CN110001956B - Pipe gallery inspection device and pipe gallery inspection method - Google Patents
Pipe gallery inspection device and pipe gallery inspection method Download PDFInfo
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- CN110001956B CN110001956B CN201910350170.5A CN201910350170A CN110001956B CN 110001956 B CN110001956 B CN 110001956B CN 201910350170 A CN201910350170 A CN 201910350170A CN 110001956 B CN110001956 B CN 110001956B
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- 238000007689 inspection Methods 0.000 title claims abstract description 341
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000003032 molecular docking Methods 0.000 claims abstract description 39
- 230000000007 visual effect Effects 0.000 claims description 47
- 210000001503 joint Anatomy 0.000 claims description 24
- 230000005540 biological transmission Effects 0.000 claims description 20
- 238000012544 monitoring process Methods 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 15
- 239000003550 marker Substances 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 description 10
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 6
- 238000013459 approach Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000000926 separation method Methods 0.000 description 4
- 238000001179 sorption measurement Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000005187 foaming Methods 0.000 description 2
- 239000013585 weight reducing agent Substances 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
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- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B3/00—Elevated railway systems with suspended vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D3/00—Aircraft adaptations to facilitate towing or being towed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
- F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Transportation (AREA)
- Remote Sensing (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a pipe gallery inspection device and a pipe gallery inspection method, wherein the pipe gallery inspection device comprises a track arranged in a pipe gallery and a rail car arranged on the track, and an inspection unmanned aerial vehicle can be connected with and separated from the rail car through a docking device. Through set up the track in the piping lane, and set up the railcar that can follow orbital motion for when patrolling and examining unmanned aerial vehicle and railcar are connected, drive the unmanned aerial vehicle motion of patrolling and examining and carry out whole independently and patrol and examine or arrive suspected fault area fast and examine. Meanwhile, the inspection unmanned aerial vehicle can automatically pass through the fireproof door to cooperate with the next section of pipe gallery track for inspection, and compared with the technical bottleneck that the inspection unmanned aerial vehicle in the traditional scheme is limited by high pipe gallery positioning difficulty, complex environment and other factors, the inspection unmanned aerial vehicle provided by the invention cannot automatically inspect in the whole course, and has high use safety and high working efficiency.
Description
Technical Field
The invention relates to the technical field of inspection of the interior of a pipe gallery, in particular to an inspection device of the pipe gallery. The invention also relates to a pipe gallery inspection method.
Background
With the development of cities, underground pipe galleries begin to spread over large cities, and daily pipe gallery inspection is one task of pipe gallery management. The inspection work of the underground urban pipe gallery is mainly completed manually, and the inspection task requires a lot of time and labor due to the fact that the pipe gallery is long, and the work is relatively boring.
The unmanned aerial vehicle that patrols and examines is adopted generally to carry out the piping lane work of patrolling and examining, and specifically, fly in the piping lane through the unmanned aerial vehicle of patrolling and examining, detects the inside state of piping lane. Because the internal environment of the pipe gallery is complex, various bulges (metal frames and the like) exist, and the unmanned aerial vehicle needs to automatically avoid barriers in real time in the whole process; meanwhile, the pipe gallery is internally provided with GPS positioning, only UWB and other visual means can be relied on, but the pipe gallery is long and narrow in ground condition, so that the whole-course automatic positioning is realized by using UWB, the difficulty is high, and the inspection unmanned aerial vehicle is low in inspection safety.
Disclosure of Invention
The invention aims to provide a pipe gallery inspection device so as to improve inspection safety and working efficiency of an inspection unmanned aerial vehicle. Another object of the invention is to provide a pipe gallery inspection method.
In order to achieve the above purpose, the invention provides a pipe gallery inspection device, which comprises an inspection unmanned aerial vehicle, a track arranged in the pipe gallery and a rail car arranged on the track, wherein the inspection unmanned aerial vehicle can be connected with and separated from the rail car through a docking device.
Preferably, the track and the rail car are arranged in the pipe gallery between two adjacent fireproof doors, and the inspection unmanned aerial vehicle is driven by the rail car to move along the track.
Preferably, the docking device comprises an electromagnetic part arranged on the railway car, an electromagnetic control device for controlling the electromagnetic part to be powered off, and a suction part arranged on the inspection unmanned aerial vehicle and capable of being sucked with the electromagnetic part.
Preferably, the docking device comprises a lifting hook and a limiting ring which is connected with the lifting hook in a clamping mode, one of the lifting hook and the limiting ring is arranged on the rail car, and the other one of the lifting hook and the limiting ring is arranged on the inspection unmanned aerial vehicle.
Preferably, the rail car comprises a sliding block and an intermediate cabin; the sliding block is positioned in the sliding groove of the track; the middle cabin is located the slider lower part, just the inside driving motor that is provided with of middle cabin, driving motor is used for the drive the traveling of railcar, interfacing apparatus is located the lower part of middle cabin.
Preferably, the rail car is provided with a first visual mark;
the system comprises a pipe gallery, a plurality of UWB base stations, a plurality of wireless communication devices and a wireless communication device, wherein the UWB base stations are arranged at a plurality of positions on the pipe gallery and are used for positioning the inspection unmanned aerial vehicle in the pipe gallery;
the unmanned aerial vehicle of patrolling and examining includes:
the positioning device comprises a UWB tag, and acquires the global position of the pipe gallery when the inspection unmanned aerial vehicle is inspected by measuring the distance between the UWB tag and the UWB base station arranged in the pipe gallery;
the first positioning camera is positioned at the top end of the inspection unmanned aerial vehicle, the first positioning camera lens faces upwards and is used for detecting and identifying a first visual mark, and the relative pose of the inspection unmanned aerial vehicle and the rail car is obtained through visual means, so that positioning information is provided for the inspection unmanned aerial vehicle, and docking is realized;
the ultrasonic sensors are distributed around the inspection unmanned aerial vehicle, and the autonomous obstacle avoidance is realized through the measurement of surrounding obstacles;
the inspection camera is used for detecting the internal state of the camera gallery;
pipe gallery detection sensor, pipe gallery detection sensor with patrol and examine the camera and be connected, and integrate patrol and examine unmanned aerial vehicle's cloud platform for detect pipe gallery's running state.
