CN108871457A - A kind of pipe detection system - Google Patents
A kind of pipe detection system Download PDFInfo
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- CN108871457A CN108871457A CN201810847532.7A CN201810847532A CN108871457A CN 108871457 A CN108871457 A CN 108871457A CN 201810847532 A CN201810847532 A CN 201810847532A CN 108871457 A CN108871457 A CN 108871457A
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- robot car
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- sensor
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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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Abstract
The present invention discloses a kind of pipe detection system, including track, robot car, communication device, sensor and video camera, power device and power supply device are provided on robot car, and power device and track cooperate, so that robot car is mounted on track, communication device, sensor and video camera are all set on robot car shell, and communication device is connected with sensor and video camera respectively, is sent to monitoring center for that will acquire information.Pipe detection system provided by the invention is layed in Urban Underground with urban Underground pipeline simultaneously, and robot car carry sensors and video camera are completed to work to the routine testing of underground piping, can be detected at any time, improve failure and shift to an earlier date discovery rate, reaction speed is fast；Artificial detection is avoided, cost of labor is reduced, guarantees manual security；Meanwhile some positions manually inaccessible situation is avoided, keep detection more comprehensive.
Description
Technical field
The present invention relates to intelligent testing technology field, in particular to a kind of pipe detection system.
Background technique
Underground piping and underground pipe gallery are the important components of cities functional bodies.Underground piping includes a variety of different
Function pipeline, such as：Rain pipe, sewage pipe, running water pipe, heat distribution pipeline etc..Underground pipe gallery is a kind of underground city pipe
A tunnel space is built in the underground in city, by a variety of works such as plumbing, electric power, communication, combustion gas, heat supply in trace integration corridor
Journey pipeline concentrates on one, and special access hole, hoisting port, monitoring system are set etc..Underground piping and underground pipe gallery,
It is the important technology facility for ensureing city operations.
For solve underground piping, pipe gallery, the spaces such as other pipelines (such as tunnel) status monitoring and daily maintenance,
Currently, people detect usually using periscope, the detection of user's periscope can only be regular progress inspection, or go out
It arranges manually to go to detection processing after now apparent problem, patrol frequency cannot be too high, such as a month primary left and right, right
In large-scale pipeline, it is lower to detect frequency；The probability that failure is found in advance is not high, is post-processing in many cases, reaction
Speed is slow.There are also manual detection modes, and since environment is more dangerous in pipeline, oxygen content is low, and flammable or toxic gas contains
It measures relatively high, directly threatens personal safety；High labor cost, low efficiency, and also partial region personnel can not reach.
Therefore, how to design a kind of pipe detection system of automation, improve detection efficiency, be those skilled in the art urgently
Technical problem to be solved.
Summary of the invention
The object of the present invention is to provide a kind of pipe detection systems, are normally patrolled using robot car to underground piping
Inspection can carry out Daily Round Check according to patrol frequency, while avoid manual inspection, guarantee staff's personal safety.
In order to solve the above technical problems, the present invention provides a kind of pipe detection system, including it is track, robot car, logical
Device, sensor and video camera are interrogated, is provided with power device and power supply device, and the power device on the robot car
Cooperate with the track, so that the robot car is mounted on the track, the communication device, the sensor and institute
Video camera is stated to be all set on the robot car shell, and the communication device respectively with the sensor and the camera shooting
Machine is connected, is sent to monitoring center for that will acquire information.
Preferably, the power device includes driving wheel and driving wheel stitching wheel, and the driving wheel is respectively arranged in described
Robot car shell two sides, the driving wheel stitching wheel are adjustably set on the robot car shell, and described
Driving wheel stitching wheel and the driving wheel face are arranged, so that the robot car is mounted on the track.
Preferably, the power device further includes driven wheel and driven wheel stitching wheel, and the driven wheel is respectively arranged in institute
Robot car shell two sides are stated, the driven wheel stitching wheel is adjustably set on the robot car shell, and institute
It states driven wheel stitching wheel and the driven wheel face is arranged, so that the robot car is mounted on the track.
