CN108764762A - A kind of movable type urban drainage pipe network is health management system arranged - Google Patents
A kind of movable type urban drainage pipe network is health management system arranged Download PDFInfo
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- CN108764762A CN108764762A CN201810824433.7A CN201810824433A CN108764762A CN 108764762 A CN108764762 A CN 108764762A CN 201810824433 A CN201810824433 A CN 201810824433A CN 108764762 A CN108764762 A CN 108764762A
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- 230000036541 health Effects 0.000 title claims abstract description 24
- 238000001514 detection method Methods 0.000 claims abstract description 48
- 238000012372 quality testing Methods 0.000 claims abstract description 23
- 238000004458 analytical method Methods 0.000 claims abstract description 22
- 238000007726 management method Methods 0.000 claims abstract description 21
- 230000003993 interaction Effects 0.000 claims abstract description 18
- 238000004891 communication Methods 0.000 claims abstract description 12
- 238000013500 data storage Methods 0.000 claims abstract description 11
- 238000012545 processing Methods 0.000 claims abstract description 8
- 238000009434 installation Methods 0.000 claims description 22
- 230000000386 athletic effect Effects 0.000 claims description 13
- 230000002093 peripheral effect Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000002452 interceptive effect Effects 0.000 claims description 4
- 238000007639 printing Methods 0.000 claims description 3
- 235000013399 edible fruits Nutrition 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 5
- 238000012360 testing method Methods 0.000 abstract description 5
- 241001269238 Data Species 0.000 abstract 1
- 230000007547 defect Effects 0.000 description 7
- 201000010099 disease Diseases 0.000 description 6
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 6
- 239000010865 sewage Substances 0.000 description 6
- 230000007849 functional defect Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000007847 structural defect Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 235000019994 cava Nutrition 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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- 230000008569 process Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000004065 wastewater treatment Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
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- G06Q10/063—Operations research, analysis or management
- G06Q10/0639—Performance analysis of employees; Performance analysis of enterprise or organisation operations
- G06Q10/06395—Quality analysis or management
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
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Abstract
The invention discloses a kind of mobile urban drainage pipe network is health management system arranged, the mobile detection robot of quality testing can be moved and carried out to drainage pipeline in drainage pipeline, the wireless communication module that connect and quality testing information can be transmitted wirelessly with mobile detection robot, receive and store the storage module of the GIS geographic information datas in quality testing data and sewerage pipeline network, handle judgment module, human-computer interaction function module, processing judgment module connect to handle quality detection data and GIS geographic information analysis with data storage module;Human-computer interaction function module carries out data selection for providing user, inquires and visually shown to analysis result, the design is detected using mobile robot, quality testing data can be obtained in the such narrow space of pipeline, testing result is more accurate, while the case where obtain pipeline in time convenient for user.
Description
Technical field
The present invention relates to municipal drainage management domains, the especially system of urban drainage pipe network detection management.
Background technology
With reasons such as the increase of subdrainage pipe network service life, vehicle weight, section of tubing occurs silting up, is damaged,
Deformation, foreign matter such as invades, collapse at the diseases, cause function pipeline and structural defect, influence drainage system normal operation, reduction
The pipeline cross-section of river, piping failure cause underground water largely to enter sewage conduct, cause sewage quality concentration relatively low, increase simultaneously
The processing pressure of downstream wastewater treatment plant.
Piping disease can also increase the risk of top road collapsion, extreme influence citizen's security of the lives and property.Weight in city
Type vehicle pass-through is more, and pipe network disease hidden danger is larger, to ensure network security Effec-tive Function, is badly in need of reinforcing existing sewage network
It investigates and detects in detail, reinforce supporting the maintenance pipe of disease sewage conduct, it is ensured that constitute efficient and healthful with newly-built sewage network
Sewage collection system.