Preferably, the unmanned aerial vehicle is patrolled and examined to still including setting up the second vision mark on preventing fire door, the unmanned aerial vehicle is patrolled and examined still including being used for discernment the second location camera of second vision mark, the second location camera is located patrol and examine unmanned aerial vehicle's side, right patrol and examine unmanned aerial vehicle direction of flight direction.
Preferably, the system further comprises a ground monitoring control console, wherein the ground monitoring control console is communicated with the inspection unmanned aerial vehicle through a data transmission device, and acquires inspection information of the inspection unmanned aerial vehicle in a pipe gallery.
Preferably, when the rail car is in the initial position, the rail cars are all located at the same end of the pipe rack.
Preferably, the system further comprises a patrol resetting device for controlling the reset of the rail car.
The pipe gallery inspection method is applied to the pipe gallery inspection device, and comprises the following steps:
a1: the track is positioned in the pipe gallery and extends along the length of the pipe gallery, and the inspection unmanned aerial vehicle is connected with a rail car on the track through the docking device;
a2: the track car drives the inspection unmanned aerial vehicle to move along the track, and the inspection unmanned aerial vehicle detects the running state of a pipe gallery;
a3: when the inspection unmanned aerial vehicle runs to the tail of a section of track, the inspection unmanned aerial vehicle is separated from the track vehicle through the docking device;
a4: the inspection unmanned aerial vehicle penetrates through the fireproof door and is in butt joint with the railcar in the next section pipe gallery through the butt joint device, and the inspection task is continued.
Preferably, the inspection unmanned aerial vehicle detects and identifies a first visual mark located on the railcar by using a first positioning camera arranged at the top end of the inspection unmanned aerial vehicle, and obtains the relative pose of the inspection unmanned aerial vehicle and the railcar by visual means, so that positioning information is provided for the inspection unmanned aerial vehicle, and the inspection unmanned aerial vehicle and the railcar are in butt joint.
Preferably, the step A2 includes:
when the unmanned aerial vehicle detects a suspected fault point or reaches a specified fault point, the inspection unmanned aerial vehicle is separated from the rail car, and the distance between a UWB label arranged on the inspection unmanned aerial vehicle and a UWB base station arranged in the pipe gallery is measured through a positioning device to obtain the global position of the unmanned aerial vehicle in the pipe gallery during inspection;
the ultrasonic sensors are distributed on the inspection unmanned aerial vehicle, and the autonomous obstacle avoidance of the inspection unmanned aerial vehicle is realized through the measurement of surrounding obstacles;
the inspection camera is arranged on the inspection unmanned aerial vehicle and is used for photographing the internal state of the pipe gallery;
the pipe gallery detection sensor is integrated on the inspection unmanned aerial vehicle holder, is connected with the inspection camera and is used for detecting the running state of the pipe gallery.
Preferably, the step A4 includes:
a40: the inspection unmanned aerial vehicle utilizes a second positioning camera arranged at the side end of the inspection unmanned aerial vehicle to detect and identify a second visual mark positioned on the fireproof door, and the inspection unmanned aerial vehicle passes through the fireproof door through the guidance of the second visual mark;
a41: after the inspection unmanned aerial vehicle passes through the fireproof door, detecting and identifying a first visual mark on the next section of the railcar, and acquiring the relative pose of the inspection unmanned aerial vehicle and the railcar through visual means to realize butt joint.
Preferably, the method further comprises a step A5: the ground monitoring control console is communicated with the inspection unmanned aerial vehicle through the data transmission device, meanwhile, a command is issued to the inspection unmanned aerial vehicle, and inspection information of the inspection unmanned aerial vehicle in a pipe gallery is obtained.
In the technical scheme, the pipe gallery inspection device comprises the track arranged in the pipe gallery and the rail car arranged on the track, and the inspection unmanned aerial vehicle can be connected with and separated from the rail car through the docking device. According to the pipe gallery inspection device, the track is arranged in the pipe gallery, and the track car capable of moving along the track is arranged, so that when the inspection unmanned aerial vehicle is connected with the track car, the track car drives the inspection unmanned aerial vehicle to move to automatically inspect the whole course or quickly reach a suspected fault area for inspection. Meanwhile, the inspection unmanned aerial vehicle can automatically pass through the fireproof door to cooperate with the next section of pipe gallery track for inspection, and compared with the technical bottleneck that the inspection unmanned aerial vehicle in the traditional scheme is limited by high pipe gallery positioning difficulty, complex environment and other factors, the inspection unmanned aerial vehicle provided by the invention cannot automatically inspect in the whole course, and has high use safety and high working efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a layout diagram of a pipe gallery inspection device provided by an embodiment of the invention;
FIG. 2 is a partial enlarged view of a pipe gallery inspection device according to an embodiment of the present invention;
fig. 3 is a mounting position diagram of the inspection unmanned aerial vehicle provided by the embodiment of the invention;
fig. 4 is a schematic structural diagram of the inspection unmanned aerial vehicle according to the embodiment of the present invention;
FIG. 5 is a schematic block diagram of the operation of the inspection unmanned aerial vehicle according to the embodiment of the present invention;
fig. 6 is a working schematic diagram of the inspection unmanned aerial vehicle provided by the embodiment of the invention;
fig. 7 is a schematic structural diagram of a data transmission device according to an embodiment of the present invention;
fig. 8 is a flowchart of a pipe gallery inspection method according to an embodiment of the present invention.
Wherein in fig. 1-7: 1-pipe gallery, 2-track;
3-rail car and 31-limit ring;
4-inspection unmanned aerial vehicle, 41-duct, 42-lifting hook, 43-inspection camera, 44-pipe gallery detection sensor, 45-fuselage, 46-first positioning camera, 47-ultrasonic sensor, 48-second positioning camera, 49-UWB label, 410-unmanned aerial vehicle on-board computer, 411-data transmission module, 412-image transmission module, 413-WiFi equipment and 414-data transmission device;
5-fireproof door, 51-opening;
6-ground monitoring console, 7-UWB base station.
Detailed Description
The invention provides a pipe gallery inspection device for improving inspection safety and working efficiency of an inspection unmanned aerial vehicle. Another object of the invention is to provide a pipe gallery inspection method.