Preferably, the power device further includes the position-limited wheel for being set to robot car shell two sides.
Preferably, the position-limited wheel is multiple groups.
It preferably, further include the power supply device being set in the robot car, and the power supply device is wireless charging
Electric lithium battery group.
Preferably, the quantity of the robot car is at least one.
Preferably, the communication device is wireless communication device, and the communication device is connected with the power supply device.
Preferably, the sensor includes Temperature Humidity Sensor for detecting temperature and humidity and/or dense for detection gas
The gas sensor of degree.
Preferably, further include be set on the robot car shell, the mechanical arm for installing the video camera.
Pipe detection system provided by the present invention, mainly include track, robot car, communication device, sensor and
Video camera is provided with power device and power supply device on robot car, and power device and track cooperate, so that robot is small
Vehicle is mounted on track, and communication device, sensor and video camera are all set on robot car shell, and communication device is distinguished
It is connected with sensor and video camera, is sent to monitoring center for information will to be acquired.Pipe detection system provided by the invention, with
Urban Underground pipeline is layed in Urban Underground simultaneously, and robot car carry sensors and video camera complete the day to underground piping
Often detection work, can be detected at any time, solve the problems, such as that periscope detection mode frequency is low, improved failure and found in advance
Rate, reaction speed are fast；Artificial detection is avoided, cost of labor is reduced, guarantees manual security；Meanwhile avoiding some people from positions
The inaccessible situation of work keeps detection more comprehensive.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of overall structure diagram of specific embodiment provided by the present invention；
Fig. 2 is the structural schematic diagram of robot car 2 shown in Fig. 1.
Wherein, in Fig. 1-Fig. 2：
Track -1, robot car -2, communication device -3, sensor -4, video camera -5, mechanical arm -6 drive
Driving wheel -201, driving wheel stitching wheel -202, driven wheel -203, driven wheel stitching wheel -204, position-limited wheel -205.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 and Fig. 2 are please referred to, Fig. 1 is a kind of overall structure diagram of specific embodiment provided by the present invention；Figure
2 be the structural schematic diagram of robot car 2 shown in Fig. 1.
In a kind of specific embodiment provided by the present invention, pipe detection system mainly includes that track 1, robot are small
Vehicle 2, communication device 3, sensor 4 and video camera 5 are provided with power device and power supply device on robot car 2, and power fills
It sets and cooperates with track 1, so that robot car 2 is mounted on track 1, communication device 3, sensor 4 and video camera 5 are all set in
On 2 shell of robot car, and communication device 3 is connected with sensor 4 and video camera 5 respectively, is sent to for that will acquire information
Monitoring center.
Wherein, be laid with simultaneously when track 1 and urban Underground pipeline or piping lane are laid with, track 1 and urban Underground pipeline or
Person's piping lane be it is synchronous, be laid with path so that the robot car of pipe detection system can according to urban Underground pipeline or
The path of piping lane carries out all-around mobile；Robot car 2 is slidably mounted on track 1, by moving on track 1,
Comprehensive detection work is carried out to urban Underground pipeline or piping lane to carry communication device 3, sensor 4 and video camera 5；Machine
Power device and power supply device are provided on device people trolley 2, power device provides power with power supply device for pipe detection system
Source and electric power support；Communication device 3, sensor 4 and video camera 5 are all set on 2 shell of robot car.To facilitate to city
City's underground piping or piping lane are detected；In addition, communication device 3 is connect with sensor 4 and video camera 5 respectively, will pass
Sensor 4 (such as：Temperature Humidity Sensor, CO sensor, CO2 sensor, CH4 sensor etc.) and the collected information of video camera 5
It is sent to monitoring center.
It should be noted that sensor 4 and video camera 5 can also be set to inside robot car 2, it when in use, can
It is opened by artificial remotely controlling, concrete condition is determined depending on urban Underground pipeline or piping lane environment, detection number, is not done herein
It is specific to limit；It should also be noted that, several robot cars 2 can be set, to facilitate to urban Underground pipeline or pipe
The real-time detection of corridor, concrete condition are determined depending on the length and complex situations of urban Underground pipeline or piping lane, are not done herein specific
It limits.
