CN109941437A - Piping lane inspection device - Google Patents
Piping lane inspection device Download PDFInfo
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- CN109941437A CN109941437A CN201910349663.7A CN201910349663A CN109941437A CN 109941437 A CN109941437 A CN 109941437A CN 201910349663 A CN201910349663 A CN 201910349663A CN 109941437 A CN109941437 A CN 109941437A
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- piping lane
- unmanned machine
- patrol unmanned
- railcar
- patrol
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- 238000001514 detection method Methods 0.000 claims description 13
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- 238000012544 monitoring process Methods 0.000 claims description 9
- 230000000007 visual effect Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 4
- 235000007164 Oryza sativa Nutrition 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 claims description 3
- 235000009566 rice Nutrition 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 240000007594 Oryza sativa Species 0.000 claims 1
- 239000004744 fabric Substances 0.000 claims 1
- 238000000926 separation method Methods 0.000 claims 1
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Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Abstract
The invention discloses a kind of piping lane inspection devices, including the track being arranged in piping lane, the charging unit installing railcar on the track and charging for the battery to patrol unmanned machine, patrol unmanned machine can be connected and be separated with respective carter vehicle by docking facilities.In piping lane inspection device provided by the present application, by the way that track is arranged in piping lane, and the railcar of orbital motion is capable of in setting, so that when patrol unmanned machine is connect with railcar, it drives patrol unmanned machine to move by railcar, patrol unmanned machine is avoided to consume energy at work more situation.Simultaneously by the way that the charging unit to charge to patrol unmanned machine is arranged in piping lane inspection device, it may be implemented to charge to the battery of patrol unmanned machine, so that patrol unmanned machine can be used after charging in piping lane, and then improve the working efficiency of patrol unmanned machine.
Description
Technical field
The present invention relates to inspection technical field inside piping lane, in particular to a kind of piping lane inspection devices.
Background technique
With the development of the city, underground pipe gallery starts throughout each big city, and daily piping lane inspection is the one of piping lane management
Item work.The patrol worker of present underground city piping lane is made mainly by being accomplished manually, and since piping lane is very long, patrol task needs a large amount of
Time and manpower, and this work is relatively uninteresting.
It generallys use patrol unmanned machine and carries out piping lane inspection work, specifically, flown in piping lane by patrol unmanned machine,
Detect piping lane internal state.Since piping lane internal environment is complicated, have various raised (metal frames etc.), unmanned plane needs whole real-time
Automatic obstacle avoiding；There is no GPS positioning inside piping lane simultaneously, UWB and other vision means, but the ground condition that piping lane is long and narrow can only be relied on,
So that realizing whole-process automatic positioning using UWB, difficulty is larger, causes patrol unmanned machine inspection safety lower.Simultaneously because pipe
Corridor is longer, and patrol unmanned machine runs inspection certain time, needs to make a return voyage and charge outside to piping lane, leads to the work of patrol unmanned machine
It is lower to make efficiency.
Summary of the invention
The object of the present invention is to provide a kind of piping lane inspection device, the working efficiency of patrol unmanned machine is improved.
To achieve the above object, the present invention provides a kind of piping lane inspection device, including patrol unmanned machine, which is characterized in that
It further include the track being arranged in piping lane, installation railcar on the track and for the electric power storage to the patrol unmanned machine
The charging unit of pond charging, the patrol unmanned machine can be connected and be separated with the corresponding railcar by docking facilities.
Preferably, the charging unit is arranged in the railcar, when the patrol unmanned machine and the railcar connect
When connecing, the battery is connect with the charging unit.
Preferably, the charging unit is identical as the railcar power supply mode, and the charging unit can with it is described
The patrol unmanned machine transplanting of rice connects.
Preferably, the charging unit is wireless charging device.
Preferably, the charging unit is fixedly connected on the piping lane end.
Preferably, the track and railcar, the railcar energy are equipped in the piping lane between two neighboring fire resistant doorsets
The patrol unmanned machine is enough driven to move along the track.
