CN110027701A - Underground pipe gallery cruising inspection system - Google Patents
Underground pipe gallery cruising inspection system Download PDFInfo
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- CN110027701A CN110027701A CN201910242470.1A CN201910242470A CN110027701A CN 110027701 A CN110027701 A CN 110027701A CN 201910242470 A CN201910242470 A CN 201910242470A CN 110027701 A CN110027701 A CN 110027701A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Abstract
The invention discloses a kind of underground pipe gallery cruising inspection systems, including unmanned plane during flying platform, flight controller, RGB-D camera and laser radar obstacle avoidance sensor；The vision point cloud data of RGB-D camera acquisition pipe gallery；The Environment Obstacles data of laser radar obstacle avoidance sensor acquisition pipe gallery；The vision point cloud data and Environment Obstacles data of acquisition are transmitted to flight controller；Flight controller comprehensive analysis vision point cloud data and Environment Obstacles data, and inspection flight map is generated based on the analysis results；Unmanned plane during flying platform realizes the guiding automatic detecting pipe gallery of automatic obstacle avoiding cruise and spot hover according to the guiding of inspection flight map.Unmanned plane during flying platform of the invention carries information collection component and acquires the environmental index data in underground pipe gallery in real time, artificial efficient, high quality is replaced to complete piping lane inspection, inspection with this, high reliablity, stability are good, the defect for overcoming the high cost of existing crawler-type traveling crusing robot or rail mounted walking robot, difficult batch to put goods on the market.
Description
Technical field
The present invention relates to intelligent piping lane equipment technical fields, and in particular to a kind of underground pipe gallery cruising inspection system.
Background technique
Pipe gallery (Japan claims " common trench ") is exactly the comprehensive corridor of underground urban duct.One is built in Urban Underground
The various utilities pipelines such as electric power, communication, combustion gas, heat supply, plumbing are integrated in one by tunnel space, are equipped with special maintenance
Mouth, hoisting port and monitoring system, implement unified planning, design, construction and management, are to ensure that the important foundation of city operations is set
It applies and " lifeline ".
Grope by very long, China has built large quantities of underground pipe gallery engineerings in succession.By the end of the year 2015, China is built
With the piping lane length built be 1600km；In country in order to which the policy of the development speed that develops economy, quickening supply side reform is encouraged
Under, 2005km is put in completion in 2016 into operation, and 2006km is put in completion in 2017 into operation；According to current development plan, hereafter
Per every year with the scale development of 2000km or so, finally will be more than the scale of 10000km, China will become qualified city
The superpower of the comprehensive underground pipe gallery in city.
Due to the high speed development of China's pipe gallery, daily inspection and maintenance difficulties are big, and at present mostly by manually holding
Row.Piping lane manual inspection, the simple qualitative judgement of sense organ is carried out to running equipment, and main pass through such as sees, touches, listening, smelling at the sense organs
Go to realize, mainly include device external damage, is corroded, is smoldered, is caught fire, the tour such as peculiar smell, abnormal sound, sentenced with individual
Based on disconnected standard, subjective differences are big, inefficiency, all very big to labour and operation funds demand, it is most important that maintenance
The life security of personnel cannot be protected.
In view of the above-mentioned problems, some companies propose and have developed the crusing robot or rail of some crawler-type travelings
Road formula walking robot, but the method is at high cost, the locomotivity and obstacle avoidance ability of the robot still have certain ask
Topic is difficult to put goods on the market and large batch of production and answer so the robot is only capable of scene after optimization and carries out dry run
With.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of underground pipe gallery cruising inspection systems, realize underground integrated pipe
The automatic intelligent inspection of corridor.