Traditional urban discharging pipeline network health detection management system is that test section is arranged in each pipeline key point
Part is detected by way of fixed point, and then detection part can only detect region, then passes through the testing result of each region
Spliced, obtain the analysis result estimated, this mode has error always, alternatively, staff also increases detection part
The problem of quantity improves the accuracy of detection by concentrated type installation, but there is constructions to bother, the wasting of resources, meanwhile,
Lacking efficient pipe network health degree assessment system in city now, existing system is all simple realization Data Detection and stores,
The presentation of detection data can not be realized in time.
Invention content
In order to solve the above technical problems, the object of the present invention is to provide a kind of urban drainage pipe network health of mobile detection
Management system.
The technical solution adopted by the present invention is:
A kind of movable type urban drainage pipe network is health management system arranged, including:
Mobile detection robot, can move in drainage pipeline and carry out quality testing to drainage pipeline;
Wireless communication module connect with mobile detection robot and can transmit wirelessly quality testing information;
Data storage module receives and stores the GIS geography information in quality testing data and sewerage pipeline network;
Judgment module is handled, is connect with data storage module for quality detection data and GIS geographic information analysis
Processing;
Human-computer interaction function module is electrically connected with processing judgment module, and human-computer interaction function module is for providing user
Data selection is carried out, inquires and analysis result is visually shown.
The mobile detection robot includes mobile foundation and the photographing module being all arranged on mobile foundation and master
Module is controlled, photographing module is used to absorb the image information in pipeline, and main control module connects with photographing module, wireless communication module respectively
It connects with radio transmitting image information.
The mobile foundation includes installation chassis, is arranged on installation chassis driving motor group and setting are at installation bottom
Wheel group on disk to drive installation chassis to move, the photographing module are arranged on installation chassis, the driving of driving motor group
Axis is connect with wheel group to drive wheel group to rotate, and main control module is connect with driving motor group to control the operation of driving motor group.
It is additionally provided on the installation chassis and detects mould for detecting the athletic posture of mobile detection robot athletic posture
Block, main control module connect with athletic posture detection module with to athletic posture information analysis at quality testing information.
The athletic posture detection module includes angular transducer and is arranged in the drive shaft of driving motor group to detect
The encoder of wheel group encoded radio, the main control module are connect with angular transducer, encoder respectively.
It is additionally provided on the installation chassis as the lighting source of photographing module light filling.
The main control module is connect by transmission cable with wireless communication module, and being provided on the installation chassis can roll up
The cable retracting device of dynamic pull-out or scrolling storage cable.
The human-computer interaction function module includes that input peripheral unit and display release unit, input peripheral unit are used for
The instruction of user's input control is provided and carries out data selection, inquiry, display release unit is used to show quality inspection according to control instruction
The analysis result of measured data.
The human-computer interaction function module further includes statistic unit, and statistic unit is used to carry out statistical to analysis result
Class, and make statistical report form and/or statistical chart.
The human-computer interaction function module further includes report lead-out unit, and report lead-out unit is for printing or exporting statistics
Report and/or statistical chart.
Beneficial effects of the present invention:
Drainage pipeline networks of the present invention is health management system arranged, and mobile detection robot can move in drainage pipeline, and by
The problems such as the defects of step detection drainage pipeline, damaged condition, quality testing information is obtained, and by way of wireless transmission
It is sent to the data storage module on backstage, processing judgment module handles quality detection data and GIS geographic information analysis, and leads to
It crosses man-machine interactive function module inquiry is provided and is presented, the design is detected using mobile robot, Neng Gou
The such narrow space of pipeline obtains quality testing data, and testing result is more accurate, while decreasing arrangement inspection in pipeline
The quantity of component is surveyed, the human-computer interaction function module on backstage is capable of providing the function that user inquires and analysis result is presented, is convenient for
User obtains the case where pipeline in time.
Description of the drawings
The specific implementation mode of the present invention is described further below in conjunction with the accompanying drawings.
Fig. 1 is the health management system arranged schematic diagram of the present invention.
Fig. 2 is the health management system arranged process chart of the present invention.