The present invention will be described in further detail below with reference to the drawings and embodiments, so that those skilled in the art can better understand the technical solutions of the present invention.
Please refer to fig. 1 to 8.
In a specific embodiment, the pipe gallery inspection device provided by the specific embodiment of the invention comprises an inspection unmanned aerial vehicle 4, a track 2 arranged in the pipe gallery 1 and a rail car arranged on the track 2, wherein the rail car 3 drives the inspection unmanned aerial vehicle 4 to move along the track 2. The inspection unmanned aerial vehicle 4 is not limited in type and material, and may be any one of an open unmanned aerial vehicle, a ducted unmanned aerial vehicle and a micro-aircraft, and as shown in the figure, the inspection unmanned aerial vehicle 4 may be a ducted unmanned aerial vehicle provided with a duct 41.
Specifically, one of the pipe rack 1 and the rail car 3 is provided with a sliding groove, the other is provided with a rail 2 matched with the sliding groove, and preferably, the rail car 3 moves along the length direction of the pipe rack 1. The track 2 may be a C-shaped hanger rail or an i-shaped hanger rail. In order to improve the connection stability, the number of the sliding grooves can be two, the two sliding grooves are arranged in parallel, and the sliding grooves are arranged in one-to-one correspondence with the rails 2.
In order to facilitate the cooperation of the inspection unmanned aerial vehicle 4 and the track vehicle 3, preferably, the track 2 is arranged at the top end of the inner wall of the pipe gallery 1, and specifically, the track 2 is paved on the ceiling of the underground pipe gallery 1, and the inspection unmanned aerial vehicle 4 is arranged at the bottom end of the track vehicle 3. Of course, the position of the track 2 may be modified according to actual needs.
All be equipped with track 2 and railcar 3 in the piping lane 1 between two adjacent fire door 5, wherein prevent fire door 5 when opening, prevent fire door 5 form and be used for supplying the opening 51 that patrol and examine unmanned aerial vehicle 4 passed through. Since the rail car 3 can not pass through the fireproof door 5, one rail car 3 is arranged between the two fireproof doors 5, the rail car 3 is used as a carrier for carrying the unmanned aerial vehicle, and the same inspection unmanned aerial vehicle 4 can realize inspection work on a plurality of pipe galleries 1.
According to the pipe gallery inspection device, the track 2 is arranged in the pipe gallery 1, and the track car 3 capable of moving along the track 2 is arranged, so that when the inspection unmanned aerial vehicle 4 is connected with the track car 3, the track car 3 drives the inspection unmanned aerial vehicle 4 to move, and the track car 3 drives the inspection unmanned aerial vehicle 4 to move for full-course autonomous inspection or to quickly reach a suspected fault area for inspection. Meanwhile, the inspection unmanned aerial vehicle 4 can automatically pass through the fireproof door to cooperate with the track 2 in the next pipe gallery, and compared with the technical bottleneck that the inspection unmanned aerial vehicle in the traditional scheme cannot be automatically inspected in the whole course due to the factors of high pipe gallery positioning difficulty, complex environment and the like, the inspection unmanned aerial vehicle 4 provided by the invention is high in use safety and high in working efficiency.
Specifically, the docking device comprises an electromagnetic part arranged on the railway car 3, an electromagnetic control device for controlling the electromagnetic part to be powered off and an attraction part arranged on the inspection unmanned aerial vehicle 4 and capable of being attracted with the electromagnetic part. Specifically, the electromagnetic piece can be an electromagnetic chuck, and specifically, when the electromagnetic chuck on the railway car 3 needs to be docked, the electromagnetic chuck is electrified to work, the inspection unmanned aerial vehicle 4 is adsorbed and fixed through the electromagnetic chuck, and the flight control system of the inspection unmanned aerial vehicle 4 is closed; when needing the separation, the flight control system of inspection unmanned aerial vehicle 4 opens, and railcar 3 electromagnetic chuck outage stops working, and inspection unmanned aerial vehicle 4 breaks away from with railcar 3.
Of course, in another specific embodiment, the docking device includes a hook 42 and a stop collar 31 that is engaged with the hook 42, one of the hook 42 and the stop collar 31 is disposed on the railcar 3, and the other is disposed on the inspection unmanned aerial vehicle 4. When docking is needed, the position of the docking mechanism is adjusted to realize the fixation of the docking, and the flight control system of the inspection unmanned aerial vehicle 4 is closed; when needing the separation, the flight control system of inspection unmanned aerial vehicle 4 opens, adjusts the relative position of docking structure, realizes inspection unmanned aerial vehicle 4 and railcar 3 break away from.
Preferably, the rail car 3 comprises a slider and an intermediate cabin; the sliding block is positioned in the sliding groove of the track 2; the middle cabin is positioned at the lower part of the sliding block, a driving motor is arranged in the middle cabin and used for driving the rail car 3 to run, and the docking device is positioned at the lower part of the middle cabin.
Further, a first visual mark is arranged on the rail car; in particular, the first visual marker is arranged around the intermediate compartment, i.e. a plurality of railcars 3 with the first visual marker are arranged on the track 2. Wherein the first visual mark guides the unmanned aerial vehicle to approach the railcar, and the butt joint is fixed through the butt joint devices such as the hook or the magnetic chuck. Of course, the docking device can be of a vacuum adsorption structure, and the inspection unmanned aerial vehicle 4 and the railcar 3 are docked through vacuum adsorption.
The inspection unmanned aerial vehicle 4 comprises a body 45, a positioning device, a first positioning camera 46, an ultrasonic sensor 47, an inspection camera 43, a pipe gallery detection sensor 44 and the like, wherein the positioning device, the first positioning camera 46, the ultrasonic sensor 47, the inspection camera 43 and the pipe gallery detection sensor 44 are all arranged on the body 45.