Preferably, charging unit is mounted on the docking facilities, when the patrol unmanned machine is connect with the railcar
When, the charging unit charges to the patrol unmanned machine.
Preferably, the railcar includes that sliding block and intermediate cabin, the sliding block are located in the sliding slot of track, intermediate freight space in
The sliding block lower part, and the intermediate cabin is internally provided with driving motor, the driving motor is for driving the track garage
It sails, the docking facilities are located at the lower part in the intermediate cabin.
Preferably, the railcar is marked equipped with First look；
It further include the base station UWB for several place positions being arranged on piping lane, the base station UWB is used for described patrol unmanned
Machine is in piping lane positioned internal；
The patrol unmanned machine includes:
Positioning device, the positioning device include UWB label, and the positioning device is by measuring UWB label and being arranged in
The distance between described base station UWB in piping lane come when obtaining the patrol unmanned machine inspection in the position of the piping lane overall situation；
First positioning shooting head, the first positioning shooting head are located at the top of the patrol unmanned machine, and described first is fixed
Position cam lens upward, and are used to detect and identify that First look marks, and described patrol unmanned by the acquisition of vision means
The relative pose of machine and railcar provides location information for the patrol unmanned machine, realizes docking；
Ultrasonic sensor, the ultrasonic sensor is distributed in the surrounding of the patrol unmanned machine, by hindering to surrounding
Hinder the measurement of object, realizes automatic obstacle avoiding；
Inspection camera, the inspection camera is for imaging piping lane internal state；
Piping lane detection sensor, the piping lane detection sensor are connect with the inspection camera, and are integrated in described patrol
On the holder for examining unmanned plane, for detecting the operating status of piping lane.
It preferably, further include ground monitoring console, the second visual indicia being arranged on fire resistant doorsets, it is described patrol unmanned
Machine further includes the second positioning shooting head of second visual indicia for identification, and the second positioning shooting head is located at described patrol
The side for examining unmanned plane is oriented to the patrol unmanned machine heading, and the ground monitoring console is transmitted by data and filled
It sets and is communicated with the patrol unmanned machine, and obtain inspection information of the patrol unmanned machine in piping lane.
In the above-mentioned technical solutions, piping lane inspection device provided by the invention includes patrol unmanned machine, is arranged in piping lane
Track installation railcar in orbit and charging unit for the battery charging to patrol unmanned machine, patrol unmanned machine
It can connect and separate with respective carter vehicle by docking facilities.As can be seen from the above description, it is patrolled in piping lane provided by the present application
In checking device, by being arranged track in piping lane, and the railcar of orbital motion is capable of in setting so that when patrol unmanned machine with
It when railcar connects, drives patrol unmanned machine to move by railcar, patrol unmanned machine is avoided to consume energy at work more feelings
Condition.Simultaneously by the way that the charging unit that charges to patrol unmanned machine is arranged in piping lane inspection device, may be implemented to inspection without
Man-machine battery charges, so that patrol unmanned machine can be used after charging in piping lane, effectively increases patrol unmanned
The time of machine inspection operation under state of flight, and then improve the working efficiency of patrol unmanned machine.
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 the layout drawing of piping lane inspection device provided by the embodiment of the present invention；
Fig. 2 is the partial enlarged view of piping lane inspection device provided by the embodiment of the present invention；
Fig. 3 is the installation site figure of the patrol unmanned machine provided described in the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of patrol unmanned machine provided by the embodiment of the present invention；
Fig. 5 is the brief configuration block diagram of patrol unmanned machine work provided by the embodiment of the present invention；
Fig. 6 is the working principle diagram of patrol unmanned machine provided by the embodiment of the present invention；
Fig. 7 is the structural schematic diagram of data transmission device provided by the embodiment of the present invention.