Fig. 3 is the structural schematic diagram of mobile detection robot.
Specific implementation mode
As shown in Figure 1-Figure 3, the design movable type urban drainage pipe network is health management system arranged, and front end component includes:
Mobile detection robot 1, can move in drainage pipeline and carry out quality testing to drainage pipeline;
Wireless communication module 2 connect with mobile detection robot 1 and can transmit wirelessly quality testing information;
Back-end component (background monitoring end) includes:
Data storage module 3 receives and stores the GIS geography information in quality testing data and sewerage pipeline network;
Judgment module 4 is handled, is connect with data storage module 3 for quality detection data and GIS geography information point
Analysis is handled;
Human-computer interaction function module 5 is electrically connected with processing judgment module 4, and human-computer interaction function module 5 is for providing use
Family carries out data selection, inquires and visually shown to analysis result.
The GIS geography information in data storage module 3 includes the map datum on basis herein, further includes opening up for pipe network connection
Flutter information, the mobile communication modules such as including 3G/4G/5G of wireless communication module 2, herein wireless communication module 2 may be provided at pipeline
Signal transmission is convenient in inlet, is connect with mobile detection robot 1 by cable, realizes power supply and data transmission.
Mobile detection robot 1 can move in drainage pipeline, and gradually the defects of detection drainage pipeline, damage
The problems such as situation, obtains quality testing information, and the data storage module 3 on backstage is sent to by way of wireless transmission,
It handles judgment module 4 to handle quality detection data and GIS geographic information analysis, and is provided by human-computer interaction function module 5
It inquires and is presented, the design is detected using mobile robot, can be obtained in the such narrow space of pipeline
Quality testing data, testing result is more accurate, while decreasing the quantity of arrangement detection part in pipeline, backstage it is man-machine
Interactive function module 5 is capable of providing the function that user inquires and analysis result is presented, the case where obtaining pipeline in time convenient for user.
In the structure of mobile detection robot 1, mobile detection robot 1 includes movement in the preferred embodiment of the design
Pedestal 11 and the photographing module 12 being all arranged on mobile foundation 11 and main control module 13, photographing module 12 is for absorbing
Image information in pipeline, main control module 13 are connect and are believed with radio transmitting image with photographing module 12, wireless communication module 2 respectively
Breath, main control module 13 can be MCU or CPU and its peripheral circuit, and photographing module 12 is taken the photograph using technical grade high-resolution color
Camera.
Mobile foundation 11 includes installation chassis 111, the driving motor group 112 being arranged on installation chassis 111 and setting
Wheel group 113 on installation chassis 111 to drive installation chassis to move, the photographing module 12 are arranged in installation chassis 111
On, the drive shaft of driving motor group 112 is connect with wheel group 113 to drive wheel group 113 to rotate, main control module 13 and driving electricity
The connection of unit 112 is to control the operation of driving motor group 112, and further wheel group 113 includes front wheels and rear wheels, driving electricity herein
Unit 112 may include controlling the preposition motor that front-wheel is flapped toward and the rear motor that driving trailing wheel advances, retreats.
It is additionally provided on installation chassis 111 and detects mould for detecting the athletic posture of 1 athletic posture of mobile detection robot
Block 14, main control module 13 connect with athletic posture detection module 14 with to athletic posture information analysis at quality testing information.
Athletic posture detection module 14 include angular transducer 141 and be arranged in the drive shaft of driving motor group 112 with
The encoder 142 of 113 encoded radio of wheel group is detected, which connect with angular transducer 141, encoder 142 respectively, this
Angular transducer detectable movement in place's detects the inclined degree of robot to judge the moving direction of mobile detection robot, and compiles
Code device can obtain the travel distance of mobile detection robot, by that by the combination of moving direction and travel distance, can obtain movement
The position where robot is detected, meanwhile, angular transducer can also judge the inclination of pipeline, situation of jolting, to judge to manage
The damaged condition in road.
