CN115346284A - Intelligent inspection equipment for urban underground pipe gallery lines and working method of intelligent inspection equipment - Google Patents
Intelligent inspection equipment for urban underground pipe gallery lines and working method of intelligent inspection equipment Download PDFInfo
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Abstract
The invention discloses intelligent inspection equipment for urban underground pipe gallery lines and a working method thereof, and relates to the technical field of underground pipe gallery inspection, wherein the intelligent inspection equipment is used for realizing remote online temperature sensing and analysis processing of cables in a pipe gallery cable stereogram, so that an abnormal pipe gallery line temperature area is judged, then a single or a plurality of cables in the single or a plurality of abnormal pipe gallery line temperature areas are sensed, a plurality of groups of surface linear annular temperature value distribution diagrams and surface linear annular damage value distribution diagrams of pipe gallery cables are correspondingly generated, and then line replacement scintillation stereograms of pipe gallery cables with yellow display or red display cable segments and the whole scintillation display cables are gradually constructed through analyzing, calculating, analyzing, comparing and processing the surface linear annular temperature value distribution diagrams and the surface linear annular damage value distribution diagrams of the pipe gallery cables, so that the aged or aged cables are displayed.
Description
Technical Field
The invention relates to the technical field of underground pipe gallery inspection, in particular to intelligent inspection equipment for urban underground pipe gallery lines and a working method thereof.
Background
Urban underground municipal pipelines are important infrastructures for urban operation and influence the healthy operation of cities. In recent years, the construction of urban underground comprehensive pipe galleries in China is greatly increased, the technical level of facility equipment of the comprehensive pipe galleries is improved, the operation management capacity of the comprehensive pipe galleries is enhanced, and the problems to be solved in the process of construction and operation of the pipe galleries are solved;
although an intelligent inspection system for an urban underground comprehensive pipe gallery with the publication number of CN113850925A can perform intelligent multi-parameter detection on the urban underground pipe gallery, lighten the labor intensity of workers, improve the inspection frequency and ensure the personal safety of inspectors, the intelligent inspection system has some defects, cannot accurately and efficiently sense, detect, process and remind an aged cable, cannot realize the accurate judgment of the aged cable, and has lower operation efficiency;
in view of the above technical drawbacks, a solution is proposed.
Disclosure of Invention
The invention aims to: on the basis of generating cable marking serial numbers by hardware scanning through a tube rack cable stereogram sequence diagram, the remote online temperature sensing and analysis processing of cables in the tube rack cable stereogram sequence diagram are realized in a soft and hard combination mode, the abnormal region of the tube rack line temperature is judged, then single or multiple cables in the abnormal region of the single or multiple tube rack line temperatures are sensed, multiple groups of surface linear annular temperature value distribution diagrams and surface linear annular damage value distribution diagrams of the tube rack cables are correspondingly generated, then the surface linear annular temperature value distribution diagrams of each group and the surface linear annular damage value distribution diagrams of the tube rack cables are analyzed, compared and processed, yellow display or red display cable segments and the line replacement flashing stereogram of the tube rack cables of the whole flashing display cables are gradually constructed, then the line replacement flashing stereogram of the tube rack cables is sent to a worker for checking, the aged cable nodes of the tube racks and the tube racks with high aging degree are directly presented in front of the worker, the aged cable positioning function and the line replacement flashing stereogram of the city tube rack cables are realized, and the integral aging efficiency of the worker is ensured, and the integral aging efficiency of the intelligent inspection and the integral human-machine inspection is improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides an intelligence equipment of patrolling and examining for city underground pipe gallery circuit, patrols and examines the platform including piping lane circuit cloud, and piping lane circuit cloud patrols and examines the platform and is used for controlling from walking and patrols and examines unit work and store data, still includes:
the self-walking inspection unit is used for generating a three-dimensional figure sequence figure of the pipe rack cable, a real-time temperature distribution figure of the area range of the pipe rack line, a surface linear annular temperature value distribution figure of the pipe rack cable and a surface linear annular damage value distribution figure of the pipe rack cable in an induction mode and sending the distribution figures to the cloud inspection platform of the pipe rack line for storage;
the remote temperature monitoring unit is used for acquiring a real-time temperature distribution map of the area range of the pipeline corridor through the cloud inspection platform of the pipeline corridor, generating a recheck control signal and a temperature abnormal area marking map through remote analysis and processing of the pipeline, and sending the recheck control signal and the temperature abnormal area marking map to the cloud inspection platform of the pipeline corridor for storage;
the system comprises a pipe gallery line abnormity evaluating unit, a pipe gallery line cloud inspection platform, a pipeline replacement flicker stereogram and a pipeline replacement flicker stereogram, wherein the pipe gallery line abnormity evaluating unit is used for acquiring a surface linear annular temperature value distribution map of a pipe gallery cable and a surface linear annular damage value distribution map of the pipe gallery cable through the pipe gallery line cloud inspection platform, generating the pipeline replacement flicker stereogram of the pipe gallery cable through the abnormity evaluating and processing of the cable, and sending the pipeline replacement flicker stereogram of the pipe gallery cable to the pipe gallery line cloud inspection platform for storage;
human-computer interaction display screen for the staff takes the circuit of the piping lane cable of storing in the piping lane circuit cloud patrols and examines and change the scintillation stereogram and look over.