Wherein in Fig. 1-7: 1- piping lane, 2- track；
3- railcar, 31- spacing collar；
The patrol unmanned machine of 4-, 41- duct, 42- suspension hook, 43- inspection camera, 44- piping lane detection sensor, 45- fuselage,
The first positioning shooting of 46- head, 47- ultrasonic sensor, the second positioning shooting of 48- head, 49-UWB label, 410- unmanned aerial vehicle onboard
Computer, 411- digital transmission module, 412- figure transmission module, 413-WiFi equipment, 414- data transmission device；
5- fire resistant doorsets, 51- opening.
Specific embodiment
Core of the invention is to provide a kind of piping lane inspection device, and the working efficiency of patrol unmanned machine improves.
In order to make those skilled in the art more fully understand technical solution of the present invention, with reference to the accompanying drawing and embodiment party
The present invention is described in further detail for formula.
Fig. 1 is please referred to Fig. 7.
In a specific embodiment, the piping lane inspection device that the specific embodiment of the invention provides includes patrol unmanned
Machine, the track 2 being arranged in piping lane 1, the railcar 3 being mounted on track 2 and for patrol unmanned machine battery charging
Charging unit, wherein railcar 3 drives patrol unmanned machine 4 to move along track 2.Unmanned plane not Limit Type and material, can be with
For open unmanned plane, culvert type unmanned plane, minute vehicle any one, as shown, patrol unmanned machine 4 can for setting
The culvert type unmanned plane of duct 41.
Specifically, patrol unmanned machine can be docked in the case where not executing patrol task with railcar 3, pass through piping lane 1
Electric system is that the battery of unmanned plane charges.
Charging unit is arranged in railcar 3, when patrol unmanned machine is connect with railcar 3, battery and charging unit
Connection.
For the ease of being laid with to circuit, it is preferable that charging unit is identical as 3 power supply mode of railcar, and charging unit can
It is connect with the patrol unmanned machine transplanting of rice.
For the ease of charging to battery, it is preferable that charging unit is wireless charging device.
It is, of course, also possible to using traditional grafting charging modes, specifically, plug, rail can be arranged on patrol unmanned machine 4
The charging unit of road vehicle 3 is equipped with the socket cooperated with plug, and when patrol unmanned machine 4 cooperates with railcar 3, plug is just inserted
In socket position.Specifically, charging unit can be fixedly installed in railcar 3, for being patrol unmanned machine 4 in inspection process
In constantly charge, guarantee that electricity is sufficient；The both ends of piping lane 1 or track 2 can also be fixedly installed on, for being patrol unmanned machine 4
The electric energy supplement under non-inspection state.
Specifically, piping lane 1 and 3 one of railcar are equipped with sliding slot, another one is equipped with the track 2 cooperated with sliding slot, excellent
Choosing, railcar 3 are moved along 1 length direction of piping lane.Wherein, track 2 can be C font hanger rail, be also possible to I-shaped hanger rail.
In order to improve connective stability, sliding slot can be two, and two sliding slots are arranged in parallel, and sliding slot is arranged in a one-to-one correspondence with track 2.
Cooperate for the ease of patrol unmanned machine 4 with railcar 3, it is preferable that track 2 is arranged on 1 inner wall top of piping lane, specifically
, track 2 is laid on the ceiling of underground pipe gallery 1, and patrol unmanned machine 4 is mounted on the bottom end of railcar 3.Certainly, according to reality
Border needs, and can modify the position of track 2.
As can be seen from the above description, in the piping lane inspection device provided by the application specific embodiment, by piping lane 1
Interior setting track 2, and being arranged can be along the railcar 3 that track 2 moves, so that leading to when patrol unmanned machine is connect with railcar 3
Crossing railcar 3 drives patrol unmanned machine to move, and patrol unmanned machine is avoided to consume energy at work more situation.Simultaneously by pipe
The charging unit to charge to patrol unmanned machine is arranged in corridor inspection device, may be implemented to carry out the battery of patrol unmanned machine
Charging so that patrol unmanned machine can be used after charging in piping lane, and then improves the working efficiency of patrol unmanned machine.