In order to solve the above-mentioned technical problems, the present invention provides a kind of underground pipe gallery cruising inspection systems, including unmanned plane
Flying platform, flight controller and information collection component；The information collection component and flight controller are installed in unmanned plane
On flying platform, the unmanned aerial vehicle platform carries flight controller and information collection component flies in pipe gallery；The letter
Cease acquisition component wired connection flight controller；
The information collection component includes RGB-D camera, laser radar obstacle avoidance sensor, and the RGB-D camera is to adopt
Collect the vision point cloud data of pipe gallery；The laser radar obstacle avoidance sensor hinders to the environment of scanning collection pipe gallery
Hinder data；The vision point cloud data and Environment Obstacles data of acquisition are transmitted to the flight controller；
The flight controller comprehensive analysis vision point cloud data and Environment Obstacles data, and generate based on the analysis results
Inspection flight map；The unmanned plane during flying platform realizes automatic obstacle avoiding cruise and fixed point according to the guiding of inspection flight map
Hovering；
The flight controller generates the step of inspection flight map and includes,
First stage: the flight controller view-based access control model SLAM algorithm analysis vision point cloud data and Environment Obstacles number
According to, the real-time positioning information of acquisition unmanned plane during flying platform and the environmental characteristic information of pipe gallery, and according to the real-time of acquisition
The environmental characteristic map of location information and map feature information architecture pipe gallery；
Second stage: the actual environment map by matching the environmental characteristic map and pipe gallery, in the environment
Flight starting point, final, hovering point are marked on characteristics map, and inspection flight map is generated according to trajectory planning；It is described outstanding
Rest point includes the position that inspection is needed in piping lane；
The unmanned plane during flying platform is according to the guiding automatic detecting pipe gallery of inspection flight map.
In a preferred embodiment of the present invention, further comprise the information collection component further include environmental index sensing
Device group and camera；The environmental index sensor group is to acquire each environmental index during inspection in pipe gallery；
The camera is to acquire video data and dial plate image data during inspection in pipe gallery；The environment of acquisition refers to
Mark, video data and dial plate image data are transmitted to the flight controller.
It further comprise that the environmental index sensor group is including but not limited to wet in a preferred embodiment of the present invention
Spend sensor, temperature sensor, smoke sensor device, liquid level sensor, sensing methane concentration device, concentration of hydrogen sulfide sensor, light
The combination of one or more of line sensor.
It further comprise it further include remote monitoring center in a preferred embodiment of the present invention, the flight controller
It is connect by wireless transport module with remote monitoring center；The data that the flight controller acquires information collection component without
Line is transmitted to remote monitoring center.
In a preferred embodiment of the present invention, further comprise the flight controller include flight control modules, it is wireless
Transmission module, sensor information coding module and video encoding module；
The flight control modules guide the unmanned aerial vehicle platform automatic obstacle avoiding and patrol to generate inspection flight map
Boat and spot hover；Its working condition also to control the information collection component；
The sensor information coding module is carried out to the environmental index data acquired to environmental index sensor module
Coding；
The video encoding module is encoded to the video data and dial plate image data acquired to camera；
Environmental index data, video data and dial plate image data are transmitted to far through the wireless transport module after coding
Range monitoring center.
It further comprise that the remote monitoring center receives dial plate image data, base in a preferred embodiment of the present invention
Dial plate image data is handled in image recognition technology, obtains and register the current data of each dial plate in pipe gallery.
In a preferred embodiment of the present invention, further comprises that the remote monitoring center receives environmental index data, lead to
It crosses and is compared with pre-set environmental index threshold value, judge that the abnormal conditions in pipe gallery, the abnormal conditions include smog
It is exceeded, temperature and humidity is exceeded, liquid level is exceeded, methane concentration is exceeded, concentration of hydrogen sulfide is one of exceeded or several combinations,
And start alarm in abnormal cases.
It further comprise that the remote monitoring center receives video data, based on big in a preferred embodiment of the present invention
Data and deep learning algorithm analyze video data, judge that the abnormal conditions in pipe gallery, the abnormal conditions include collapsing
It falls into, pour water, fire, one of mankind's activity or several combinations, and starting alarm in abnormal cases.
It further comprise that the remote monitoring center receives and stores the inspection in a preferred embodiment of the present invention
Flight map updates inspection flight map, the inspection of the unmanned plane during flying platform in the updated when being judged as abnormal conditions
The hovering point for being currently abnormal situation region is again introduced under the guiding of flight map.
It further comprise the flight controller further include wireless charging module in a preferred embodiment of the present invention；Institute
It states wireless charging module and is charged based on magnet coupled resonant type wireless charging technique to the unmanned plane during flying platform.
Beneficial effects of the present invention:
One, underground pipe gallery cruising inspection system of the invention, substitution are accomplished manually piping lane inspection, inspection, realize underground
The automatic intelligent inspection of pipe gallery.