Further, the specific working steps of the remote analysis processing of the line are as follows:
the method comprises the steps of obtaining a real-time temperature distribution map of a pipe gallery circuit area range and a real-time environment temperature value in a pipe gallery in real time, subtracting the real-time environment temperature value in the pipe gallery from the temperature value of the real-time temperature distribution map of the pipe gallery circuit area range to obtain a real-time difference temperature map of a first pipe gallery internal circuit, obtaining a pre-radiation heat dissipation temperature value of the circuit area through a pipe gallery circuit cloud inspection platform, carrying out secondary subtraction on the temperature value of the real-time difference temperature map of the pipe gallery internal circuit and the pre-radiation heat dissipation temperature value of the circuit area and calculating to obtain a difference temperature map of a second pipe gallery internal circuit;
then, acquiring a temperature threshold value of the cable stored in the cloud inspection platform of the pipe rack line, and when the temperature of the differential temperature diagram at the line position in the second pipe rack is not within the temperature threshold value range of the cable, acquiring a three-dimensional diagram sequence diagram of the pipe rack cable stored in the cloud inspection platform of the pipe rack line and marking the area as a temperature abnormal area, otherwise, acquiring a three-dimensional diagram sequence diagram of the pipe rack cable stored in the cloud inspection platform of the pipe rack line and marking the area as a temperature normal area; after the self-propelled inspection unit finishes walking the pipe gallery, the remote temperature monitoring of the cable in the pipe gallery line is finished;
and then acquiring the number of the temperature abnormal areas in the piping lane cable stereogram sequence graph, when the number of the temperature abnormal areas is less than 1, not generating a recheck control signal, and when the number of the temperature abnormal areas is not less than 1, generating a recheck control signal and marking to generate a temperature abnormal area marking graph.
Further, the specific working steps of the cable abnormality evaluation processing are as follows:
acquiring a surface linear annular temperature value distribution map of the pipe gallery cable and a surface linear annular damage value distribution map of the pipe gallery cable, quantizing the distribution maps to obtain a pipe gallery cable average temperature and a pipe gallery cable total damage value corresponding to the distribution maps, calibrating the pipe gallery cable average temperature and the pipe gallery cable average damage value into Gw and Gs, and processing the values to obtain an aging process value of the pipe gallery cable;
the aging degree value of the pipe gallery cable is compared with an aging degree threshold value, when the aging degree value of the pipe gallery cable is smaller than the minimum value of the aging degree threshold value, an aging signal is not generated, when the aging degree value of the pipe gallery cable is not smaller than the minimum value of the aging degree threshold value and is smaller than the maximum value of the aging degree threshold value, a yellow early warning mark is generated, and the cable covered in the temperature abnormal area is marked to be yellow for display; when the aging degree value of the pipe gallery cable is not smaller than the maximum value of the aging degree threshold value, generating a red replacing mark, and marking the cable covered by the temperature abnormal area as red for display;
when a plurality of cables and temperature abnormal areas exist, the steps are repeated to form a three-dimensional aging degree display graph of the pipe gallery cables;
acquiring the number of yellow displays and the number of red displays corresponding to the same cable in the display graph of the three-dimensional aging degree of the cable of the pipe gallery, respectively marking the number of the yellow displays and the number of the red displays as Hg1 and Hg2, and processing to obtain an aging replacement factor of a single cable;
then, the aging replacement factors of the single cables are respectively compared with cable replacement preset values, when the aging replacement factors of the single cables are not smaller than the cable replacement preset values, replacement display signals are generated, and the three-dimensional aging degree display images of the pipe rack cables in the pipe rack cable are displayed in a flashing mode, so that the pipe rack cables are required to be replaced; otherwise, the replacement display signal is not generated, then the steps are repeated, and the plurality of pipe gallery cables are subjected to gradual abnormal evaluation and generate the line replacement flicker stereogram of the pipe gallery cables.
Furthermore, the self-walking inspection unit comprises a triangular box, wherein a plurality of stages of electric lifting rods are rotatably arranged at the top end of the triangular box, a steering motor is arranged in the top wall of the triangular box, an output shaft of the steering motor is fixedly connected with the bottom ends of the plurality of stages of electric lifting rods, a connecting block is fixedly arranged at the output end of each stage of electric lifting rods, a plurality of stages of limiting slide rods are symmetrically arranged on two sides of the connecting block, one ends, far away from the connecting block, of the plurality of stages of limiting slide rods are connected with the bottoms of the plurality of stages of electric lifting rods, the plurality of stages of limiting slide rods are arranged in parallel with the plurality of stages of electric lifting rods, a plurality of stages of electric telescopic rods are arranged on two sides of the connecting block, the plurality of stages of electric telescopic rods are perpendicular to the plurality of limiting slide rods, a convex hinged block is fixedly arranged at the output end of each stage of electric telescopic rod, the convex hinged block is hinged with a U-shaped limiting box, a corner motor is fixedly arranged on the side surface of the convex hinged block, an output shaft of the corner motor is fixedly connected with a hinged protrusion at the center of the U-shaped limiting box, and a return spring is symmetrically arranged on the side surface of the U-shaped limiting box;
the U-shaped limiting box is internally and symmetrically provided with arc-shaped mechanical grippers, the two arc-shaped mechanical grippers are symmetrically arranged in one group, the opposite ends of one group of the arc-shaped mechanical grippers are provided with arc-shaped temperature sensors, the opposite ends of the other group of the arc-shaped mechanical grippers are provided with arc-shaped damage induction heads, the two arc-shaped damage induction heads are oppositely arranged, and the U-shaped limiting box is symmetrically provided with thermal imaging sensors and ultrasonic sensors.