It is additionally provided on installation chassis 111 as the lighting source 15 of 12 light filling of photographing module, lighting source 15 can be strong
The LED projection lamp of power.
Main control module 13 is connect by transmission cable 16 with wireless communication module 2, and being provided on installation chassis 111 can roll up
It is dynamic to pull out or the cable retracting device 17 of scrolling storage cable, convenient for mobile detection robot 1 it is mobile pull out cable with
And store cable when returning.
Human-computer interaction function module 5 includes input peripheral unit 51 and display release unit 52, input peripheral unit 51
Data selection, inquiry are carried out for providing the instruction of user's input control, display release unit 52 according to control instruction for showing
The analysis result of quality testing data.
Human-computer interaction function module 5 further includes statistic unit 53, and statistic unit 53 is used to carry out statistical to analysis result
Class, and make statistical report form and/or statistical chart.
The human-computer interaction function module 5 further includes report lead-out unit 54, and report lead-out unit 54 is for printing or leading
Go out statistical report form and/or statistical chart.
The present invention includes the GIS geography information, pipeline basic data and survey of the sewerage system in data storage module 3
Data are measured, detection module 1 is moved by pipe network and collects present network situation defect information, using GIS geography informatization technologies, establishes figure
Literary database, by the number of pumping equipment, coordinate, ground elevation, Bottom Altitude, deposit depth, place road (address) etc. with
And the number of pipeline section defect, flow direction, pipeline section deterioration extent parameter, fault of construction distance, fault of construction video, functional defect away from
From essential informations input databases such as, functional defect videos, visual presentation and the inquiry editor of urban pipe network system are realized.
The present invention is analyzed according to the information stored by the quality testing information and date library detected in piping network,
And it falls off to pipeline breaking, deformation burn into mismatch, fluctuating, disconnection, interface material, branch pipe housed joint, foreign matter are penetrated, leaked
The six class functional defects such as ten class formation defect problems, and deposition, fouling, barrier, residual wall dam root, tree root, dross are asked
Topic is lacked with pipe segment structure defect rank, structural defect density, structural reparation index, functional defect grade, functionality
It falls into the six class urban pipe network health degrees assessment parameters such as density, functional maintenance index and carries out logic judgment.For example, when mobile detection
The pipe network information that robot is collected shows that the pressure that the outside of pipe or canal case is subjected to is more than the endurance of itself and causes pipe
It is ruptured, processing judges that then defect rank can be divided according to following criterion:When slight crack occurs in pipeline, on tube wall
It can be seen that check;It is emerged a small amount of deposit by minute crack on tube wall;It is slight to peel off;Above-listed one or more situation exists
When, then it is judged as grade one.When breach occurs in pipeline, rent has formed apparent gap, but pipeline shape it is uninfluenced and
Rupture is then judged as grade two without falling off.When pipeline is crushed, tube wall breaks trace or the place that falls off remains the circumferential of fragment and covers model
It encloses and is not more than 60 ° of arc length, be then judged as grade three.When pipeline caves in, pipeline material slight crack, breach or broken place's edge ring
It is more than 60 ° of arc length to coverage area;The circumferential range that pipe wall material is fallen off is more than 60 ° of arc length;It is above-listed one or more
In the presence of situation, then it is judged as grade four.
Meanwhile user can realize inquiry to urban pipe network health degree, location information by human-computer interaction function module
And the publication of quality condition information shows, counts.For example, in query unit, user can carry out road or region
Drainage system disease is inquired, system can show disease title, grade and quantity in institute's inquiry roads or region;Meanwhile
User is also an option that certain a kind of parameter type to inquire, system can show road where this kind of parameter type, etc.
Grade and quantity, user can carry out reparation planning to drainage system according to shown pipe network information, ensure drainage system
Health operation.
The foregoing is merely the preferred embodiments of the present invention, and the present invention is not limited to the above embodiments, as long as with
Essentially identical means realize that the technical solution of the object of the invention belongs within protection scope of the present invention.