Secondly, unmanned plane during flying platform of the invention in underground pipe gallery can automatic obstacle avoiding cruise and fixed point it is outstanding
Stop, the environmental index data in underground pipe gallery is acquired by its information collection component carried in real time, is replaced manually with this
Efficiently, high quality completes piping lane inspection, inspection, and high reliablity, stability are good, overcome existing crawler-type traveling crusing robot
Or the defect that the high cost of rail mounted walking robot, difficult batch put goods on the market.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of underground pipe gallery cruising inspection system in the preferred embodiment of the present invention.
2- unmanned plane during flying platform, 4- flight controller, 6- laser radar obstacle avoidance sensor, 8-RGB-D camera, 10- are remote
Range monitoring center, 12- camera, 14- environmental index sensor group.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples, so that those skilled in the art can
It to better understand the invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
Shown in referring to Fig.1, the present embodiment discloses a kind of underground pipe gallery cruising inspection system, including unmanned plane during flying platform
2, flight controller 4, information collection component and remote monitoring center 10.The unmanned plane during flying platform is that existing some companies grind
The unmanned plane device of the support secondary development of hair or the unmanned plane of independent research.The information collection component includes RGB-D camera
8, laser radar obstacle avoidance sensor 6, environmental index sensor group 14 and camera 12.The flight controller 4 and each information
Acquisition component is fixedly mounted on unmanned plane during flying platform, and above-mentioned unmanned aerial vehicle platform 2 carries flight controller 4 and information is adopted
Collection component flies in pipe gallery；Each information collection component connects flight controller 4 by way of wired connection,
Above-mentioned flight controller 4 is wirelessly connected remote monitoring center 10, the data which acquires information collection component
It is wirelessly transmitted to remote monitoring center 10.
Vision point cloud data of the above-mentioned RGB-D camera 8 to acquire pipe gallery；Above-mentioned laser radar obstacle avoidance sensor 6
Environment Obstacles data to scanning collection pipe gallery；The vision point cloud data and Environment Obstacles data of acquisition are transmitted to
State flight controller 4；Specifically, unmanned plane during flying platform 2 carries flight controller 4 and each information collection component in synthesis
Low-speed operations in piping lane, obtain pipe gallery by RGB-D camera 8 and laser radar obstacle avoidance sensor 6 during low-speed operations
Vision point cloud data and Environment Obstacles data, the vision point cloud data and Environment Obstacles data of acquisition be transmitted to above-mentioned flight
Controller 4.
Above-mentioned 4 comprehensive analysis vision point cloud data of flight controller and Environment Obstacles data, and generate based on the analysis results
Inspection flight map；Above-mentioned unmanned plane during flying platform 2 realizes automatic obstacle avoiding cruise and fixed point according to the guiding of inspection flight map
Hovering.
Above-mentioned flight controller 4 generates the step of inspection flight map and includes,
First stage: above-mentioned 4 view-based access control model SLAM algorithm of flight controller analysis vision point cloud data and Environment Obstacles number
According to, the real-time positioning information of acquisition unmanned plane during flying platform 2 and the environmental characteristic information of pipe gallery, and according to the reality of acquisition
When location information and map feature information architecture pipe gallery environmental characteristic map；
Second stage: the actual environment map by matching above-mentioned environmental characteristic map and pipe gallery, in above-mentioned environment
Flight starting point, final, hovering point are marked on characteristics map, and inspection flight map is generated according to trajectory planning；It is above-mentioned outstanding
Rest point includes the position that inspection is needed in piping lane, position, pipeline link position including corresponding gauge dial etc. daily need
The position of inspection and maintenance；
Above-mentioned unmanned plane during flying platform 2 is cruised according to the guiding automatic obstacle avoiding of inspection flight map and spot hover.
During the cruise of 2 automatic obstacle avoiding of unmanned plane during flying platform, startup environment index sensor group and camera 12,
Middle environmental index sensor group include but is not limited to humidity sensor, temperature sensor, smoke sensor device, liquid level sensor,
The combination of one or more of sensing methane concentration device, concentration of hydrogen sulfide sensor, light sensor.Above-mentioned environment refers to
Mark sensor group is to acquire each environmental index during inspection in pipe gallery；Above-mentioned camera 12 acquires inspection
Video data and dial plate image data in journey in pipe gallery；Environmental index, video data and the dial plate image data of acquisition
It is transmitted to above-mentioned flight controller 4.
