CN109268695A - A kind of pipeline draws inspection equipment - Google Patents
A kind of pipeline draws inspection equipment Download PDFInfo
- Publication number
- CN109268695A CN109268695A CN201811260471.0A CN201811260471A CN109268695A CN 109268695 A CN109268695 A CN 109268695A CN 201811260471 A CN201811260471 A CN 201811260471A CN 109268695 A CN109268695 A CN 109268695A
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- Prior art keywords
- pipeline
- aircraft
- power supply
- signal
- inspection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000007689 inspection Methods 0.000 title claims abstract description 67
- 239000011159 matrix material Substances 0.000 claims abstract description 5
- 238000009877 rendering Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 17
- 230000005540 biological transmission Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000004062 sedimentation Methods 0.000 description 3
- 239000002184 metal Substances 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
Abstract
The invention discloses a kind of pipelines to draw inspection equipment, including control device, what is connect with control device signal draws inspection aircraft, inspection aircraft is drawn to be equipped with for the power supply device to draw inspection aircraft power supply, for acquiring the image acquisition device of pipeline interior image information, for transmitting signals to the signal transceiver for the signal that control device and receiving control device are sent, power supply device, image acquisition device, signal transceiver, which is each provided at, to be drawn on inspection aircraft, signal transceiver respectively with control device, power supply device connection, image acquisition device respectively with power supply device, the connection of signal transceiver.Operation of the present invention is simple, high degree of automation, image detection and the double detection mode detections of structure dot matrix are more accurate, part is easily replaced, is at low cost.
Description
Technical field
The present invention relates to pipe detection fields, draw inspection equipment more particularly, to a kind of pipeline.
Background technique
Urban pipe network refers to the draining blowdown pipeline group being embedded in below the road of each of city at the grid to get up.Working as
Modern society, existing urban duct have certain ratio having existed different degrees of blocking, damage and other influences pipeline just
Often the case where draining, therefore, it is necessary to these pipelines are cleared up or repaired.Before cleaning or reparation, then need to these
Pipeline is detected, and in order to formulate cleaning or recovery scenario, realizes the cleaning or reparation of pipeline.Existing pipe testing apparatus
Substantially belong to climbing robot, is creeped in pipeline by wheel to detect pipeline, and robot rear needs to drag an electricity
Cable carries out signal transmission.
The prior art have the disadvantage that first is that the prior art rely on wire transmission, it is right due to the length limitation by line
Detectable distance requires, cannot be too long；Second is that existing pipe testing apparatus does not have anticollision self-protection mechanism, it is easy damage
Bad detection device and pipeline；Third is that the prior art can only feedback image information, cannot voluntarily handle information, pipeline cannot be carried out
Mapping in real time, needs manually to be identified.
Summary of the invention
It is an object of the invention to for solving above-mentioned technical problem, provide a kind of pipeline to draw inspection equipment, operation of the present invention
Simply, high degree of automation, image detection and the double detection modes of structure dot matrix detect more accurate, part and easily replace, is at low cost.
The present invention solve above-mentioned technical problem the technical solution adopted is that: a kind of pipeline draws inspection equipment, including control device,
What is connect with control device signal draws inspection aircraft, draws inspection aircraft and is equipped with for the power supply dress to draw inspection aircraft power supply
Set, the image acquisition device for acquiring pipeline interior image information, for transmitting signals to control device and receiving control device
The signal transceiver of the signal of transmission, power supply device, image acquisition device, signal transceiver, which are each provided at, draws inspection aircraft
On, signal transceiver is connect with control device, power supply device respectively, and image acquisition device is sent out with power supply device, signal respectively
Penetrate receiver connection.It draws after inspection aircraft enters pipeline from entrance, image acquisition device believes the image collected in pipeline
Breath is sent to control device by signal transceiver, and after pipeline image information is collected, control device, which is sent, returns to letter
Number give signal transceiver, draw inspection aircraft return, power supply device be image acquisition device, signal transceiver, draw inspection fly
The power supply of row device.Through the above technical solutions, getting rid of the constraint of wireline cable, the overall weight of equipment, and wireless biography are alleviated
Defeated delay is lower, is more conducive to outer grasp of the inspector to situation in pipeline of pipeline.