Simultaneously by the way that track 2 is arranged in piping lane 1, and being arranged can be along the railcar 3 that track 2 moves, so that working as inspection
When unmanned plane 4 is connect with railcar 3, the patrol unmanned movement of machine 4 is driven to carry out whole autonomous inspection or quickly arrive by railcar 3
It is checked up to suspected malfunctions region.Patrol unmanned machine 4 can pass through fire resistant doorsets and next section of piping lane inner orbit vehicle 3 automatically simultaneously
Cooperate inspection, being limited by the factors such as piping lane positioning difficulty height, environment complexity relative to machine patrol unmanned in traditional scheme can not be complete
The technical bottleneck of Cheng Zizhu inspection, patrol unmanned machine 4 provided by the present invention it is safe to use, work efficiency is high.
Further, the railcar for being equipped with track 2 in the piping lane 1 between two neighboring fire resistant doorsets 5 and being mounted on track 2
3, when wherein fire resistant doorsets 5 are opened, fire resistant doorsets 5 form the opening 51 for passing through for patrol unmanned machine 4.Since railcar 3 cannot
Across fire resistant doorsets 5, so a railcar 3 is arranged between two fire resistant doorsets 5, carrier of the railcar 3 as delivery unmanned plane, together
One patrol unmanned machine 4 may be implemented to work in the inspection of multiple piping lanes 1.
Specifically, docking facilities include the electromagnetism part that railcar 3 is arranged in, control the Electromagnetic Control dress that electromagnetism part obtains power loss
The actuation part set and be arranged on patrol unmanned machine 4, and can be attracted with electromagnetism part.Specifically, electromagnetism part can be inhaled for electromagnetism
Disk is adsorbed patrol unmanned machine 4 by magnechuck specifically, the magnechuck in railcar 3 is powered on when need to dock
Fixed, patrol unmanned 4 flight control system of machine is closed；When need to separate, the flight control system of patrol unmanned machine 4 is opened, and 3 electromagnetism of railcar is inhaled
Disk power-off, stops working, and patrol unmanned machine 4 is detached from railcar 3.
Specifically, it is preferable that charging unit is mounted on docking facilities, when patrol unmanned machine 4 is connect with railcar 3, is filled
Electric installation charges to patrol unmanned machine 4, the battery module of 1 electric system of piping lane and unmanned plane can be connected, constantly be filled
Electricity.
Meanwhile the docking mechanism of patrol unmanned machine 4 and railcar 3, fixed and charging function is had both, is solved existing
Patrol unmanned 4 cruise duration of machine and the limited problem of mileage, can be stably carried out patrol task, so that patrolling automatically for a long time
Procuratorial organ's case is more practical, practical.
Certainly, in another embodiment specific implementation mode, docking facilities include the spacing collar 31 that suspension hook 42 and suspension hook 42 are clamped,
One of suspension hook 42 and spacing collar 31 are arranged in railcar 3, and another one is arranged on patrol unmanned machine 4.When need to dock, adjust
Fixation is affiliated in the position of whole docking mechanism, realization, and the flight control system of patrol unmanned machine 4 is closed；When need to separate, patrol unmanned machine 4
Flight control system open, adjust the relative position of docking structure, realize that patrol unmanned machine 4 is detached from railcar 3.
Railcar 3 includes sliding block and intermediate cabin；Sliding block is located in the sliding slot of track 2；Intermediate freight space in sliding block lower part, and in
Between cabin be internally provided with driving motor, driving motor is used to drive the traveling of railcar 3, and docking facilities are located under intermediate cabin
Portion.Specifically, charging module is the power module being arranged in the intermediate cabin of railcar 3, power module into electric end and piping lane 1
Electric system is connected, and sending end is connected with driving motor, provides electric power for driving motor.Sending end is also and under railcar 3 simultaneously
The docking mechanism in portion is connected, and during unmanned plane is docked with railcar 3, is charged by docking mechanism to unmanned plane.