The positioning device comprises a UWB tag 49, wherein the UWB tag 49 is matched with the UWB base station 7, the UWB base station 7 is positioned in the pipe gallery, and the position is fixed. The positioning device obtains the global position of the unmanned aerial vehicle in the piping lane 1 during inspection by measuring the distance between the UWB tag 49 and the UWB base station 7 arranged in the piping lane 1, and the inspection unmanned aerial vehicle 4 realizes global positioning by using UWB technology. This piping lane inspection device still includes UWB basic station 7 that sets up a plurality of positions of piping lane 1, can realize unmanned aerial vehicle at the inside global positioning of piping lane 1, UWB basic station 7 obtains power through the electric wire of arranging in the piping lane 1 to provide a local point position reference road sign for inspection unmanned aerial vehicle 4 with the mark in its area.
The first positioning camera 46, the first positioning camera 46 is located the top of patrolling and examining the unmanned aerial vehicle 4, and first positioning camera 46 camera lens is used for detecting and discerning first visual mark up to acquire the relative position appearance of patrolling and examining unmanned aerial vehicle 4 and railcar 3 through the means of vision, provide accurate local positioning information for patrolling and examining unmanned aerial vehicle 4. The inspection unmanned aerial vehicle 4 approaches the railcar by using the first positioning camera 46 and the first visual mark, and realizes the butt joint with the railcar 3.
Ultrasonic sensor 47, ultrasonic sensor 47 distributes around patrolling and examining unmanned aerial vehicle 4, through the measurement to the barrier around, realizes independently keeping away the barrier, improves the flight security of patrolling and examining unmanned aerial vehicle 4.
Patrol camera 43, patrol camera 43 is used for camera corridor 1 internal state.
Piping lane detects sensor 44, and piping lane detects sensor 44 and is connected with inspection camera 43, and integrated on inspection unmanned aerial vehicle 4 cloud platform for detect the running state of piping lane 1. The piping lane detecting sensor 44 may be a gas sensor, an infrared sensor, a visible light camera, or the like.
In view of the aspects of weight reduction, cost saving, convenient carrying and the like of the unmanned aerial vehicle, the body 45 and the material of the inspection unmanned aerial vehicle 4 are preferably foaming materials, and more load can be used for carrying various sensors.
This piping lane inspection device is still including setting up the second vision mark on preventing fire door 5, and unmanned aerial vehicle 4 is patrolled and examined still including being used for discernment second vision mark's second location camera 48, and second location camera 48 is located the side of patrolling and examining unmanned aerial vehicle 4, and specifically, second location camera 48 is located fuselage 45 front end. Through the first visual mark and the second visual mark that set up for guide unmanned aerial vehicle's direction of flight, right inspection unmanned aerial vehicle 4 direction of flight direction.
The pipe gallery inspection device further comprises a ground monitoring control console 6, the ground monitoring control console 6 communicates with the inspection unmanned aerial vehicle 4 through equipment such as a data transmission device 414, meanwhile, a command is issued to the inspection unmanned aerial vehicle 4, inspection information of the inspection unmanned aerial vehicle 4 in the pipe gallery 1 is obtained, and the data transmission device 414 comprises a WiFi equipment 413, a data transmission module 411, a picture transmission module 412 and the like. Specifically, the unmanned aerial vehicle acquires various information in the pipe lane 1 through the inspection camera 43 and the pipe lane detection sensor 44, and transmits the information to the ground monitoring console 6 through the data transmission module 411, the image transmission module 412 and the WiFi device 413. The ground monitoring console 6 is used for monitoring the condition of the inspection unmanned aerial vehicle 4 in the pipe gallery 1, sending out an execution instruction to the inspection unmanned aerial vehicle 4 and receiving information fed back by the inspection unmanned aerial vehicle 4.
When the pipe gallery inspection device starts inspecting, the track car 3 is attached to the track 2, the inspection unmanned aerial vehicle 4 is connected to the track car 3 through the docking mechanism, the track car 3 moves along the track 2 through electric drive, and the inspection unmanned aerial vehicle 4 acquires information in the pipe gallery 1 through the inspection camera 43 and the pipe gallery detection sensor 44 and transmits the information to the ground monitoring station through WiFi. When encountering the fireproof door 5, the inspection unmanned aerial vehicle 4 breaks away from the rail car 3 through the docking mechanism, and obtains the mark information of the rail car 3 through the first positioning camera 46 on the inspection unmanned aerial vehicle 4, the autonomous positioning and obstacle avoidance of the unmanned aerial vehicle in the pipe gallery 1 are realized by combining the mark information of the rail car 3 and the unmanned aerial vehicle airborne computer 410 means of the inspection unmanned aerial vehicle 4, the second visual mark on the fireproof door 5 is detected by utilizing the second positioning camera 48, the unmanned aerial vehicle is guided to pass through the fireproof door 5 through the second visual mark, so that the mark information of the next section of rail car 3 is obtained, the relative pose of the inspection unmanned aerial vehicle 4 and the rail car 3 is obtained through the first visual mark and the first positioning camera 46, and the inspection unmanned aerial vehicle 4 and the rail car 3 are guided to dock and continue the inspection task. Specifically, the inspection unmanned aerial vehicle 4 and the rail car 3 can be fixed for observation by suspending the operation of the rail car 3; in the inspection process, the inspection unmanned aerial vehicle 4 is controlled to be separated from the railcar 3 in the suspicious places needing to be inspected in detail, and the inspection unmanned aerial vehicle 4 is controlled to be close to the area to be inspected, so that multi-view observation is performed.
In order to facilitate the inspection unmanned aerial vehicle 4 to efficiently perform the inspection task in time, when the railcar 3 is located at the initial position, the railcar 3 is located at the same end of the pipe gallery 1. For example, when the inspection unmanned aerial vehicle 4 flies from left to right, the initial positions of the rail cars 3 are all located on the left side, so that when the inspection unmanned aerial vehicle 4 flies from one pipe lane 1 to the next pipe lane 1, the inspection unmanned aerial vehicle is docked with the rail cars 3 faster.
Further, the pipe gallery inspection device further comprises an inspection reset device for controlling the reset of the rail car 3. Specifically, the inspection reset device comprises a limit switch arranged at the tail end of the track 2 and a driving control mechanism for driving the track car 3 to reversely move, and when the track car 3 touches the limit switch, the driving control mechanism drives the track car 3 to reversely move to an initial position. When the inspection unmanned aerial vehicle 4 is inspected at the pipe gallery 1, when the track 2 is required to stop midway, the track vehicle 3 stops working, the inspection unmanned aerial vehicle 4 is separated from the track vehicle 3, the track vehicle stops running at the moment, and the track vehicle 3 is restarted after waiting to inspect the landing of the unmanned aerial vehicle 4. Considering that the limit switch is simply automatically controlled, a deviation may occur in cooperation with the inspection unmanned aerial vehicle 4. Preferably, a control structure for controlling the limit switch to work is arranged outdoors, namely, the limit switch work is manually controlled by a ground station worker.