Furthermore, electronic round is installed to the bottom of triangular box, charging socket and input panel are installed to the outside of triangular box and the triangular box is equipped with the group battery.
Further, install the closed drive assembly of two arc mechanical tongs of drive in the spacing incasement of U-shaped, closed drive assembly includes electronic bull stick, electronic bull stick rotates and locates in the spacing incasement of U-shaped, and the fixed cover in outer end of electronic bull stick is equipped with the driving gear, the outer end symmetric meshing of driving gear is connected with driven gear, the fixed cover in inner of driven gear is equipped with driven bull stick, driven bull stick rotates and locates in the spacing incasement of U-shaped, and the outer end of driven bull stick cup joints with arc mechanical tongs is fixed.
The working method of the intelligent inspection equipment for the urban underground pipe gallery lines comprises the following specific working methods:
the method comprises the following steps: the self-propelled inspection unit is controlled by the timing section of the corridor line cloud inspection platform to move forwards at the center of the pipe corridor, a stereoscopic diagram sequence graph of the pipe corridor cable and a real-time temperature distribution diagram of the area range of the pipe corridor line are generated through scanning of the ultrasonic sensor, the real-time temperature distribution diagram is generated through induction of the thermal imaging sensor, and the real-time temperature distribution diagram is sent to the corridor line cloud inspection platform in real time to be stored;
step two: the remote temperature monitoring unit acquires a real-time temperature distribution map of the area range of the pipeline and a real-time environment temperature value in the pipeline through the cloud inspection platform of the pipeline, carries out remote analysis processing on the pipeline, generates a rechecking control signal and marks to generate a temperature abnormal area mark map, and sends the temperature abnormal area mark map to the cloud inspection platform of the pipeline;
step three: pipeline corridor circuit cloud patrols and examines the platform and receive recheck control signal and mark and generate the regional mark map of temperature anomaly after, control immediately carries out its temperature of surface induction and damage value to the cable in the temperature anomaly region, then evaluates the processing work through the unusual evaluation unit of pipeline corridor circuit to its unusual abnormality that carries out the cable once more, then generates the circuit of the pipeline corridor cable that shows ageing node and ageing cable and changes the scintillation stereogram.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
on the basis of generating a serial number of a cable by a pipeline rack cable stereogram sequence diagram through hardware scanning, judging a pipeline rack line temperature abnormal region by means of software and hardware combination to realize remote online temperature sensing and analysis processing of the cable in the pipeline rack cable stereogram sequence diagram, sensing single or multiple cables in the single or multiple pipeline rack line temperature abnormal regions, correspondingly generating multiple groups of surface linear annular temperature value distribution diagrams and surface linear annular damage value distribution diagrams of the pipeline rack cable, and then gradually constructing yellow display or red display cable segments and a whole scintillation display cable line replacement scintillation stereogram of the pipeline rack cable to realize display of aged nodes or aged cables by analyzing, calculating, analyzing, comparing and processing the surface linear annular temperature value distribution diagrams of each group and the surface linear annular damage value distribution diagrams of the pipeline rack cable;
the line replacement scintillation stereogram of the pipe rack cable is sent to a worker to be checked, so that an aging node of the pipe rack cable and the pipe rack cable with high aging degree are directly displayed in front of the worker, the accurate positioning function and the man-machine interaction function of the aging cable in the urban underground pipe rack line are achieved, the worker is assisted to accurately determine and replace the aging cable wholly or locally, the whole inspection process is high in efficiency, the intelligence degree of the urban underground pipe rack inspection device is high, and the problems that although the traditional urban underground pipe rack inspection device has many functions, the accuracy is low, and the aging cable cannot be accurately and efficiently sensed, detected, processed and reminded are solved.