Preferably, further including for threedimensional model in real-time rendering pipeline and being located at and drawing the carry-on structure dot matrix of inspection
Scanner, structure Array Scanner are connect with signal transceiver, power supply device respectively.Structure Array Scanner is for real-time
Pipeline Internal periphery is drawn, and sends the data to modeling module.The pipeline Internal periphery drawn out has booster action to detection,
The problems such as can detecte out the breakage, deformation, sedimentation of pipeline.
Preferably, further including the image information for handling image acquisition device or the acquisition of structure Array Scanner or drafting
Modeling module, image acquisition device, structure Array Scanner pass through modeling module and connect with signal transceiver, models mould
Block is connect with power supply device.Modeling module can handle the data of image acquisition device and structure Array Scanner, and data are sent
Give signal transceiver.
Preferably, modeling module be equipped with for store image acquisition device or structure Array Scanner acquisition or draw
The memory module of image information.Memory module can store image information, prevent image information from losing.
Preferably, modeling module further includes drawing inspection aircraft current location and entrance distance for accurately calculating
First distance sensor, first distance sensor are connect with signal transceiver, and first distance sensor includes that gyroscope passes
Sensor, accelerograph sensor, speed instrument sensor.Draw inspection aircraft built in gyro sensor, accelerograph sensor,
Speed instrument sensor can accurately calculate current location of the aircraft in pipeline.
Preferably, draw inspection aircraft be equipped with several second distance sensors, second distance sensor respectively with build
Mould module, power supply device connection, the range information that the second distance sensor and structure Array Scanner of surrounding return can have
Effect prevents aircraft from bumping against tube wall or barrier.
Preferably, drawing inspection aircraft equipped with the rotating device for driving image acquisition device to rotate, image acquisition device
It is connect with rotating device.Rotating device is drawn inspection carry-on first motor and connect with being located at, and rotating device is adopted with motion video again
360 ° of storage rotations, enable the comprehensive acquisition pipeline interior image information of image acquisition device, so that pipe detection
Range is wider.
Preferably, image acquisition device includes for acquiring the camera of pipeline interior image information, for providing light source
Lighting device, the shell that is connect with rotating device, lighting device, camera set on the shell, camera, lighting device with
Power supply device, modeling module connection.It is apparent that lighting device makes camera acquire pipeline interior image information in pipeline, outside
Shell being capable of waterproof.
If including aircraft parking stand and being located on aircraft parking stand drive aircraft flight preferably, drawing inspection aircraft
Dry propeller, power supply device, structure Array Scanner, modeling module, second distance sensor, shine signal transceiver
Bright device, rotating device are each provided on aircraft parking stand.Aircraft parking stand is set as form of metal, can protect each electronic component
Not damaged, propeller-driven to draw the more easily flight of inspection aircraft.Aircraft parking stand is circle.Propeller and aircraft branch
The second motor, the second motor driven propeller rotational are equipped between frame, the second motor is connect with control device, power supply device respectively.
Circle is more suitable for pipe detection, and the shape for having corner angle such as rectangular is easy to collide in pipeline, causes to draw inspection aircraft damage
Bad or Pipeline damage.
Preferably, control device includes controller and signal transponder, controller is connect with signal transponder, in signal
Turn device to connect with signal transceiver.Signal transponder enables to controller and draws the carry-on signal transmitting reception of inspection
Device connection is more stable, and signal is stronger.
The invention has the advantages that:
1, it controller, signal transponder and draws the transmitting of inspection carry-on signal and is realized with receiver by wireless connection
Signal transmission, get rid of the constraint of wireline cable, alleviate the overall weight of equipment, and wireless transmission delay is lower, more added with
Grasp conducive to inspector outside pipeline to situation in pipeline；
2, the pipeline Internal periphery that structure Array Scanner is drawn out has booster action to detection, can detecte out pipeline
Breakage, deformation, sedimentation the problems such as；
3, the range information that the second distance sensor and structure Array Scanner of surrounding return, which can be effectively prevented, draws inspection
Aircraft bumps against tube wall or barrier；
4, operation of the present invention is simple, high degree of automation, image detection and the double detection modes detections of structure dot matrix are more smart
Really, part is easily replaced, is at low cost.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the structural schematic diagram that the present invention draws inspection aircraft
Fig. 3 is connection schematic diagram of the invention.