This application realizes that piping lane 1 is automatic to patrol and examine through adopting the mode that patrol and examine unmanned aerial vehicle 4 and track 2 combine together in the piping lane 1, and the security is ensured. Meanwhile, the inspection unmanned aerial vehicle 4 and the railcar 3 can be separated, suspected fault points are observed in a short distance, the observation visual angle is larger, and the inspection is more flexible and free. The inspection unmanned aerial vehicle 4 is in butt joint with the corresponding railcar 3 through the butt joint device, the inspection unmanned aerial vehicle 4 penetrates through the fireproof door 5 to inspect each section of pipe gallery 1, meanwhile, detection equipment is prevented from being respectively arranged at each section of pipe gallery 1, and cost is reduced. Utilize UWB basic station 7 and UWB label 49 to realize unmanned aerial vehicle at the inside general position of piping lane 1, utilize vision means and vision mark to realize unmanned aerial vehicle at local accurate location, the automatic inspection scheme that this application mentions is more feasible, and the practicality is strong, the wide popularization of being convenient for.
The invention provides a pipe gallery inspection method, which is applied to the pipe gallery inspection device and comprises the following steps:
a1: track 2 is located the piping lane, and extends along piping lane 1 length, and inspection unmanned aerial vehicle 4 is connected with railcar 3 on track 2 through interfacing apparatus.
The inspection unmanned aerial vehicle 4 is not limited in type and material, and may be any one of an open unmanned aerial vehicle, a ducted unmanned aerial vehicle and a micro-aircraft, and as shown in the figure, the inspection unmanned aerial vehicle 4 may be a ducted unmanned aerial vehicle provided with a duct 41.
The rail 2 can be a C-shaped hanger rail or an I-shaped hanger rail. In order to improve the connection stability, the number of the sliding grooves can be two, the two sliding grooves are arranged in parallel, and the sliding grooves are arranged in one-to-one correspondence with the rails 2.
In order to facilitate the cooperation of the inspection unmanned aerial vehicle 4 and the track vehicle 3, preferably, the track 2 is arranged at the top end of the inner wall of the pipe gallery 1, and specifically, the track 2 is paved on the ceiling of the underground pipe gallery 1, and the inspection unmanned aerial vehicle 4 is arranged at the bottom end of the track vehicle 3. Of course, the position of the track 2 may be modified according to actual needs.
All be equipped with track 2 and install railcar 3 on track 2 in the piping lane 1 between two adjacent fire door 5, wherein prevent fire door 5 when opening, prevent fire door 5 form and be used for supplying the opening 51 that patrol and examine unmanned aerial vehicle 4 passed through. The inspection unmanned aerial vehicle 4 can be connected with and separated from the corresponding railcar 3 through a docking device. Since the rail car 3 can not pass through the fireproof door 5, one rail car 3 is arranged between the two fireproof doors 5, the rail car 3 is used as a carrier for carrying the unmanned aerial vehicle, and the same inspection unmanned aerial vehicle 4 can realize inspection work on a plurality of pipe galleries 1.
Specifically, the inspection unmanned aerial vehicle 4 uses the first positioning camera 46 arranged at the top end of the inspection unmanned aerial vehicle to detect and identify the first visual mark on the railcar 3, and obtains the relative pose of the inspection unmanned aerial vehicle 4 and the railcar 3 through visual means, so as to provide positioning information for the inspection unmanned aerial vehicle 4 and realize the butt joint of the inspection unmanned aerial vehicle 4 and the railcar 3. With the first positioning camera 46 and the first visual mark, the inspection unmanned aerial vehicle 4 approaches the railcar 3 through the first positioning camera 46 and the first visual mark on the railcar 3, and realizes the butt joint with the railcar 3.
In particular, the first visual marker is arranged around the intermediate compartment, i.e. a plurality of railcars 3 with the first visual marker are arranged on the track 2. The first visual mark guides the inspection unmanned aerial vehicle 4 to approach the railcar 3, and the inspection unmanned aerial vehicle is fixedly in butt joint through the butt joint devices such as the hooks or the magnetic suckers. Of course, the docking device can be of a vacuum adsorption structure, and the inspection unmanned aerial vehicle 4 and the railcar 3 are docked through vacuum adsorption.
A2: the railcar 3 drives the unmanned aerial vehicle 4 of patrolling and examining along track 2 motion, and unmanned aerial vehicle 4 of patrolling and examining detects the running state of piping lane 1. In order to improve work efficiency, inspection unmanned aerial vehicle 4 detects piping lane 1 inside in inspection process often. Of course, the inspection unmanned aerial vehicle can also detect only when going to the journey, and stop detecting when returning to the journey.
Specifically, one of the pipe rack 1 and the rail car 3 is provided with a sliding groove, the other is provided with a rail 2 matched with the sliding groove, and preferably, the rail car 3 moves along the length direction of the pipe rack 1.
Preferably, the rail car 3 comprises a slider and an intermediate cabin; the sliding block is positioned in the sliding groove of the track 2; the middle cabin is positioned at the lower part of the sliding block, a driving motor is arranged in the middle cabin and used for driving the rail car 3 to run, and the docking device is positioned at the lower part of the middle cabin.
Specifically, when the unmanned aerial vehicle detects a suspected fault point or reaches a specified fault point, the inspection unmanned aerial vehicle 4 is separated from the rail car 3, and the distance between the UWB tag 49 arranged on the inspection unmanned aerial vehicle 4 and the UWB base station 7 arranged in the pipe gallery is measured by the positioning device to obtain the global position of the inspection unmanned aerial vehicle 4 in the pipe gallery 1 during inspection. Wherein UWB tag 49 cooperates with UWB base station 7, UWB base station 7 is located in the pipe rack with a fixed position.