Drawings
FIG. 1 shows a block diagram of the architecture of the present invention;
fig. 2 shows a front view of the self-propelled inspection unit;
FIG. 3 shows an enlarged partial cross-sectional view at A of FIG. 2;
FIG. 4 shows a close-up view at the motorized swing lever;
illustration of the drawings: 1. a triangular box; 2. a multi-stage electric lifter; 3. connecting blocks; 4. a multi-stage limiting slide bar; 5. a multi-stage electric telescopic rod; 6. a convex hinge block; 7. a corner motor; 8. a U-shaped limit box; 9. an arc-shaped mechanical gripper; 10. an arc-shaped temperature sensor; 11. an arc damage degree induction head; 12. a thermal imaging sensor; 13. an ultrasonic sensor; 14. a return spring; 101. a charging jack; 102. an input panel; 103. an electric wheel; 104. a steering motor; 901. an electric rotating rod; 902. a driving gear; 903. a driven gear; 904. a driven rotating rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
as shown in fig. 1-4, the intelligent inspection equipment for the urban underground pipe gallery line comprises a pipe gallery line cloud inspection platform, wherein the pipe gallery line cloud inspection platform is in signal connection with a self-walking inspection unit, a remote temperature monitoring unit, a pipe gallery line abnormity evaluation unit and a man-machine interaction display screen;
the self-walking inspection unit comprises a triangular box 1, the top end of the triangular box 1 is rotatably provided with a multi-stage electric lifting rod 2, a steering motor 104 is arranged in the top wall of the triangular box 1, an output shaft of the steering motor 104 is fixedly connected with the bottom end of the multi-stage electric lifting rod 2, the steering motor 104 is used for driving the multi-stage electric lifting rod to rotate at 2180 degrees, the output end of the multi-stage electric lifting rod 2 is fixedly provided with a connecting block 3, two sides of the connecting block 3 are symmetrically provided with multi-stage limiting slide rods 4, one ends of the multi-stage limiting slide rods 4, far away from the connecting block 3, are connected with the bottom of the multi-stage electric lifting rod 2, the multi-stage limiting slide rods 4 are arranged in parallel to the multi-stage electric lifting rod 2, two sides of the connecting block 3 are provided with multi-stage electric telescopic rods 5, the multi-stage electric telescopic rods 5 are perpendicular to the multi-stage limiting slide rods 4, the output end of the multi-stage electric telescopic rods 5 is fixedly provided with a convex hinge block 6, the convex hinge block 6 is hinged to a U-shaped limiting box 8, the side face of the convex hinge block 6 is fixedly provided with a corner motor 7, the output shaft of the corner motor 7 is fixedly connected with a return spring 14, and the U-shaped return spring is arranged at the end face of the U-shaped hinge block 14;
arc-shaped mechanical grippers 9 are symmetrically arranged in the U-shaped limiting box 8, two symmetrically arranged arc-shaped mechanical grippers 9 form a group, arc-shaped temperature sensors 10 are mounted at opposite ends of one group of arc-shaped mechanical grippers 9, and form annular temperature sensors after the two arc-shaped temperature sensors 10 are closed, so that the arc-shaped mechanical grippers are attached to the circular surface of a pipe rack cable, the annular temperature distribution map of the surface of the pipe rack cable is detected, the temperature equalization of the pipe rack cable is detected through the annular temperature distribution map of the surface, arc-shaped damage sensing heads are mounted at opposite ends of the other group of arc-shaped mechanical grippers 9, the two arc-shaped damage sensing heads are arranged oppositely, and the arc-shaped damage sensing heads are closed and used for sensing the aging damage degree of the circular surface of the pipe rack cable, for example, the pipe rack cable is bitten and damaged by mice, cracks generated on the surface of the pipe rack cable due to aging, electric leakage and the like, the wet sponge sensing heads of a wet sponge pinhole detector are generally adopted as the cable surface, when the cable surface is closed, a conductive liquid in the wet sponge sensing head forms a closed circuit with an electric core in the cable, so that the voltage changes, the voltage changes are larger, the larger the voltage changes, the cracks are explained, the damage degree of the pipe rack cable is sensed, and the damage degree of the electric leakage is not damaged by a low-induced by the low-induced low-voltage coating;
the U-shaped limiting box 8 is symmetrically provided with thermal imaging sensors 12 and ultrasonic sensors 13, the thermal imaging sensors 12 are used for remotely sensing the temperature imaging of a plurality of cables in the pipeline of the pipe gallery, and the ultrasonic sensors 13 are used for sensing the positions of the plurality of cables in the pipeline of the pipe gallery and the pipe gallery;
the electric wheels 103 are installed at the bottom end of the triangular box 1, the charging socket 101 and the input panel 102 are installed on the outer side of the triangular box 1, and the battery pack is arranged in the triangular box 1, so that power supply in the detection process is guaranteed;
a closing driving assembly for driving the two arc-shaped mechanical grippers 9 to close is installed in the U-shaped limiting box 8, the closing driving assembly comprises an electric rotating rod 901, the electric rotating rod 901 is rotatably arranged in the U-shaped limiting box 8, a driving gear 902 is fixedly sleeved at the outer end of the electric rotating rod 901, driven gears 903 are symmetrically meshed and connected with the outer end of the driving gear 902, driven rotating rods 904 are fixedly sleeved at the inner ends of the driven gears 903, the driven rotating rods 904 are rotatably arranged in the U-shaped limiting box 8, and the outer ends of the driven rotating rods 904 are fixedly sleeved with the arc-shaped mechanical grippers 9;
when the surface temperature or the surface loss of the cable of the pipe gallery needs to be detected, the electric rotating rod 901 is started to work and is controlled to drive the driving gear 902 fixedly sleeved with the electric rotating rod to rotate in the forward direction, the driving gear 902 drives the two driven gears 903 meshed with the driving gear to rotate in the forward direction and in the reverse direction, the two driven gears 903 rotate in the forward direction and in the reverse direction and drive the two driven rotating rods 904 fixedly sleeved with the driven gears 904 to rotate in the forward direction and in the reverse direction, the two driven rotating rods 904 rotate in the forward direction and in the reverse direction and drive the two arc-shaped mechanical grippers 9 fixedly sleeved with the driven rotating rods 904 to rotate in the forward direction and in the reverse direction, one ends of the arc-shaped mechanical grippers 9 far away from the driven rotating rods 904 move in the reverse direction, so that the two arc-shaped mechanical grippers 9 are opened, the arc-shaped temperature sensors 10 or the arc-shaped damage sensing heads 11 installed at the opposite ends of the two arc-shaped mechanical grippers 9 are opened and drive the arc-shaped temperature sensors 10 or the arc-shaped damage sensing heads 11 to move in the reverse direction, the pipe gallery is inserted between the two arc-shaped temperature sensors 10 or the arc-shaped damage sensing heads 11, the surface of the cable is controlled to work and the driving gear 902 to rotate in the reverse direction, and the surface of the driving gear 902, so that the driven rotating rods 904 and the driven gears are driven gears 902 to detect the damage of the pipe gallery, and the cable, so that the surface of the cable is damaged cable, and the driven gears 904, and the cable is rotated in the cable is damaged cable, and the driven rotating rods 901 or the cable is rotated in the driven gears 902, and the cable is damaged cable is detected;