Specifically, staff is in the failure for being connected to urban Underground pipeline or piping lane in actual detection process
Repair call or normal inspection when something goes wrong, can startup separator Near Pipelines pipe detection system robot car 2,
It moves robot car 2 to abort situation along track 1, when reaching near pipeline fault position, optionally opens sensor 4
Or video camera 5, the pipeline to go wrong is detected, then, the information fed back to by communication device 3 judges failure
The specific fault condition of pipeline, makes correct corresponding method, can be solved or be notified on the spot by robot car 2
Operating personnel solves on the spot, the maintenance activity of complete paired fault pipeline.
Pipe detection system provided by the invention is layed in Urban Underground with urban Underground pipeline or piping lane simultaneously, and
It is provided with the robot car 2 moved along pipeline, carry sensors 4 and video camera 5 are moved, and are completed to Urban Underground pipe
The work of the routine testing of road or piping lane, meanwhile, when urban Underground pipeline or pipe break down, sensor 4 can be passed through
Failure is checked and detected with video camera 5, and robot car 2 is not limited by quantity, quickly failure pipeline can be carried out
Investigation and maintenance, solve the problems, such as that periscope detection mode frequency is low in the prior art, failure can be improved and find in advance generally
Rate, reaction speed block；In addition, avoiding artificial detection, cost of labor is reduced, guarantees manual security；Meanwhile avoiding some positions
Artificial inaccessible situation is set, keeps detection more comprehensive；In addition, the present invention is one-time laying, can be used for a long time, reduction is patrolled
Examine cost.
In order to optimize pipe detection system in above-described embodiment, can to guarantee that robot car 2 is more stablized low to buried pipe
The advantages of road is detected, power device include driving wheel 201 and driving wheel stitching wheel 202, and driving wheel 201 is respectively arranged in machine
2 shell two sides of device people trolley, driving wheel stitching wheel 202 are adjustably set on 2 shell of robot car, and driving wheel presses
Wheel 202 is arranged with 201 face of driving wheel, so that robot car 2 is mounted on track 1；Power device further includes driven wheel 203
With driven wheel stitching wheel 204, driven wheel 203 is respectively arranged in 2 shell two sides of robot car, and driven wheel stitching wheel 204 is adjustable
It saves land and is set on 2 shell of robot car, and driven wheel stitching wheel 204 and 203 face of driven wheel are arranged, so that robot is small
Vehicle 2 is mounted on track 1.Driving wheel 201 and driving wheel stitching wheel 202 and driven wheel 203 and driven wheel stitching wheel 204
Design ensure that robot car 2 can be mounted more steadily on track 1, can be with robot car 2 on track 1
Movement is more smooth and effective, improves the job stability of robot car 2, ensure that the realizability of detection work.
Further, power device further includes the position-limited wheel 205 for being set to 2 shell two sides of robot car；Position-limited wheel 205
At least 2 groups.Position-limited wheel 205 can make robot car 2 when moving along track 1, avoid that left and right occurs and sway forwards and backwards, into
One step increases the stability of robot car 2 on track 1；Position-limited wheel sets at least to 2 groups, i.e., at least makes robot car
24 directions are kept for the case where stablizing, being not in sideslip, and it is steady to further increase the movement of robot car 2 on track 1
It is qualitative.It should be noted that position-limited wheel 205 can increase as 8 groups or other group of number, can guarantee that robot car 2 exists
Subject to the moving stability on track 1, it is not specifically limited herein.
Further, pipe detection system is set to the power supply device in robot car 2, and power supply device is wireless charging
Electric lithium battery group.The setting of power supply device, it is ensured that 2 continuous work of robot car ensure that the detection to underground piping
Continuity is higher to the controllability of underground piping failure；Wireless charging device is set by power supply device, ensure that is in charging
The case where taking out robot car 2 is avoided, it is more convenient, meanwhile, do not delay the detection time of pipeline.Certainly, power supply device is also
It can be wired charging lithium battery group or other power supply devices, then this is without limitation.