In figure: 1, controller, 2, signal transponder, 3, power supply device, 4, signal transceiver, 5, structure lattice scanning
Instrument, 6, modeling module, 7, second distance sensor, 8, rotating device, 9, camera, 10, lighting device, 11, shell, 12, fly
Row device bracket, 13, propeller, 14, image acquisition device, 15, memory module, 16, first distance sensor
Specific embodiment
Below in conjunction with drawings and embodiments, the present invention is further illustrated.
As shown in Figure 1-3, the present invention include control device, connect with control device signal draw inspection aircraft, draw inspection fly
Row device is equipped with for the power supply device 3 to draw inspection aircraft power supply, the Image Acquisition for acquiring pipeline interior image information
Device 14, the signal transceiver 4 for transmitting signals to the signal that control device and receiving control device are sent, power supply device
3, image acquisition device 14, signal transceiver 4, which are each provided at, draws on inspection aircraft, and signal transceiver 4 is filled with control respectively
It sets, the connection of power supply device 3, image acquisition device 14 is connect with power supply device 3, signal transceiver 4 respectively.Draw inspection aircraft into
After entering pipeline, power supply device 3 is image acquisition device 14, signal transceiver 4, draws inspection aircraft power supply, image acquisition device 14
The image information collected in pipeline is sent to control device by signal transceiver 4, pipeline image information has been collected
Bi Hou, control device send return signal to signal transceiver 4, draw inspection aircraft and return.Through the above technical solutions, pendulum
The constraint for having taken off wireline cable alleviates the overall weight of equipment, and wireless transmission delay is lower, is more conducive to examining outside pipeline
Grasp of the survey person to situation in pipeline.
It further include for threedimensional model in real-time rendering pipeline and being located at and drawing the carry-on structure Array Scanner 5 of inspection,
Structure Array Scanner 5 is connect with signal transceiver 4, power supply device 3 respectively.Structure Array Scanner 5 for drawing in real time
Tubing giving sufficient strength Internal periphery, and send the data to modeling module 6.The pipeline Internal periphery drawn out has booster action to detection,
The problems such as can detecte out the breakage, deformation, sedimentation of pipeline
It further include for handling image acquisition device 14 or the acquisition of structure Array Scanner 5 or the modeling for the image information drawn
Module 6, image acquisition device 14, structure Array Scanner 5 are connect by modeling module 6 with signal transceiver 4, and mould is modeled
Block 6 is connect with power supply device 3.Modeling module 6 can handle the data of image acquisition device and structure Array Scanner, and data are sent out
Give signal transceiver 4.
Modeling module 6 is equipped with the image for storing image acquisition device 14 or the acquisition of structure Array Scanner 5 or drafting
The memory module 15 of information.Memory module 15 can store image information, prevent image information from losing.
Modeling module 6 further includes for accurately calculating the first distance for drawing inspection aircraft current location and entrance distance
Sensor 16, first distance sensor 16 include gyroscope, accelerograph, speed instrument.The gyroscope built in inspection aircraft is drawn to pass
Sensor, accelerograph sensor, speed instrument sensor can accurately calculate current location of the aircraft in pipeline.
Draw inspection aircraft be equipped with several second distance sensors 7, second distance sensor 7 respectively with modeling module 6,
Power supply device 3 connects, and the range information that the second distance sensor 7 and structure Array Scanner 5 of surrounding return can effectively be prevented
Only aircraft bumps against tube wall or barrier.There are four second distance sensor is set in the present embodiment, it is located at and draws inspection aircraft east
The orientation of southern northwest four.
Inspection aircraft is drawn equipped with the rotating device 8 for driving image acquisition device 14 to rotate, image acquisition device 14 and rotation
Rotary device 8 connects, and rotating device 8 drives image acquisition device 14 to rotate 360 °, so that the range of pipe detection is wider.