the working principle is as follows:
step one, recording in real time: after a worker installs a cable of a new pipe gallery line or removes a cable of an old pipe gallery line, the self-propelled inspection unit senses a three-dimensional image in a pipe gallery through the ultrasonic sensor 13 and then calibrates the pipe gallery cable in the self-propelled inspection unit, so that a pipe gallery cable three-dimensional image sequence graph GX is generated, wherein the cable body in the pipe gallery cable three-dimensional image sequence graph GX is calibrated to be { Gx1, gx2, … … Gxi }, gx1, gx2 and … … Gxi are cable sequence number subsets of the pipe gallery cable three-dimensional image sequence graph, each cable sequence number subset corresponds to one cable of the pipe gallery line, and i is a positive integer and the total number of the cables; when a worker installs a new pipe gallery cable or removes an old pipe gallery cable, the corresponding cable serial number subset is correspondingly increased or decreased, and i is correspondingly increased or decreased; then sending the stereo graphic GX of the cable of the pipe rack to a cloud inspection platform of the line of the pipe rack for storage;
step two, the self-propelled inspection unit is controlled to move forwards at the center of the pipe gallery at the timing section of the pipe gallery circuit cloud inspection platform, a real-time temperature distribution map of the pipe gallery circuit area range is generated through induction of the thermal imaging sensor 12, and the real-time temperature distribution map of the pipe gallery circuit area range generated in real time is sent to the pipe gallery circuit cloud inspection platform to be stored;
the remote temperature monitoring unit obtains a real-time temperature distribution map of a pipe rack circuit area range and a real-time environment temperature value in a pipe rack in real time through a pipe rack circuit cloud inspection platform, then the temperature value of the real-time temperature distribution map of the pipe rack circuit area range is subtracted from the real-time environment temperature value in the pipe rack to obtain a real-time difference temperature map of a circuit in a first pipe rack, then a pre-radiation heat dissipation temperature value of the circuit area is obtained through the pipe rack circuit cloud inspection platform, then the temperature value of the real-time difference temperature map of the circuit in the pipe rack and the pre-radiation heat dissipation temperature value of the circuit area are subjected to secondary subtraction, and calculation is carried out to obtain a difference temperature map of the circuit in a second pipe rack;
then obtaining a temperature threshold value of a cable stored in the cloud inspection platform of the pipeline corridor, obtaining a three-dimensional sequence graph GX of the pipeline corridor cable stored in the cloud inspection platform of the pipeline corridor and marking the area as a temperature abnormal area when the temperature of the differential temperature graph at the line position in the second pipeline corridor is not within the range of the temperature threshold value of the cable, and otherwise, obtaining a three-dimensional sequence graph GX of the pipeline corridor cable stored in the cloud inspection platform of the pipeline corridor and marking the area as a temperature normal area;
the pre-radiation heat dissipation temperature value is obtained according to the material property of the cable in the circuit, and the metal core of the cable has certain damping, so that the cable can radiate and dissipate heat outwards; when the temperature of the cable is higher or lower, the resistance value of the cable is changed due to some reasons, such as open circuit, breakdown of an insulating layer and the like at the limit;
after the self-propelled inspection unit finishes walking the pipe gallery, the remote temperature monitoring of the cable in the pipe gallery line is finished;
then acquiring the number of the temperature abnormal areas in the piping lane cable stereogram graph GX, when the number of the temperature abnormal areas is less than 1, generating no recheck control signal, when the number of the temperature abnormal areas is not less than 1, generating a recheck control signal and marking to generate a temperature abnormal area marking graph,
sending the rechecking control signal and the temperature abnormal area label map to a pipe gallery line cloud inspection platform for storage;
after the cloud inspection platform of the pipeline corridor line receives the marked map of the temperature abnormal area and the recheck control signal, sequentially calibrating the serial numbers of the temperature abnormal areas in the marked map of the temperature abnormal area to generate a temperature abnormal detection set, and then controlling the self-propelled inspection unit to reach the temperature abnormal areas of the marked map of the temperature abnormal area and rechecking the single or multiple temperature abnormal areas according to the calibrated serial numbers;
at the moment, the self-walking inspection unit senses the temperature and the damage degree of the pipe rack cable in the temperature abnormal area, generates a surface linear annular temperature value distribution graph of the pipe rack cable and a surface linear annular damage value distribution graph of the pipe rack cable, and sends the surface linear annular temperature value distribution graph of the pipe rack cable and the surface linear annular damage value distribution graph of the pipe rack cable to the pipe rack line cloud inspection platform and stores the distribution graph; because the length of the temperature anomaly is the length of the pipe gallery cable, it is the pipe gallery cable that is linear that is sensed, and the cross section of the pipe gallery cable is circular, it is the annulus of the pipe gallery cable that is sensed;