The ultrasonic sensors 47 distributed on the inspection unmanned aerial vehicle 4 realize autonomous obstacle avoidance of the inspection unmanned aerial vehicle 4 by measuring surrounding obstacles, and improve the flight safety of the inspection unmanned aerial vehicle 4.
The inspection camera 43 is arranged on the inspection unmanned aerial vehicle 4 and is used for photographing the internal state of the pipe gallery 1;
the pipe gallery detection sensor 44 integrated on the cradle head of the inspection unmanned aerial vehicle 4 is connected with the inspection camera 43 and used for detecting the running state of the pipe gallery 1. The pipe lane detecting sensor 44 may be a gas sensor, a sound sensor, an infrared sensor, a visible light camera, or the like.
A3: when the inspection unmanned aerial vehicle 4 runs to the tail end of the section of track 2, the inspection unmanned aerial vehicle 4 is separated from the track car 3 through the docking device.
Specifically, the docking device is arranged on an electromagnetic part of the railway car 3, an electromagnetic control device for controlling the electromagnetic part to be powered off and an attraction part which is arranged on the inspection unmanned aerial vehicle 4 and can be attracted with the electromagnetic part. Specifically, the electromagnetic piece can be an electromagnetic chuck, and specifically, when the electromagnetic chuck on the railway car 3 needs to be docked, the electromagnetic chuck is electrified to work, the inspection unmanned aerial vehicle 4 is adsorbed and fixed through the electromagnetic chuck, and the flight control system of the inspection unmanned aerial vehicle 4 is closed; when needing the separation, the flight control system of inspection unmanned aerial vehicle 4 opens, and railcar 3 electromagnetic chuck outage stops working, and inspection unmanned aerial vehicle 4 breaks away from with railcar 3.
Of course, the docking device comprises a lifting hook 42 and a limiting ring 31 which are clamped with the lifting hook 42, one of the lifting hook 42 and the limiting ring 31 is arranged on the railway car 3, and the other is arranged on the inspection unmanned aerial vehicle 4. When docking is needed, the position of the docking mechanism is adjusted to realize the fixation of the docking, and the flight control system of the inspection unmanned aerial vehicle 4 is closed; when needing the separation, the flight control system of inspection unmanned aerial vehicle 4 opens, adjusts the relative position of docking structure, realizes inspection unmanned aerial vehicle 4 and railcar 3 break away from.
A4: the inspection unmanned aerial vehicle 4 penetrates through the fireproof door 5 and is in butt joint with the railcar 3 in the next section pipe gallery 1 through a butt joint device, and the inspection task is continued.
This piping lane inspection device still includes UWB basic station 7 that sets up a plurality of positions of piping lane 1, can realize unmanned aerial vehicle at the inside global positioning of piping lane 1, UWB basic station 7 obtains power through the electric wire of arranging in the piping lane 1 to provide a local point position reference road sign for inspection unmanned aerial vehicle 4 with the mark in its area.
Step A4 includes:
a40: the inspection unmanned aerial vehicle 4 detects and recognizes a second visual mark located on the fire door 5 by using a second positioning camera 48 provided at a side end thereof, and passes through the fire door 5 guided by the second visual mark.
A41: after the inspection unmanned aerial vehicle 4 passes through the fireproof door 5, detecting and identifying a first visual mark on the next section of the railcar, and acquiring the relative pose of the inspection unmanned aerial vehicle 4 and the railcar 3 through visual means to realize butt joint.
Further, the pipe gallery inspection method further comprises the step A5 of: the ground monitoring console 6 communicates with the inspection unmanned aerial vehicle 4 through the data transmission device 414, issues a command to the inspection unmanned aerial vehicle 4 at the same time, and acquires inspection information of the inspection unmanned aerial vehicle 4 in the pipe gallery 1. The data transmission device includes a data transmission module 411, a graph transmission module 412, and the like. Specifically, the unmanned aerial vehicle acquires various information in the pipe lane 1 through the inspection camera 43 and the pipe lane detection sensor 44, and transmits the information to the ground monitoring console 6 through the data transmission module 411, the image transmission module 412 and the WiFi device 413. The ground monitoring console 6 is used for monitoring the condition of the inspection unmanned aerial vehicle 4 in the pipe gallery 1, sending out an execution instruction to the inspection unmanned aerial vehicle 4, and receiving information fed back by the inspection unmanned aerial vehicle 4.
Specifically, the inspection unmanned aerial vehicle 4 includes a body 45, a positioning device, a first positioning camera 46, an ultrasonic sensor 47, an inspection camera 43, a pipe lane detection sensor 44, and the like, wherein the positioning device, the first positioning camera 46, the ultrasonic sensor 47, the inspection camera 43, and the pipe lane detection sensor 44 are all disposed on the body 45.
In view of weight reduction, cost saving, convenient carrying and the like of the unmanned aerial vehicle, the materials of the body 45, the track 2 and the railcar 3 are preferably foaming materials, and more load can be used for carrying various sensors.
Further, this piping lane inspection device still includes the second vision mark that sets up on preventing fire door 5, and inspection unmanned aerial vehicle 4 still includes the second location camera 48 that is used for discernment second vision mark, and second location camera 48 is located the side of inspection unmanned aerial vehicle 4, and specifically, second location camera 48 is located fuselage 45 front end. Through the first visual mark and the second visual mark that set up for guide unmanned aerial vehicle's direction of flight, right inspection unmanned aerial vehicle 4 direction of flight direction.