Image acquisition device 14 includes for acquiring the camera 9 of pipeline interior image information, for providing the illumination of light source
Device 10, the shell 11 connecting with rotating device 8, lighting device 10, camera 9 are located on shell 11, camera 9 respectively with electricity
Source device 3, modeling module 6 connect, and lighting device 10 is connect with power supply device 3, modeling module 6 respectively.Lighting device 10 makes
Camera 9 acquires that pipeline interior image information is apparent, and shell 11 being capable of waterproof in pipeline.
Draw inspection aircraft include aircraft parking stand 12 and be located on aircraft parking stand 12 drive aircraft flight several
Propeller 13, power supply device 3, signal transceiver 4, structure Array Scanner 5, modeling module 6, second distance sensor 7,
Lighting device 10, rotating device 8 are each provided on aircraft parking stand 12.Aircraft parking stand 12 is set as form of metal, can protect each
A electronic component is not damaged, and propeller 13 drives so that drawing inspection aircraft and is easier to fly.Aircraft parking stand 12 is circle.Circle
Shape is more suitable for pipe detection, and the shape for having corner angle such as rectangular is easy to collide in pipeline, causes to draw inspection aircraft damage
Or Pipeline damage.In the present embodiment, propeller is equipped with 4.The second motor, the second electricity are equipped between propeller and aircraft parking stand 12
Machine drives propeller rotational, and the second motor is connect with power supply device 3.
Control device includes controller 1 and signal transponder 2, and controller 1 is connect with signal transponder 2, signal transponder 2
It is connect with signal transceiver 4.Signal transponder 2 enables to controller 1 and draws the carry-on signal transmitting reception of inspection
The connection of device 4 is more stable, and signal is stronger.
Each embodiment is described in a progressive manner in specification, the highlights of each of the examples are with other realities
The difference of example is applied, the same or similar parts in each embodiment may refer to each other.
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 pipeline draws inspection equipment, it is characterised in that: what is connect including control device, with control device signal draws inspection flight
Device is drawn inspection aircraft and is equipped with for examining the power supply device (3) of aircraft power supply, for acquiring pipeline interior image information to draw
Image acquisition device (14), the signal transmitting for transmitting signals to the signal that control device and receiving control device are sent receives
Device (4), power supply device (3), image acquisition device (14), signal transceiver (4), which are each provided at, to be drawn on inspection aircraft, signal transmitting
Receiver (4) is connect with control device, power supply device (3) respectively, image acquisition device (14) respectively with power supply device (3), signal
Transceiver (4) connection；
It draws after inspection aircraft enters pipeline from entrance, image acquisition device (14) passes through the image information collected in pipeline
Signal transceiver (4) is sent to control device, after pipeline image information is collected, control device send return signal to
Signal transceiver (4) is drawn inspection aircraft and is returned.
2. pipeline according to claim 1 draws inspection equipment, it is characterised in that: further include for three-dimensional in real-time rendering pipeline
Model and being located at draws the carry-on structure Array Scanner (5) of inspection, and structure Array Scanner (5) emits with signal respectively to be received
Device (4), power supply device (3) connection.
3. pipeline according to claim 2 draws inspection equipment, it is characterised in that: further include for handling image acquisition device (14)
Or the modeling module (6) of the image information of structure Array Scanner (5) acquisition or drafting, image acquisition device (14), structure dot matrix
Scanner (5) is connect by modeling module (6) with signal transceiver (4), and modeling module (6) and power supply device (3) are even
It connects.
4. pipeline according to claim 3 draws inspection equipment, it is characterised in that: modeling module (6) is equipped with for storing figure
As collector (14) or structure Array Scanner (5) acquisition or the memory module (15) for the image information drawn.
5. pipeline according to claim 3 or 4 draws inspection equipment, it is characterised in that: modeling module (6) further includes for accurate
Calculate draw inspection aircraft current location and entrance distance first distance sensor (16), first distance sensor (16) and
Signal transceiver (4) connection.
6. pipeline according to claim 5 draws inspection equipment, it is characterised in that: draw inspection aircraft be equipped with several second away from
From sensor (7), second distance sensor (7) is connect with modeling module (6), power supply device (3) respectively.