acquiring a surface linear annular temperature value distribution map of the pipe rack cable and a surface linear annular damage value distribution map of the pipe rack cable by the pipe rack line abnormity evaluation unit through the pipe rack line cloud inspection platform, then respectively acquiring a pipe rack cable average temperature and a pipe rack cable total damage value of the surface linear annular temperature value distribution map of the pipe rack cable and the surface linear annular damage value distribution map of the pipe rack cable, then calibrating the pipe rack cable average temperature and the pipe rack cable average damage value into Gw and Gs, and then obtaining an aging process value GA of the pipe rack cable according to a formula GA = (k 1: (Gw + k 2: (Gs))/2; the k1 and the k2 simulate correction coefficients, and the simulation correction coefficients enable the simulation calculation result to be closer to a true value;
then obtaining an aging degree threshold Ga stored in the cloud inspection platform of the pipe rack line and corresponding to the aging degree value GA of the pipe rack cable, comparing the aging degree value GA of the pipe rack cable with the aging degree threshold Ga, when the aging degree value GA of the pipe rack cable is smaller than the minimum value of the aging degree threshold Ga, generating no aging signal, when the aging degree value GA of the pipe rack cable is not smaller than the minimum value of the aging degree threshold Ga and smaller than the maximum value of the aging degree threshold Ga, generating a yellow early warning mark, and marking the cable covered by the temperature abnormal area as yellow for display; when the aging degree value of the pipe gallery cable is not smaller than the maximum value of the aging degree threshold value Ga, generating a red replacing mark, and marking the cable covered by the temperature abnormal area as red for display;
when a plurality of cables and temperature abnormal areas exist, the steps are repeated to form a three-dimensional aging degree display graph of the pipe gallery cables;
acquiring the yellow display number and the red display number corresponding to the same cable in the display diagram of the three-dimensional aging degree of the cable of the pipe gallery, respectively marking the yellow display number and the red display number as Hg1 and Hg2, and then obtaining an aging replacement factor GB of a single cable according to a formula GB = e1 (Hg 1+ e2 Hg 2);
wherein e2 is a weight multiple of the number of red displays, obviously, the more red displays, the higher the aging degree of the cable, the more replacement is needed, e1 is a quantitative correction factor which ensures that the calculation result is more real,
then, a cable replacement preset value Gb is obtained through the cloud inspection platform of the pipe gallery circuit, then an aging replacement factor GB of the single cable is compared with the cable replacement preset value Gb, when the aging replacement factor GB of the single cable is not smaller than the cable replacement preset value Gb, a replacement display signal is generated, and after the replacement display signal is generated, the pipe gallery cable is subjected to flash display in a three-dimensional aging degree display graph of the pipe gallery cable, so that the pipe gallery cable is required to be replaced;
otherwise, the replacement display signal is not generated, so that the abnormal evaluation of the pipe rack cables is completed, the purpose of replacing aged pipe rack cables is achieved, then the steps are repeated, and the plurality of pipe rack cables are subjected to gradual abnormal evaluation and generate a line replacement flashing stereogram of the pipe rack cables;
the line replacement scintillation stereogram of the cable of the pipe gallery is sent to a cloud inspection platform of the line of the pipe gallery for storage;
the method comprises the steps that a pipeline corridor line cloud inspection platform receives a line replacement flashing stereo image of a pipeline corridor cable and then sends the line replacement flashing stereo image to a human-computer interaction display screen for display, and a worker views the line replacement flashing stereo image of the pipeline corridor cable through the human-computer interaction display screen;
the worker can see that the cable is completely aged through the flickering cable and needs to be replaced, and can visually see the aged nodes of the cable through yellow and red displays of the cable to realize accurate positioning of the aged nodes, and the worker is informed that the red display areas need to be cut off and replaced and the yellow display areas need to be pretreated, such as spraying a coating, enhancing the insulating capacity of the cable or spraying a drying agent, so that the humidity of the areas is reduced, the temperature is influenced, the temperature of the areas is reduced, and the like, if the yellow or red displays of the cables do not flicker;
by integrating the technical scheme, on the basis of generating cable mark serial numbers by hardware scanning through the tube corridor cable three-dimensional diagram sequence diagram, the remote online temperature sensing and analysis processing of cables in the tube corridor cable three-dimensional diagram sequence diagram are realized in a soft and hard combination mode, so that the abnormal region of the tube corridor line temperature is judged, then a single or multiple cables in the single or multiple abnormal region of the tube corridor line temperature are sensed, a plurality of groups of surface linear annular temperature value distribution diagrams and surface linear annular damage value distribution diagrams of the tube corridor cables are correspondingly generated, and then the scintillation three-dimensional diagram of the tube corridor cable is analyzed, calculated, analyzed, compared and processed by gradually constructing yellow display or red display cable segments and the line replacement scintillation three-dimensional diagram of the tube corridor cable of the whole scintillation display cable;
the line replacement scintillation stereogram of the pipe rack cable is sent to a worker to be checked, so that an aging node of the pipe rack cable and the pipe rack cable with high aging degree are directly displayed in front of the worker, the accurate positioning function and the man-machine interaction function of the aging cable in the urban underground pipe rack line are achieved, the worker is assisted to accurately determine and replace the aging cable wholly or locally, the whole inspection process is high in efficiency, the intelligence degree of the urban underground pipe rack inspection device is high, and the problems that although the traditional urban underground pipe rack inspection device has many functions, the accuracy is low, and the aging cable cannot be accurately and efficiently sensed, detected, processed and reminded are solved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. The utility model provides an intelligence equipment of patrolling and examining for city underground pipe gallery circuit, includes that pipe gallery circuit cloud patrols and examines the platform, and pipe gallery circuit cloud patrols and examines the platform and is used for controlling from walking and patrols and examines unit work and store data, its characterized in that still includes:
the self-propelled inspection unit is used for generating a three-dimensional diagram sequence of the pipe rack cable, a real-time temperature distribution diagram of a pipe rack line area range, a surface linear annular temperature value distribution diagram of the pipe rack cable and a surface linear annular damage value distribution diagram of the pipe rack cable in an induction manner, and sending the three-dimensional diagram sequence diagram, the real-time temperature distribution diagram, the surface linear annular temperature value distribution diagram and the surface linear annular damage value distribution diagram to the cloud inspection platform of the pipe rack line for storage;
the remote temperature monitoring unit is used for acquiring a real-time temperature distribution map of the area range of the pipeline corridor through the cloud inspection platform of the pipeline corridor, generating a recheck control signal and a temperature abnormal area marking map through remote analysis and processing of the pipeline, and sending the recheck control signal and the temperature abnormal area marking map to the cloud inspection platform of the pipeline corridor for storage;
the system comprises a management corridor line abnormity evaluating unit, a management corridor line cloud inspection platform and a management corridor line abnormity evaluating unit, wherein the management corridor line abnormity evaluating unit is used for acquiring a surface linear annular temperature value distribution map of a management corridor cable and a surface linear annular damage value distribution map of the management corridor cable through the management corridor line cloud inspection platform, generating a line replacement scintillation stereogram of the management corridor cable through abnormity evaluating processing of the cable, and sending the line replacement scintillation stereogram of the management corridor cable to the management corridor line cloud inspection platform for storage;
human-computer interaction display screen for the staff takes the circuit of the piping lane cable of storing in the piping lane circuit cloud patrols and examines and change the scintillation stereogram and look over.
2. The intelligent inspection device for the urban underground pipe gallery lines according to claim 1, wherein the specific working steps of the remote analysis processing of the lines are as follows:
the method comprises the steps of obtaining a real-time temperature distribution map of a pipe gallery circuit area range and a real-time environment temperature value in a pipe gallery in real time, subtracting the real-time environment temperature value in the pipe gallery from the temperature value of the real-time temperature distribution map of the pipe gallery circuit area range to obtain a real-time difference temperature map of a first pipe gallery internal circuit, obtaining a pre-radiation heat dissipation temperature value of the circuit area through a pipe gallery circuit cloud inspection platform, carrying out secondary subtraction on the temperature value of the real-time difference temperature map of the pipe gallery internal circuit and the pre-radiation heat dissipation temperature value of the circuit area and calculating to obtain a difference temperature map of a second pipe gallery internal circuit;
then obtaining a temperature threshold value of a cable stored in the cloud inspection platform of the pipeline corridor, when the temperature of the difference temperature diagram at the line position in the second pipeline corridor is not within the range of the temperature threshold value of the cable, obtaining a three-dimensional diagram sequence diagram of the pipeline corridor cable stored in the cloud inspection platform of the pipeline corridor and marking the area as a temperature abnormal area, otherwise, obtaining a three-dimensional diagram sequence diagram of the pipeline corridor cable stored in the cloud inspection platform of the pipeline corridor and marking the area as a temperature normal area; after the self-propelled inspection unit finishes walking the pipe gallery, the remote temperature monitoring of the cable in the pipe gallery line is finished;
and then acquiring the number of the temperature abnormal areas in the piping lane cable stereogram sequence graph, when the number of the temperature abnormal areas is less than 1, not generating a recheck control signal, and when the number of the temperature abnormal areas is not less than 1, generating a recheck control signal and marking to generate a temperature abnormal area marking graph.
3. The intelligent inspection equipment for the urban underground pipe gallery lines according to claim 2, is characterized in that the specific working steps of the abnormal evaluation and treatment of the cables are as follows:
acquiring a surface linear annular temperature value distribution map of the pipe gallery cable and a surface linear annular damage value distribution map of the pipe gallery cable, quantizing the distribution maps to obtain a pipe gallery cable average temperature and a pipe gallery cable total damage value corresponding to the distribution maps, calibrating the pipe gallery cable average temperature and the pipe gallery cable average damage value into Gw and Gs, and processing the values to obtain an aging process value of the pipe gallery cable;
the aging degree value of the pipe rack cable is compared with an aging degree threshold value, when the aging degree value of the pipe rack cable is smaller than the minimum value of the aging degree threshold value, no aging signal is generated, when the aging degree value of the pipe rack cable is not smaller than the minimum value of the aging degree threshold value and smaller than the maximum value of the aging degree threshold value, a yellow early warning mark is generated, and the cable covered by the temperature abnormal area is marked to be yellow for display; when the aging degree value of the pipe gallery cable is not smaller than the maximum value of the aging degree threshold value, a red replacing mark is generated, and the cable covered by the temperature abnormal area is marked to be displayed in red;
when a plurality of cables and temperature abnormal areas exist, the steps are repeated to form a three-dimensional aging degree display graph of the pipe gallery cables;
acquiring the yellow display number and the red display number corresponding to the same cable in the three-dimensional aging degree display graph of the cable of the pipe gallery, respectively marking the yellow display number and the red display number as Hg1 and Hg2, and processing to obtain an aging replacement factor of a single cable;
then, the aging replacement factors of the single cables are respectively compared with cable replacement preset values, when the aging replacement factors of the single cables are not smaller than the cable replacement preset values, replacement display signals are generated, and the three-dimensional aging degree display images of the pipe rack cables in the pipe rack cable are displayed in a flashing mode, so that the pipe rack cables are required to be replaced; otherwise, the replacement display signal is not generated, then the steps are repeated, and the plurality of pipe gallery cables are subjected to gradual abnormal evaluation and generate the line replacement flicker stereogram of the pipe gallery cables.