Specifically, above-mentioned flight controller 4 includes flight control modules, wireless transport module, sensor information coding mould
Block, video encoding module and wireless charging module；
Above-mentioned flight control modules guide above-mentioned unmanned aerial vehicle platform automatic obstacle avoiding and patrol to generate inspection flight map
Boat and spot hover；Its working condition also to control above- mentioned information acquisition component.
The sensor information coding module is carried out to the environmental index data acquired to environmental index sensor module
Coding.
Above-mentioned video encoding module is encoded to the video data and dial plate image data acquired to camera.
Above-mentioned flight controller further includes wireless charging module；Above-mentioned wireless charging module be based on magnet coupled resonant type without
Line charge power technology charges to above-mentioned unmanned plane during flying platform；Ensure the cruising ability of unmanned plane during flying platform with this.
Environmental index data, video data and dial plate image data are transmitted to far through above-mentioned wireless transport module after coding
Range monitoring center 10.
Above-mentioned remote monitoring center 10 receives dial plate image data, handles dial plate image data based on image recognition technology,
The current data of each dial plate in pipe gallery is obtained and registered, the current number for manually making a copy of each dial plate automatically is replaced with this
According to.
Above-mentioned remote monitoring center 10 receives environmental index data, by being compared with pre-set environmental index threshold value,
Judge that the abnormal conditions in pipe gallery, above-mentioned abnormal conditions include that smog is exceeded, temperature and humidity is exceeded, liquid level is exceeded, methane is dense
It spends that exceeded, concentration of hydrogen sulfide is one of exceeded or several combinations, and starts alarm in abnormal cases；It is taken with this
For the environmental data of manual inspection pipe gallery.
Above-mentioned remote monitoring center 10 receives video data, analyzes video data based on big data and deep learning algorithm,
Judge the abnormal conditions in pipe gallery, above-mentioned abnormal conditions include collapse, pour water, fire, one of mankind's activity or
Several combinations, and start alarm in abnormal cases；Replace the abnormal conditions of manual inspection pipe gallery with this, or
Danger that may be present in pipe gallery is predicted, so that alarm properly protects in advance.
As a further improvement of the present invention, above-mentioned remote monitoring center 10 receives and stores above-mentioned inspection flight map,
Inspection flight map, the inspection flight map of above-mentioned unmanned plane during flying platform 2 in the updated are updated when being judged as abnormal conditions
Guiding under be again introduced into and be currently abnormal the hovering point in situation region.Ensured when being judged as abnormal conditions again with this
Fixed point inspection abnormal conditions, retain the firsthand data under abnormal conditions.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection of the invention
Range is without being limited thereto.Those skilled in the art's made equivalent substitute or transformation on the basis of the present invention, in this hair
Within bright protection scope.Protection scope of the present invention is subject to claims.
Claims (10)
1. a kind of underground pipe gallery cruising inspection system, it is characterised in that: including unmanned plane during flying platform, flight controller and information
Acquisition component；The information collection component and flight controller are installed on unmanned plane during flying platform, the unmanned aerial vehicle platform
It carries flight controller and information collection component flies in pipe gallery；The information collection component wired connection flight control
Device；
The information collection component includes RGB-D camera, laser radar obstacle avoidance sensor, and the RGB-D camera is comprehensive to acquire
Close the vision point cloud data of piping lane；Environment Obstacles number of the laser radar obstacle avoidance sensor to scanning collection pipe gallery
According to；The vision point cloud data and Environment Obstacles data of acquisition are transmitted to the flight controller；
The flight controller comprehensive analysis vision point cloud data and Environment Obstacles data, and generate inspection based on the analysis results and fly
Row map；The unmanned plane during flying platform realizes automatic obstacle avoiding cruise and spot hover according to the guiding of inspection flight map；
The flight controller generates the step of inspection flight map and includes,
First stage: the flight controller view-based access control model SLAM algorithm analysis vision point cloud data and Environment Obstacles data obtain
The real-time positioning information of unmanned plane during flying platform and the environmental characteristic information of pipe gallery are taken, and is believed according to the real-time positioning of acquisition
The environmental characteristic map of breath and map feature information architecture pipe gallery；
Second stage: the actual environment map by matching the environmental characteristic map and pipe gallery, in the environmental characteristic
Flight starting point, final, hovering point are marked on map, and inspection flight map is generated according to trajectory planning；The hovering point
Position including needing inspection in piping lane；
The unmanned plane during flying platform is according to the guiding automatic detecting pipe gallery of inspection flight map.