7. pipeline described according to claim 1 or 2 or 3 or 4 or 6 draws inspection equipment, it is characterised in that: draw inspection aircraft and be equipped with
Rotating device (8) for driving image acquisition device (14) to rotate, image acquisition device (14) are connect with rotating device (8).
8. pipeline according to claim 7 draws inspection equipment, it is characterised in that: image acquisition device (14) includes being used for collection tube
The camera (9) of road interior image information, the lighting device (10) for providing light source, the shell being connect with rotating device (8)
(11), lighting device (10), camera (9) are located on shell (11), and camera (9), lighting device (10) are and power supply device
(3), modeling module (6) connects.
9. pipeline according to claim 8 draws inspection equipment, it is characterised in that: drawing inspection aircraft includes aircraft parking stand (12)
With several propellers (13) for being located at drive aircraft flight on aircraft parking stand (12), power supply device (3), signal transmitting are connect
Receive device (4), structure Array Scanner (5), modeling module (6), range sensor (7), lighting device (10), rotating device (8)
It is each provided on aircraft parking stand (12).
10. pipeline described according to claim 1 or 2 or 3 or 4 or 6 or 8 or 9 draws inspection equipment, it is characterised in that: control device
Including controller (1) and signal transponder (2), controller (1) is connect with signal transponder (2), signal transponder (2) and signal
Transceiver (4) connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811260471.0A CN109268695A (en) | 2018-10-26 | 2018-10-26 | A kind of pipeline draws inspection equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811260471.0A CN109268695A (en) | 2018-10-26 | 2018-10-26 | A kind of pipeline draws inspection equipment |
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| Publication Number | Publication Date |
|---|---|
| CN109268695A true CN109268695A (en) | 2019-01-25 |
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ID=65194766
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811260471.0A Pending CN109268695A (en) | 2018-10-26 | 2018-10-26 | A kind of pipeline draws inspection equipment |
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| CN (1) | CN109268695A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109764826A (en) * | 2019-03-12 | 2019-05-17 | 武汉冠油科技有限公司 | A kind of detector of high speed detection bridge cable exterior cross-section shape |
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| CN103759706A (en) * | 2014-01-28 | 2014-04-30 | 北京咏归科技有限公司 | Three-dimensional measurement method and measurement device for mine draw shaft |
| CN104199455A (en) * | 2014-08-27 | 2014-12-10 | 中国科学院自动化研究所 | Multi-rotor craft based tunnel inspection system |
| JP2016107843A (en) * | 2014-12-08 | 2016-06-20 | Ｊｆｅスチール株式会社 | Three-dimensional shape measurement method and device using multicopter |
| EP3241020A1 (en) * | 2014-12-30 | 2017-11-08 | Technip France | Method of checking a flexible line and associated installation |
| CN208886404U (en) * | 2018-10-26 | 2019-05-21 | 浙江管迈环境科技有限公司 | A kind of pipeline draws inspection equipment |
-
2018
- 2018-10-26 CN CN201811260471.0A patent/CN109268695A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103759706A (en) * | 2014-01-28 | 2014-04-30 | 北京咏归科技有限公司 | Three-dimensional measurement method and measurement device for mine draw shaft |
| CN104199455A (en) * | 2014-08-27 | 2014-12-10 | 中国科学院自动化研究所 | Multi-rotor craft based tunnel inspection system |
| JP2016107843A (en) * | 2014-12-08 | 2016-06-20 | Ｊｆｅスチール株式会社 | Three-dimensional shape measurement method and device using multicopter |
| EP3241020A1 (en) * | 2014-12-30 | 2017-11-08 | Technip France | Method of checking a flexible line and associated installation |
| CN208886404U (en) * | 2018-10-26 | 2019-05-21 | 浙江管迈环境科技有限公司 | A kind of pipeline draws inspection equipment |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109764826A (en) * | 2019-03-12 | 2019-05-17 | 武汉冠油科技有限公司 | A kind of detector of high speed detection bridge cable exterior cross-section shape |
| CN109764826B (en) * | 2019-03-12 | 2024-02-06 | 武汉冠油科技有限公司 | Detector for detecting appearance cross section shape of bridge inhaul cable at high speed |
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