Further, the quantity of robot car 2 is at least one.A robot can be set in small-sized underground piping
Trolley 2 needs to be arranged multiple robot cars 2 in relatively large underground piping, to guarantee the different zones of underground piping all
Routing inspection efficiency can be improved by real-time monitoring.
Further, communication device 3 is wireless communication device, and communication device 3 is connected with power supply device.Wireless communication device can
The drawbacks of realizing without cable transmission, avoiding wired cable facilitates control and operation, improves routing inspection efficiency, reduces and is laid with cost；
Meanwhile being conducive to maintenance.
Further, sensor 4 includes Temperature Humidity Sensor for detecting temperature and humidity and/or for detection gas concentration
Gas sensor.Due to the particularity of underground piping environment, comprehensive monitoring need to be carried out to underground piping environment, temperature and humidity passes
Sensor, gas sensor or toxic gas sensor etc. increase multifunctionality of the invention, and disposable monitoring can be with
It realizes comprehensive monitoring, avoids repeating to monitor, improve routing inspection efficiency.Certainly, sensor 4 is selected also according to detection
It selects.
Further, pepe monitoring system further includes being set on 2 shell of robot car, for installing video camera 5
Mechanical arm 6.Video camera 5 is only stretched out sufficient length when usually detecting by mechanical arm 6, can also be carried out simple
Maintenance work, avoid being manually entered underground piping and repair, ensure that maintenance efficiency, improve worker safety.
In conclusion pipe detection system provided by the present embodiment mainly includes track, robot car, communication dress
It sets, sensor and video camera, power device and power supply device is provided on robot car, and power device and track cooperate,
So that robot car is mounted on track, communication device, sensor and video camera are all set on robot car shell, and
Communication device is connected with sensor and video camera respectively, is sent to monitoring center for that will acquire information.Pipe provided by the invention
Road detection system is layed in Urban Underground with urban Underground pipeline simultaneously, and robot car carry sensors and video camera are completed
Routine testing work to underground piping, can be detected at any time, solve the problems, such as that periscope detection mode frequency is low, be improved
Failure shifts to an earlier date discovery rate, and reaction speed is fast；Artificial detection is avoided, cost of labor is reduced, guarantees manual security；Meanwhile it avoiding
The artificial inaccessible situation in some positions, keeps detection more comprehensive.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of pipe detection system, which is characterized in that including track (1), robot car (2), communication device (3), sensing
Device (4) and video camera (5), are provided with power device and power supply device on the robot car (2), and the power device with
The track (1) cooperation, it is the communication device (3), described so that the robot car (2) is mounted on the track (1)
Sensor (4) and the video camera (5) are all set on the robot car (2) shell, and the communication device (3) is respectively
It is connected with the sensor (4) and the video camera (5), is sent to monitoring center for information will to be acquired.
2. pipe detection system according to claim 1, which is characterized in that the power device includes driving wheel (201)
With driving wheel stitching wheel (202), the driving wheel (201) is respectively arranged in the robot car (2) shell two sides, the drive
Driving wheel stitching wheel (202) is adjustably set on the robot car (2) shell, and the driving wheel stitching wheel (202)
It is arranged with the driving wheel (201) face, so that the robot car (2) is mounted on the track (1).
3. pipe detection system according to claim 2, which is characterized in that the power device further includes driven wheel
(203) and driven wheel stitching wheel (204), the driven wheel (203) are respectively arranged in the robot car (2) shell two sides,
The driven wheel stitching wheel (204) is adjustably set on the robot car (2) shell, and the driven wheel stitching wheel
(204) it is arranged with the driven wheel (203) face, so that the robot car (2) is mounted on the track (1).
4. pipe detection system according to claim 3, which is characterized in that the power device further include be set to it is described
The position-limited wheel (205) of robot car (2) shell two sides.
5. pipe detection system according to claim 4, which is characterized in that the position-limited wheel (205) is multiple groups.