4. The intelligent inspection device for the urban underground pipe gallery circuit according to claim 1, characterized in that the self-propelled inspection unit comprises a triangular box (1), wherein a plurality of stages of electric lifting rods (2) are rotatably arranged at the top end of the triangular box (1), a steering motor (104) is arranged in the top wall of the triangular box (1), an output shaft of the steering motor (104) is fixedly connected with the bottom ends of the plurality of stages of electric lifting rods (2), a connecting block (3) is fixedly arranged at the output end of the plurality of stages of electric lifting rods (2), a plurality of stages of limiting slide rods (4) are symmetrically arranged at two sides of the connecting block (3), one end of each stage of limiting slide rod (4), far away from the connecting block (3), is connected with the bottom of the plurality of stages of electric lifting rods (2), the plurality of stages of limiting slide rods (4) are arranged in parallel with the plurality of stages of electric lifting rods (2), a plurality of stages of electric telescopic rods (5) are arranged at two sides of the connecting block (3), the plurality of electric telescopic rods (5) are arranged perpendicular to the plurality of stages of limiting slide rods (4), a convex hinged block (6) is fixedly arranged at the output end of the electric telescopic rod (5), a convex hinged block (6), a convex block (6) is hinged with a U-shaped motor (8) is hinged at the side of the convex fixed block (7), and a convex motor (8) is hinged with a convex motor (7) hinged corner of the convex motor (7) connected with a convex motor (8) hinged corner of the convex motor (7) hinged box (8) hinged motor, return springs (14) are fixedly and symmetrically arranged on the end face of the convex hinging block (6), and one ends, far away from the convex hinging block (6), of the return springs (14) are fixedly connected with the side face of the U-shaped limiting box (8);
arc-shaped mechanical grippers (9) are symmetrically arranged in the U-shaped limiting box (8), the two arc-shaped mechanical grippers (9) which are symmetrically arranged are in a group, arc-shaped temperature sensors (10) are arranged at opposite ends of one group of the arc-shaped mechanical grippers (9), arc-shaped damage induction heads are arranged at opposite ends of the other group of the arc-shaped mechanical grippers (9), the two arc-shaped damage induction heads are oppositely arranged, and thermal imaging sensors (12) and ultrasonic sensors (13) are symmetrically arranged on the U-shaped limiting box (8).
5. The intelligent inspection equipment for the urban underground pipe gallery circuit according to claim 4, wherein electric wheels (103) are installed at the bottom end of the triangular box (1), a charging socket (101) and an input panel (102) are installed on the outer side of the triangular box (1), and a battery pack is arranged in the triangular box (1).
6. The intelligent inspection equipment for the urban underground pipe gallery line according to claim 4, wherein a closing driving assembly for driving the two arc-shaped mechanical grippers (9) to close is installed in the U-shaped limiting box (8), the closing driving assembly comprises an electric rotating rod (901), the electric rotating rod (901) is rotatably arranged in the U-shaped limiting box (8), a driving gear (902) is fixedly sleeved at the outer end of the electric rotating rod (901), driven gears (903) are symmetrically meshed and connected with the outer end of the driving gear (902), a driven rotating rod (904) is fixedly sleeved at the inner end of the driven gear (903), the driven rotating rod (904) is rotatably arranged in the U-shaped limiting box (8), and the outer end of the driven rotating rod (904) is fixedly sleeved with the arc-shaped mechanical grippers (9).
7. The working method of the intelligent inspection equipment for the urban underground pipe gallery line according to any one of claims 1 to 6, is characterized in that the specific working method is as follows:
the method comprises the following steps: the self-propelled inspection unit is controlled to move forwards at the center of the pipe gallery by the timing section of the corridor line cloud inspection platform, a stereoscopic diagram and a sequence diagram of a pipe gallery cable are generated by scanning through the ultrasonic sensor (13), a thermal imaging sensor (12) senses the generated diagram and generates a real-time temperature distribution diagram of the area range of the corridor line, and the generated diagram is sent to the corridor line cloud inspection platform in real time for storage;
step two: the remote temperature monitoring unit acquires a real-time temperature distribution map of a pipe rack line area range and a real-time environment temperature value in a pipe rack through the pipe rack line cloud inspection platform, carries out remote analysis processing on the line, generates a rechecking control signal and marks to generate a temperature abnormal area marking map, and sends the temperature abnormal area marking map to the pipe rack line cloud inspection platform;
step three: after the cloud inspection platform of the pipe gallery line receives the rechecking control signal and marks the generated temperature abnormal area marking map, the cloud inspection platform immediately controls the cable in the temperature abnormal area to carry out surface induction on the temperature and the damage value of the cable, then the abnormal evaluation processing work of the cable is carried out on the cable again through the abnormal evaluation unit of the pipe gallery line, and then a line replacement flicker stereogram of the pipe gallery line showing the aged node and the aged cable is generated.
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