2. underground pipe gallery cruising inspection system as described in claim 1, it is characterised in that: the information collection component further includes
Environmental index sensor group and camera；The environmental index sensor group is each in pipe gallery during inspection to acquire
A environmental index；The camera is to acquire video data and dial plate image data during inspection in pipe gallery；It obtains
Environmental index, video data and the dial plate image data taken is transmitted to the flight controller.
3. underground pipe gallery cruising inspection system as claimed in claim 2, it is characterised in that: the environmental index sensor group packet
It is dense to include but be not limited to humidity sensor, temperature sensor, smoke sensor device, liquid level sensor, sensing methane concentration device, hydrogen sulfide
Spend the combination of one or more of sensor, light sensor.
4. underground pipe gallery cruising inspection system as described in claim 1, it is characterised in that: it further includes remote monitoring center,
The flight controller is connect by wireless transport module with remote monitoring center, and the flight controller is by information collection component
The data of acquisition are wirelessly transmitted to remote monitoring center.
5. underground pipe gallery cruising inspection system as claimed in claim 4, it is characterised in that: the flight controller includes flight
Control module, wireless transport module, sensor information coding module and video encoding module；
The flight control modules guide the unmanned aerial vehicle platform automatic obstacle avoiding cruise and determine to generate inspection flight map
Point hovering；Its working condition also to control the information collection component；
The sensor information coding module is encoded to the environmental index data acquired to environmental index sensor module；
The video encoding module is encoded to the video data and dial plate image data acquired to camera；
Environmental index data, video data and dial plate image data are transmitted to long-range monitoring through the wireless transport module after coding
Center.
6. underground pipe gallery cruising inspection system as claimed in claim 5, it is characterised in that: the remote monitoring center receives table
Disk image data handles dial plate image data based on image recognition technology, obtains and registers working as each dial plate in pipe gallery
Preceding data.
7. underground pipe gallery cruising inspection system as claimed in claim 5, it is characterised in that: the remote monitoring center receives ring
Border achievement data judges the abnormal conditions in pipe gallery, the exception by comparing with pre-set environmental index threshold value
Situation include that smog is exceeded, temperature and humidity is exceeded, liquid level is exceeded, methane concentration is exceeded, concentration of hydrogen sulfide is one of exceeded or
Several combinations, and start alarm in abnormal cases.
8. underground pipe gallery cruising inspection system as claimed in claim 5, it is characterised in that: the remote monitoring center receives view
Frequency evidence analyzes video data based on big data and deep learning algorithm, judges the abnormal conditions in pipe gallery, the exception
Situation include collapse, pour water, fire, one of mankind's activity or several combinations, and starting alarm in abnormal cases
Device.
9. the underground pipe gallery cruising inspection system as described in claim 6~8, it is characterised in that: the remote monitoring center connects
It receives and stores the inspection flight map, inspection flight map is updated when being judged as abnormal conditions, the unmanned plane during flying is flat
The hovering point for being currently abnormal situation region is again introduced under the guiding of the inspection flight map of platform in the updated.
10. underground pipe gallery cruising inspection system as described in claim 1, it is characterised in that: the flight controller further includes
Wireless charging module；The wireless charging module is based on magnet coupled resonant type wireless charging technique to the unmanned plane during flying platform
Charging.
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| CN201910242470.1A CN110027701A (en) | 2019-03-28 | 2019-03-28 | Underground pipe gallery cruising inspection system |
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| CN110949668A (en) * | 2019-12-17 | 2020-04-03 | 莆田学院 | Unmanned aerial vehicle with folding crashproof support function and monitored control system thereof |
| CN111874225A (en) * | 2020-08-02 | 2020-11-03 | 嘉兴勤慎智能技术有限公司 | Unmanned aerial vehicle ground-imitating flying device based on laser radar |
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| CN113778007A (en) * | 2021-08-27 | 2021-12-10 | 哈尔滨工程大学 | Intelligent monitoring system for pipeline inspection unmanned aerial vehicle |
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| CN113778007A (en) * | 2021-08-27 | 2021-12-10 | 哈尔滨工程大学 | Intelligent monitoring system for pipeline inspection unmanned aerial vehicle |
| CN113741544A (en) * | 2021-10-08 | 2021-12-03 | 北京硬石头科技有限公司 | Agricultural indoor unmanned aerial vehicle inspection system and inspection method based on laser navigation |
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