6. pipe detection system according to claim 1, which is characterized in that further include being set to the robot car
(2) power supply device in, and the power supply device is wireless charging lithium battery group.
7. pipe detection system according to claim 6, which is characterized in that the quantity of the robot car (2) is extremely
It is one few.
8. pipe detection system according to claim 6, which is characterized in that the communication device (3) is wireless communication device,
And the communication device (3) is connected with the power supply device.
9. pipe detection system according to claim 1, which is characterized in that the sensor (4) includes for detecting temperature
The Temperature Humidity Sensor of humidity and/or gas sensor for detection gas concentration.
10. according to claim 1 to pipe detection system described in 9 any one, which is characterized in that further include be set to it is described
Mechanical arm (6) on robot car (2) shell, for installing the video camera (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810847532.7A CN108871457A (en) | 2018-07-27 | 2018-07-27 | A kind of pipe detection system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810847532.7A CN108871457A (en) | 2018-07-27 | 2018-07-27 | A kind of pipe detection system |
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| CN108871457A true CN108871457A (en) | 2018-11-23 |
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ID=64306444
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| CN201810847532.7A Pending CN108871457A (en) | 2018-07-27 | 2018-07-27 | A kind of pipe detection system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110320870A (en) * | 2019-06-20 | 2019-10-11 | 南京华盾电力信息安全测评有限公司 | Electric power plant stand monitoring system and method |
| CN111927466A (en) * | 2020-06-30 | 2020-11-13 | 中铁工程服务有限公司 | Shield construction tunnel inspection robot |
| CN112223344A (en) * | 2020-10-14 | 2021-01-15 | 中国地质大学（武汉） | Six-degree-of-freedom mechanical arm for pipe gallery inspection |
| CN112665640A (en) * | 2020-12-01 | 2021-04-16 | 北京世纪航凯电力科技股份有限公司 | Cable channel on-line monitoring system based on light rail |
| CN113799805A (en) * | 2021-11-08 | 2021-12-17 | 南通中远海运川崎船舶工程有限公司 | Intelligent monitoring robot used between ship LNG fuels |
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| CN106970626A (en) * | 2017-04-27 | 2017-07-21 | 广州晟能电子科技有限公司 | A kind of piping lane system mobile monitoring equipment |
| CN107590876A (en) * | 2017-09-13 | 2018-01-16 | 四川君逸数码科技股份有限公司 | Pipe gallery crusing robot and pipe gallery cruising inspection system |
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| JP2597418B2 (en) * | 1990-08-13 | 1997-04-09 | 日本電信電話株式会社 | Automatic Direction Control Method for Small Diameter Tunnel Robot Using Fuzzy Control |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110320870A (en) * | 2019-06-20 | 2019-10-11 | 南京华盾电力信息安全测评有限公司 | Electric power plant stand monitoring system and method |
| CN111927466A (en) * | 2020-06-30 | 2020-11-13 | 中铁工程服务有限公司 | Shield construction tunnel inspection robot |
| CN112223344A (en) * | 2020-10-14 | 2021-01-15 | 中国地质大学（武汉） | Six-degree-of-freedom mechanical arm for pipe gallery inspection |
| CN112665640A (en) * | 2020-12-01 | 2021-04-16 | 北京世纪航凯电力科技股份有限公司 | Cable channel on-line monitoring system based on light rail |
| CN113799805A (en) * | 2021-11-08 | 2021-12-17 | 南通中远海运川崎船舶工程有限公司 | Intelligent monitoring robot used between ship LNG fuels |
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Address after: 518000 11/F, Silver Star Zhijie Building 2, 1301 Guanlan Street, Longhua New District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Schroder Industry Group Co., Ltd. Address before: 518111 2nd and 3rd floors of No. 9 workshop of Xilitang Lang Tongfu Industrial City, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Applicant before: SHENZHEN CITY SCHROEDER MEASUREMENT AND CONTROL EQUIPMENT CO., LTD. |
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Application publication date: 20181123 |