Railcar is marked equipped with First look；Specifically, surrounding of the First look label placement in intermediate cabin, i.e., multiple
Railcar 3 with First look label is disposed on track 2.Wherein First look label guidance unmanned plane is close to railcar,
Docking fixation is carried out by docking facilities such as above-mentioned hook or magnetic chucks.Certain docking facilities can be vacuum suction structure,
By vacuum suction, realize that patrol unmanned machine 4 is docked with railcar 3.
Patrol unmanned machine 4 is taken the photograph including fuselage 45, positioning device, the first positioning shooting head 46, ultrasonic sensor 47, inspection
As head 43 and piping lane detection sensor 44 etc., wherein positioning device, the first positioning shooting head 46, ultrasonic sensor 47, inspection
Camera 43 and piping lane detection sensor 44 are arranged on fuselage 45.
Positioning device includes UWB label 49, and wherein UWB label 49 and the base station UWB 7 cooperate, and the base station UWB 7 is located in piping lane,
Position is fixed.Positioning device obtains nothing at a distance from the base station UWB 7 being arranged in piping lane 1 by measuring UWB label 49
In the position that piping lane 1 is global when man-machine inspection, patrol unmanned machine 4 realizes Global localization using UWB technology.The piping lane inspection device
Further include the base station UWB 7 for being set to several place positions of piping lane 1, unmanned plane may be implemented in 1 inside Global localization of piping lane, UWB base
The electric wire that 7 pass through arrangement in piping lane 1 of standing obtains power, and is that machine 4 provides a local point with the label of its band
With reference to road sign.
First positioning shooting head 46, the first positioning shooting head 46 are located at the top of patrol unmanned machine 4, the first positioning shooting head
46 camera lenses are used to detect and identify that First look marks upward, and obtain patrol unmanned machine 4 and railcar 3 by the means of vision
Relative pose, provide accurately local positioning information for patrol unmanned machine 4.Patrol unmanned machine 4 utilizes the first positioning shooting head
46 and First look mark close to railcar 3, realize and docked with railcar 3.
Ultrasonic sensor 47, ultrasonic sensor 47 is distributed in the surrounding of patrol unmanned machine 4, by peripheral obstacle
Measurement, realize automatic obstacle avoiding, improve the flight safety of patrol unmanned machine 4.
Inspection camera 43, inspection camera 43 is for imaging 1 internal state of piping lane.
Piping lane detection sensor 44, piping lane detection sensor 44 are connect with inspection camera 43, and are integrated in patrol unmanned
On 4 holder of machine, for detecting the operating status of piping lane 1.Piping lane detection sensor 44 can be gas sensor, sound sensor
Device, infrared sensor, it is seen that light camera etc..
For unmanned plane loss of weight, save the cost, facilitate delivery etc. consider, it is preferred that fuselage 45, the material of patrol unmanned machine 4
It is of fine quality to be selected as foamed material, more multi-load can be used for carry various kinds of sensors.
Further, which further includes the second visual indicia being arranged on fire resistant doorsets 5, patrol unmanned machine 4
It further include the second positioning shooting head 48 of the second visual indicia for identification, the second positioning shooting head 48 is located at patrol unmanned machine 4
Side, specifically, the second positioning shooting head 48 is located at 45 front end of fuselage.Pass through the First look label of setting and the second vision
Label is oriented to patrol unmanned 4 heading of machine to guide the heading of unmanned plane.
Further, which further includes ground monitoring console 6, and ground monitoring console 6 passes through data
The equipment such as transmitting device are communicated with patrol unmanned machine 4, while to patrol unmanned 4 transmitting order to lower levels of machine, and are obtained patrol unmanned
Inspection information of the machine 4 in piping lane 1, wherein data transmission device includes WiFi equipment 413, digital transmission module 411, figure transmission module
412 etc..Specifically, unmanned plane obtains the various information in piping lane 1 by inspection camera 43 and piping lane detection sensor 44,
Ground monitoring console 6 is sent to by digital transmission module 411, figure transmission module 412, WiFi equipment 413.Ground monitoring console 6
The case where to monitor patrol unmanned machine 4 in piping lane 1, while being executed instruction to the sending of patrol unmanned machine 4, and receive patrol unmanned
The information that machine 4 is fed back.