When the pipe gallery inspection device starts inspecting, the track car 3 is attached to the track 2, the inspection unmanned aerial vehicle 4 is connected to the track car 3 through the docking mechanism, the track car 3 moves along the track 2 through electric drive, and the inspection camera 43 on the inspection unmanned aerial vehicle 4 acquires information in the pipe gallery 1 and transmits the information to the ground monitoring station through WiFi. When encountering fire door 5, patrol and examine unmanned aerial vehicle 4 and break away from railcar 3 through docking mechanism to acquire railcar 3's mark information through patrol and examine unmanned aerial vehicle 4 on the first positioning camera 46, realize unmanned aerial vehicle's autonomous localization in piping lane 1 through the means of patrol and examine unmanned aerial vehicle 4's unmanned aerial vehicle on-board computer 410, detect the second vision mark on fire door 5 through second positioning camera 48, set up the second vision mark and be used for guiding unmanned aerial vehicle and pass fire door 5, acquire next section railcar 3's mark information, realize acquireing patrol and examine unmanned aerial vehicle 4 and railcar 3's relative position location through first vision mark and first positioning camera 46, and guide unmanned aerial vehicle and car dock and continue the task of patrolling and examining. Specifically, the inspection unmanned aerial vehicle 4 and the rail car 3 can be fixed for observation by suspending the operation of the rail car 3; the inspection unmanned aerial vehicle 4 is separated from the rail car 3 in the suspicious ground controllable inspection unmanned aerial vehicle which needs to be inspected in detail in the inspection process, the inspection unmanned aerial vehicle 4 is controlled to fly close to the area, the multi-view observation is performed, specifically, the inspection unmanned aerial vehicle 4 is separated from the rail car 3 through the docking device by suspending the operation of the rail car 3, the inspection unmanned aerial vehicle 4 flies close to the area, and the multi-view observation is performed.
In order to facilitate the inspection unmanned aerial vehicle 4 to efficiently perform the inspection task in time, when the railcar 3 is located at the initial position, the railcar 3 is located at the same end of the pipe gallery 1. For example, when the inspection unmanned aerial vehicle 4 flies from left to right, the initial positions of the rail vehicles 3 are all located on the left side, so that when the inspection unmanned aerial vehicle 4 flies from one section pipe rack 1 to the next section pipe rack 1, the inspection unmanned aerial vehicle is quickly docked with the rail vehicles 3, and meanwhile, the inspection position of workers is facilitated.
Further, the pipe gallery inspection device further comprises an inspection reset device for controlling the reset of the rail car 3. Specifically, the inspection reset device comprises a limit switch arranged at the tail end of the track 2 and a driving control mechanism for driving the track car 3 to reversely move, and when the track car 3 touches the limit switch, the driving control mechanism drives the track car 3 to reversely move to an initial position. When the inspection unmanned aerial vehicle 4 is inspected at the pipe gallery 1, when the track 2 is required to stop midway, the track vehicle 3 stops working, the inspection unmanned aerial vehicle 4 is separated from the track vehicle 3, the track vehicle stops running at the moment, and the track vehicle 3 is restarted after waiting to inspect the landing of the unmanned aerial vehicle. Considering that the limit switch is simply automatically controlled, a deviation may occur in cooperation with the inspection unmanned aerial vehicle 4. Preferably, a control structure for controlling the limit switch to work is arranged outdoors, namely, the limit switch work is manually controlled by a ground station worker.
This application realizes that pipe lane 1 is automatic to patrol through adopting the mode that patrol unmanned aerial vehicle 4 and track 2 combine together in the pipe lane 1, and the unmanned aerial vehicle can't carry out whole independently patrol the technical problem of examining for the factor such as being suffered to pipe lane location degree of difficulty height, environment complicacy, patrol unmanned aerial vehicle's safety in utilization improves. Meanwhile, the inspection unmanned aerial vehicle 4 and the railcar 3 can be separated, suspected fault points are observed in a short distance, the observation visual angle is larger, and the inspection is more flexible and free. The inspection unmanned aerial vehicle 4 is in butt joint with the corresponding railcar 3 through the butt joint device, the inspection unmanned aerial vehicle 4 penetrates through the fireproof door 5 to inspect each section of pipe gallery 1, meanwhile, detection equipment is prevented from being respectively arranged at each section of pipe gallery 1, and cost is reduced. Utilize UWB basic station 7 and UWB label 49 to realize unmanned aerial vehicle at the inside general position of piping lane 1, utilize vision means and vision mark to realize unmanned aerial vehicle at local accurate location, the automatic inspection scheme that this application mentions is more feasible, and the practicality is strong, the wide popularization of being convenient for.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (12)
1. The utility model provides a pipe gallery inspection method which is characterized in that the pipe gallery inspection device comprises an inspection unmanned aerial vehicle (4), a track (2) arranged in a pipe gallery (1) and a track car (3) arranged on the track (2), wherein the inspection unmanned aerial vehicle (4) can be connected with and separated from the track car (3) through a docking device;
the rail (2) and the rail car (3) are arranged in the pipe gallery (1) between two adjacent fireproof doors (5), and the inspection unmanned aerial vehicle (4) is driven by the rail car (3) to move along the rail (2);
when the inspection unmanned aerial vehicle (4) runs to the tail of a section of track, the inspection unmanned aerial vehicle (4) is separated from the track car (3) through the docking device; the inspection unmanned aerial vehicle (4) penetrates through the fireproof door (5) and is in butt joint with the rail car (3) in the next pipe gallery (1) through the butt joint device, and the inspection task is continued; when the fireproof door (5) is opened, the fireproof door (5) forms an opening (51) for the inspection unmanned aerial vehicle (4) to pass through;
the docking device comprises an electromagnetic part arranged on the railway car (3), an electromagnetic control device for controlling the electromagnetic part to be powered off and an attraction part which is arranged on the inspection unmanned aerial vehicle (4) and can be attracted with the electromagnetic part;
the method comprises the following steps:
a1: the track (2) is positioned in the pipe gallery and extends along the length of the pipe gallery (1), and the inspection unmanned aerial vehicle (4) is connected with the rail car (3) on the track (2) through the docking device;
a2: the track car (3) drives the inspection unmanned aerial vehicle (4) to move along the track (2), and the inspection unmanned aerial vehicle (4) detects the running state of the pipe gallery (1);
a3: when the inspection unmanned aerial vehicle (4) runs to the tail of a section of track, the inspection unmanned aerial vehicle (4) is separated from the track car (3) through the docking device;
a4: the inspection unmanned aerial vehicle (4) penetrates through the fireproof door (5) and is in butt joint with the rail car (3) in the next pipe gallery (1) through the butt joint device, and the inspection task is continued.
2. The pipe gallery inspection method according to claim 1, wherein the inspection unmanned aerial vehicle (4) utilizes a first positioning camera (46) arranged at the top end of the inspection unmanned aerial vehicle to detect and identify a first visual mark positioned on the rail car (3), and obtains the relative pose of the inspection unmanned aerial vehicle (4) and the rail car (3) through visual means, so as to provide positioning information for the inspection unmanned aerial vehicle (4), and realize the butt joint of the inspection unmanned aerial vehicle (4) and the rail car (3).