Claims (10)
1. a kind of movable type urban drainage pipe network is health management system arranged, which is characterized in that including:
Mobile detection robot, can move in drainage pipeline and carry out quality testing to drainage pipeline;
Wireless communication module connect with mobile detection robot and can transmit wirelessly quality testing information;
Data storage module receives and stores the GIS geography information in quality testing data and sewerage pipeline network;
Judgment module is handled, is connect with data storage module for handling quality detection data and GIS geographic information analysis;
Human-computer interaction function module is electrically connected with processing judgment module, and human-computer interaction function module is for providing user's progress
Data selection is inquired and is visually shown to analysis result.
2. a kind of mobile urban drainage pipe network according to claim 1 is health management system arranged, it is characterised in that:The shifting
The photographing module and main control module that dynamic detection robot includes mobile foundation and is all arranged on mobile foundation, image mould
Block is used to absorb the image information in pipeline, and main control module is connect with photographing module, wireless communication module to be wirelessly transferred respectively
Image information.
3. a kind of mobile urban drainage pipe network according to claim 2 is health management system arranged, it is characterised in that:The shifting
Moving base includes installation chassis, is arranged on installation chassis driving motor group and being arranged on installation chassis is installed with driving
The wheel group of chassis movement, the photographing module are arranged on installation chassis, and the drive shaft of driving motor group is connect with wheel group
To drive wheel group to rotate, main control module is connect with driving motor group to control the operation of driving motor group.
4. a kind of mobile urban drainage pipe network according to claim 3 is health management system arranged, it is characterised in that:The peace
The athletic posture detection module for detecting mobile detection robot athletic posture, main control module and fortune are additionally provided on cartridge chassis
Dynamic attitude detection module connection with to athletic posture information analysis at quality testing information.
5. a kind of mobile urban drainage pipe network according to claim 4 is health management system arranged, it is characterised in that:The fortune
Dynamic attitude detection module includes angular transducer and is arranged in the drive shaft of driving motor group to detect wheel group encoded radio
Encoder, the main control module are connect with angular transducer, encoder respectively.
6. a kind of mobile urban drainage pipe network according to claim 4 is health management system arranged, it is characterised in that:The peace
It is additionally provided on cartridge chassis as the lighting source of photographing module light filling.
7. a kind of mobile urban drainage pipe network according to claim 4 is health management system arranged, it is characterised in that:The master
Control module is connect by transmission cable with wireless communication module, and being provided on the installation chassis being capable of scrolling pull-out or scrolling
Store the cable retracting device of cable.
8. a kind of mobile urban drainage pipe network according to claim 1 is health management system arranged, it is characterised in that:The people
Machine interactive function module includes input peripheral unit and display release unit, and input peripheral unit inputs control for providing user
System instruction carries out data selection, inquiry, and display release unit is used to show the analysis knot of quality testing data according to control instruction
Fruit.
9. a kind of mobile urban drainage pipe network according to claim 8 is health management system arranged, it is characterised in that:The people
Machine interactive function module further includes statistic unit, and statistic unit is used to carry out statistical classification to analysis result, and makes system
Count report and/or statistical chart.
10. a kind of mobile urban drainage pipe network according to claim 9 is health management system arranged, it is characterised in that:It is described
Human-computer interaction function module further includes report lead-out unit, and report lead-out unit is for printing or exporting statistical report form and/or system
Meter figure.
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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CN110939873A (en) * | 2019-12-12 | 2020-03-31 | 上海邦芯物联网科技有限公司 | Water supply pipeline leakage point detection system and method based on flexible pipeline robot |
CN112683913A (en) * | 2020-12-02 | 2021-04-20 | 成都龙之泉科技股份有限公司 | Urban pipe network detection method based on density detection |
CN114998827A (en) * | 2022-05-16 | 2022-09-02 | 中山大学 | Municipal drainage pipeline blockage condition monitoring and processing method and system |
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