When piping lane inspection device starts inspection, railcar 3 is attached on track 2, and patrol unmanned machine 4 is connected by docking mechanism
It connects in railcar 3, railcar 3 is moved by being driven by electricity along track 2, and patrol unmanned machine 4 utilizes 43 He of inspection camera
Piping lane detection sensor 44 obtains information in piping lane 1 and is sent to ground monitoring platform by WiFi.When encountering fire resistant doorsets 5, patrol
Inspection unmanned plane 4 is de-orbited vehicle 3 by docking mechanism, and passes through the first positioning shooting head 46 acquisition rail on patrol unmanned machine 4
The mark information of road vehicle 3, it is real in conjunction with the mark information of railcar 3 and 410 means of unmanned aerial vehicle onboard computer of patrol unmanned machine 4
Existing autonomous positioning and avoidance of the unmanned plane in piping lane 1 utilizes second view of the second positioning shooting head 48 detection on fire resistant doorsets 5
Feel label, guides unmanned plane to pass through fire resistant doorsets 5 by the second visual indicia, so that the mark information of next section of railcar 3 is obtained,
The relative pose for obtaining patrol unmanned machine 4 and railcar 3 is realized by First look label and the first positioning shooting head 46, and is drawn
It leads patrol unmanned machine 4 and is docked with railcar 3 and continue patrol task.Specifically, can be run by parking orbit vehicle 3, inspection without
Man-machine 4 is fixed with railcar 3, is observed；Place that is suspicious, needing detailed inspection can control in inspection process patrol unmanned
Machine 4 de-orbits vehicle 3, controls patrol unmanned machine 4 close to area to be tested, carries out multi-angle of view observation.
It is effectively carried out patrol task in time for the ease of patrol unmanned machine 4, when railcar 3 is located at initial position, rail
Road vehicle 3 is respectively positioned on 1 the same end of piping lane.For example, 3 initial position of railcar is respectively positioned on when patrol unmanned 4 flight from left to right of machine
Left side, so that comparatively fast being docked with railcar 3 when patrol unmanned machine 4 is by the one section of flight of piping lane 1 to next section of piping lane 1.
Further, which further includes the inspection resetting apparatus for controlling railcar 3 and resetting.Specifically, inspection
Resetting apparatus includes the limit switch and the driving heterodromous drive control mechanism of railcar 3 that 2 end of track is arranged in, and works as rail
When road vehicle 3 touches limit switch, drive control mechanism drives 3 counter motion of railcar to initial position.When patrol unmanned machine 4 exists
When 1 inspection of piping lane, when needs are in 2 stop off of track, railcar 3 stops working, and patrol unmanned machine 4 is detached from railcar 3,
Railcar is out of service at this time, and after waiting patrol unmanned 4 dropping place of machine, railcar 3 is restarted.In view of limit switch is automatic merely
If control, may and patrol unmanned machine 4 there is deviation with closing.It is preferred that the outdoor control for being equipped with control limit switch work
The work of structure processed, i.e. limit switch is manually controlled by earth station staff.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, 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 piping lane inspection device, including patrol unmanned machine (4), which is characterized in that further include the rail being arranged in piping lane (1)
Road (2), the railcar (3) being mounted on the track (2) and filling for the battery charging to the patrol unmanned machine (4)
Electric installation, the patrol unmanned machine (4) can be connected by docking facilities with the corresponding railcar (3) and separation.
2. piping lane inspection device according to claim 1, which is characterized in that the charging unit is arranged in the railcar
(3) on, when the patrol unmanned machine is connect with the railcar (3), the battery is connect with the charging unit.
3. piping lane inspection device according to claim 2, which is characterized in that the charging unit and the railcar (3)
Power supply mode is identical, and the charging unit can connect with the patrol unmanned machine transplanting of rice.