3. The pipe gallery inspection method as claimed in claim 1, wherein the step A2 includes:
when the unmanned aerial vehicle detects a suspected fault point or reaches a specified fault point, the inspection unmanned aerial vehicle (4) is separated from the rail vehicle (3), and the distance between a UWB tag (49) arranged on the inspection unmanned aerial vehicle (4) and a UWB base station (7) arranged in the pipe gallery is measured through a positioning device to obtain the global position of the inspection unmanned aerial vehicle (4) in the pipe gallery (1) during inspection;
the ultrasonic sensors (47) are distributed on the inspection unmanned aerial vehicle (4), and the automatic obstacle avoidance of the inspection unmanned aerial vehicle (4) is realized through the measurement of surrounding obstacles;
the inspection camera (43) is arranged on the inspection unmanned aerial vehicle (4) and is used for photographing the internal state of the pipe gallery (1);
and a pipe gallery detection sensor (44) integrated on the cradle head of the inspection unmanned aerial vehicle (4) is connected with the inspection camera (43) and used for detecting the running state of the pipe gallery (1).
4. The pipe gallery inspection method as claimed in claim 1, wherein step A4 includes:
a40: the inspection unmanned aerial vehicle (4) utilizes a second positioning camera (48) arranged at the side end of the inspection unmanned aerial vehicle to detect and identify a second visual mark positioned on the fireproof door (5), and the inspection unmanned aerial vehicle is guided by the second visual mark to penetrate through the fireproof door (5);
a41: after the inspection unmanned aerial vehicle (4) passes through the fireproof door (5), detecting and identifying a first visual mark on the next section of railcar, and acquiring the relative pose of the inspection unmanned aerial vehicle (4) and the railcar (3) through visual means to realize butt joint.
5. The piping lane inspection method according to any one of claims 1 to 4, further comprising step A5: the ground monitoring control console (6) is communicated with the inspection unmanned aerial vehicle (4) through the data transmission device (414), meanwhile, a command is issued to the inspection unmanned aerial vehicle (4), and inspection information of the inspection unmanned aerial vehicle (4) in the pipe gallery (1) is obtained.
6. The pipe gallery inspection method according to claim 1, characterized in that the docking device comprises a lifting hook (42) and a limiting ring (31) clamped with the lifting hook (42), one of the lifting hook (42) and the limiting ring (31) is arranged on the rail car (3), and the other is arranged on the inspection unmanned aerial vehicle (4).
7. A pipe gallery inspection method according to claim 1, characterized in that the rail car (3) comprises a slide and an intermediate cabin; the sliding block is positioned in a sliding groove of the track (2); the middle cabin is positioned at the lower part of the sliding block, a driving motor is arranged in the middle cabin and used for driving the rail car (3) to run, and the docking device is positioned at the lower part of the middle cabin.
8. A pipe gallery inspection method as claimed in claim 1, wherein the railcar (3) is provided with a first visual marker;
the system further comprises UWB base stations (7) arranged at a plurality of positions on the pipe gallery (1), wherein the UWB base stations (7) are used for positioning the inspection unmanned aerial vehicle (4) inside the pipe gallery (1);
the inspection unmanned aerial vehicle (4) comprises:
the positioning device comprises a UWB tag (49), and acquires the global position of the pipe gallery (1) when the inspection unmanned aerial vehicle (4) is inspected by measuring the distance between the UWB tag (49) and the UWB base station (7) arranged in the pipe gallery (1);
the first positioning camera (46), the first positioning camera (46) is located at the top end of the inspection unmanned aerial vehicle (4), the first positioning camera (46) is upward in lens and used for detecting and identifying a first visual mark, and the relative pose of the inspection unmanned aerial vehicle (4) and the railcar (3) is obtained through visual means, positioning information is provided for the inspection unmanned aerial vehicle (4), and docking is achieved;
the ultrasonic sensors (47), the ultrasonic sensors (47) are distributed around the inspection unmanned aerial vehicle (4), and the autonomous obstacle avoidance is realized through the measurement of surrounding obstacles;
the inspection camera (43), wherein the inspection camera (43) is used for photographing the internal state of the pipe gallery (1);
piping lane detects sensor (44), piping lane detect sensor (44) with patrol and examine camera (43) and be integrated on the cloud platform of inspection unmanned aerial vehicle (4) for detect the running state of piping lane (1).
9. The pipe gallery inspection method according to claim 8, further comprising a second visual marker arranged on the fireproof door (5), wherein the inspection unmanned aerial vehicle (4) further comprises a second positioning camera (48) for identifying the second visual marker, and the second positioning camera (48) is located at a side end of the inspection unmanned aerial vehicle (4) and guides the flight direction of the inspection unmanned aerial vehicle (4).
10. The pipe gallery inspection method of claim 8, further comprising a ground monitoring console (6), wherein the ground monitoring console (6) communicates with the inspection drone (4) through a data transmission device (414) and obtains inspection information of the inspection drone (4) in the pipe gallery (1).
11. A pipe gallery inspection method as claimed in claim 1, wherein when the rail car (3) is in the initial position, the rail cars (3) are all located at the same end of the pipe gallery (1).
12. A pipe gallery inspection method as claimed in claim 11, further comprising an inspection reset means to control reset of the railcar (3).
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| CN111806712A (en) * | 2020-07-29 | 2020-10-23 | 嘉兴学院 | A multi-functional unmanned aerial vehicle intelligent movement platform for underground pipe gallery |
| CN111824000B (en) * | 2020-07-29 | 2022-09-23 | 嘉兴学院 | Using method of unmanned aerial vehicle mobile platform for underground pipe gallery positioning |
| CN112598812B (en) * | 2020-10-22 | 2022-07-26 | 国网山东省电力公司济宁市任城区供电公司 | Power inspection device and method |
| CN114023022B (en) * | 2021-11-03 | 2023-04-07 | 浙江交通职业技术学院 | Tunnel overhead patrol equipment for monitoring traffic abnormal events |
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