, database module, integration module and big data analysis module.
The IOT data modules include crusing robot module, sensor monitoring module, smart machine module and Internet of Things cloud
End module, the crusing robot module include the crusing robot.The crusing robot module, the sensor monitoring mould
Transport protocol is communicated using MQTT when block and the smart machine module carry out data transmission with Internet of Things high in the clouds module
Agreement, but the mode of each module data transmission is still different.The crusing robot module passes through instrument instrument described in visual identity
Data information on table, and information is uploaded to Internet of Things high in the clouds module；The sensor monitoring module uses timing transmission
The data information monitored is uploaded to Internet of Things high in the clouds module by mode, and timing is set as five seconds in the present embodiment,
The i.e. described sensor monitoring module is primary every five seconds upload data, in addition, the sensor monitoring module is also needed to the Internet of Things
It nets high in the clouds module and uploads GIS data, and position is no longer after being installed in piping lane due to the sensor monitoring mould sensor in the block
Change, therefore the sensor monitoring module need to only upload once after in sensor, installation is complete to Internet of Things high in the clouds module
GIS data；The smart machine module is used to receive from Internet of Things high in the clouds module and order, and receives frequency and the institute of order
The frequency for stating the upload of sensor monitoring module is consistent, and receives frequency is that five seconds downloading datas are primary in the present embodiment, in the present invention
Internet of Things high in the clouds module uses China Mobile OneNet Internet of Things Cloud Servers.
The BIM modules include design information module and first information import modul, and the design information module includes pipe
The design drawing information of corridor utilizes the design information module construction based on modeling softwares such as Autodesk Revit, CATIA
BIM models, and by the first information import modul, the attribute information of the BIM models is imported into the database module.
The GIS modules include GIS data module and the second information import modul, on the basis of the design information module
On, in conjunction with the GIS data module, GIS figure layer files are built, and the GIS is schemed by the second information import modul
Layer file imports the database module.The smart machine development module be used for by Internet of Things high in the clouds module with it is described
Smart machine module carries out coding and interface exploitation.
Combined based on the IOT data modules, the BIM modules, the GIS modules and the smart machine development module
The database module builds the integration module, and the database module includes multiple tables, different types of for storing
Data provide for the big data analysis module using basis, and preferably, the database module design meets third normal form and sets
Meter requires, to ensure the integrality of data.
The big number is built based on data mining technology and on-line analysis processing on the basis of the integration module
According to analysis module, the big data analysis module is effectively integrated, analyzes and is utilized for realizing data in piping lane management process.
The present invention is based on technology of Internet of things, by the smart machine in underground pipe gallery such as electromechanical equipment, ventilation equipment, row
Wetting system, gate inhibition, illumination, video monitoring, comprehensive wiring etc. are integrated into using BIM and GIS technology on unified platform, and can be with
Fire-fighting system, command system etc. are fitted close.The present invention can be realized based on BIM and Internet of Things to piping lane and inside
Equipment carries out the management of Life cycle, to realize and ensure that piping lane engineering is efficiently and reliably run.The present invention uses Internet of Things
Data are uploaded to the database module by net mode, can greatly save database resource, and the sensor uploads data
When, the communications protocol such as MQTT communications protocol for being suitable for Internet of Things transmission is used, bandwidth can be greatlyd save.
The foregoing is merely presently preferred embodiments of the present invention, is merely illustrative for the purpose of the present invention, and not restrictive
's.Those skilled in the art understand that in the spirit and scope defined by the claims in the present invention many changes can be carried out to it,
It changes or even equivalent, but falls in protection scope of the present invention.
Claims (10)
1. a kind of underground pipe gallery information system based on BIM, GIS and IOT, which is characterized in that including IOT data modules, BIM moulds
Block, GIS modules, smart machine development module, database module, integration module and big data analysis module；The IOT data
Module includes crusing robot module, and the crusing robot module includes crusing robot, and the crusing robot includes adopting
Acquisition means, follow-up mechanism, adjusting apparatus and controller, the adjusting apparatus are connect with the harvester, the controller point
It is not connect with the harvester, the follow-up mechanism and the world representation system, based on IOT data modules, described
BIM modules, the GIS modules and the smart machine development module combine the database module and build the integration module,
The big data analysis mould is built based on data mining technology and on-line analysis processing on the basis of the integration module
Block.
2. a kind of underground pipe gallery information system based on BIM, GIS and IOT as described in claim 1, which is characterized in that described
Follow-up mechanism includes dioptric layer, heat-sink shell, thermal-induced deformation layer, piezoelectric layer and electrode layer from top to bottom, is arranged on the dioptric layer
Several light lead faces are arranged between the adjacent light lead face jagged.
3. a kind of underground pipe gallery information system based on BIM, GIS and IOT as claimed in claim 2, which is characterized in that described
Dioptric layer is shaped to upward convex semicircle, to recessed semicircle or half-oval shaped.
4. the underground pipe gallery information system based on BIM, GIS and IOT as claimed in claim 3, which is characterized in that the heat absorption
Layer is made of the good graphite of thermal conductivity or graphene, and the thermal-induced deformation layer is made of marmem, the piezoelectric layer
It is made of piezoelectric ceramics.
5. a kind of underground pipe gallery information system based on BIM, GIS and IOT according to any one of claims 1-4, feature
It is, the harvester includes camera, and the adjusting apparatus includes mechanical arm, and the camera is mounted on the mechanical arm
On, the mechanical arm and the camera are connect with the controller respectively, and the controller controls the mechanical arm certain
It is moved freely in space.
6. a kind of underground pipe gallery information system based on BIM, GIS and IOT according to any one of claims 1-4, feature
It is, the IOT data modules further include sensor monitoring module, smart machine module and Internet of Things high in the clouds module.
7. a kind of underground pipe gallery information system based on BIM, GIS and IOT as claimed in claim 6, which is characterized in that described
Crusing robot module is uploaded to the Internet of Things by the data information on instrument and meter in visual identity piping lane, and by information
High in the clouds module.
8. a kind of underground pipe gallery information system based on BIM, GIS and IOT as claimed in claim 6, which is characterized in that described
The data information monitored is uploaded to Internet of Things high in the clouds module, the intelligence by sensor monitoring module using timing transmission mode
Energy EM equipment module is used to receive from Internet of Things high in the clouds module and order, and receives the frequency ordered and the sensor monitoring module
Unanimously.
9. a kind of underground pipe gallery information system based on BIM, GIS and IOT according to any one of claims 1-4, feature
It is, the BIM modules include design information module and first information import modul, and the design information module includes piping lane
Design drawing information, the first information import modul are used for described in the BIM models importing by the design information module construction
In database module.
10. a kind of underground pipe gallery information system based on BIM, GIS and IOT as claimed in claim 9, which is characterized in that institute
It includes the design information module, GIS data module and the second information import modul to state GIS modules, and second information imports
Module is used to the GIS figure layer files of the design information module and the GIS data module construction importing the database mould
In block.
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