4. piping lane inspection device according to claim 1, which is characterized in that the charging unit is wireless charging device.
5. piping lane inspection device according to claim 1, which is characterized in that the charging unit is fixedly connected on the pipe
Corridor (1) end.
6. piping lane inspection device according to claim 1, which is characterized in that the piping lane between two neighboring fire resistant doorsets (5)
(1) it is equipped with the track (2) and railcar (3) in, the railcar (3) is able to drive the patrol unmanned machine (4) along institute
State track (2) movement.
7. piping lane inspection device according to claim 6, which is characterized in that charging unit is mounted on the docking facilities
On, when the patrol unmanned machine is connect with the railcar (3), the charging unit charges to the patrol unmanned machine (4).
8. piping lane inspection device according to claim 6, which is characterized in that the railcar (3) includes sliding block and centre
Cabin, the sliding block are located in the sliding slot of track (2), and intermediate freight space is in the sliding block lower part, and the intermediate cabin is internally provided with
Driving motor, for driving the railcar (3) to travel, the docking facilities are located under the intermediate cabin driving motor
Portion.
9. piping lane inspection device according to claim 6, which is characterized in that the railcar (3) is equipped with First look
Label；
It further include the base station UWB (7) for several place positions being arranged on piping lane (1), the base station UWB (7) to described for patrolling
Unmanned plane (4) are examined in piping lane (1) positioned internal；
The patrol unmanned machine (4) includes:
Positioning device, the positioning device include UWB label (49), and the positioning device passes through measurement UWB label (49) and cloth
Set the distance between described base station UWB (7) in piping lane (1) come when obtaining patrol unmanned machine (4) inspection in the pipe
The position of corridor (1) overall situation；
First positioning shooting head (46), the first positioning shooting head (46) is located at the top of the patrol unmanned machine (4), described
First positioning shooting head (46) camera lens upward, and is used to detect and identify that First look marks, and obtain institute by vision means
The relative pose of patrol unmanned machine (4) Yu railcar (3) is stated, provides location information, realization pair for the patrol unmanned machine (4)
It connects；
Ultrasonic sensor (47), the ultrasonic sensor (47) is distributed in the surrounding of the patrol unmanned machine (4), by right
Automatic obstacle avoiding is realized in the measurement of peripheral obstacle；
Inspection camera (43), the inspection camera (43) is for imaging piping lane (1) internal state；
Piping lane detection sensor (44), the piping lane detection sensor (44) connect with the inspection camera (43), and integrated
On the holder of the patrol unmanned machine (4), for detecting the operating status of piping lane (1).
10. piping lane inspection device according to claim 9, which is characterized in that further include ground monitoring console (6), set
Set the second visual indicia on fire resistant doorsets (5), the patrol unmanned machine (4) further includes second visual indicia for identification
The second positioning shooting head (48), the second positioning shooting head (48) is located at the side of the patrol unmanned machine (4), to described
Patrol unmanned machine (4) heading guiding, the ground monitoring console (6) are patrolled by data transmission device (414) with described
Inspection unmanned plane (4) is communicated, and obtains inspection information of the patrol unmanned machine (4) in piping lane (1).
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| CN201910349663.7A CN109941437A (en) | 2019-04-28 | 2019-04-28 | Piping lane inspection device |
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| CN201910349663.7A CN109941437A (en) | 2019-04-28 | 2019-04-28 | Piping lane inspection device |
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| CN109941437A true CN109941437A (en) | 2019-06-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114170703A (en) * | 2021-12-15 | 2022-03-11 | 鞍钢集团自动化有限公司 | Corridor inspection system and laser scanning detection method |
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| CN107526330A (en) * | 2017-09-11 | 2017-12-29 | 中信重工开诚智能装备有限公司 | A kind of underground pipe gallery auto-translating window device passed through for rail polling robot |
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| CN107526330A (en) * | 2017-09-11 | 2017-12-29 | 中信重工开诚智能装备有限公司 | A kind of underground pipe gallery auto-translating window device passed through for rail polling robot |
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