CN115847425A - Piping lane inspection robot based on BIM data management and operation method thereof - Google Patents
Piping lane inspection robot based on BIM data management and operation method thereof Download PDFInfo
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- CN115847425A CN115847425A CN202211738202.7A CN202211738202A CN115847425A CN 115847425 A CN115847425 A CN 115847425A CN 202211738202 A CN202211738202 A CN 202211738202A CN 115847425 A CN115847425 A CN 115847425A
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Abstract
The invention provides a piping lane inspection robot based on BIM data management and an operation method thereof. The inspection robot integrates the functions of harmful gas detection, abnormal sound monitoring, intelligent tracing and high-definition online monitoring, collects the production field and equipment operation data in real time, utilizes the wireless transmission technology of the Internet of things to monitor and analyze the abnormality of the equipment in real time, predicts and warns faults which may occur in a period of time in the future, and provides scientific basis for the maintenance of the equipment.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a pipe gallery inspection robot based on BIM data management and an operation method thereof.
Background
The BIM technology is a data tool applied to engineering design and construction management, relevant information of various projects is integrated through a parameter model, the process of sharing the information about the facility provides reliable basis for all decisions of the facility in the whole life cycle from building to dismantling, and different stakeholders support and reflect cooperative work of respective duties by inserting, extracting, updating and modifying the information in the BIM. The urban comprehensive pipe gallery is used for integrating various engineering pipelines such as electric power, communication, heating power, water supply and the like into an integral tunnel space, the urban comprehensive pipe gallery is complex in interior, long in pipeline, bad in environment, complex in inspection process, multiple and complicated in inspection content, heavy in inspection task and high in requirement on comprehensive capacity of personnel in a manual inspection mode. We combine together through BIM technique and robot, can be real-time considerable see the pipeline condition to the robot has higher fatigue resistance ability, can work for a long time, can carry out real-time data transmission, simultaneously to functions such as piping lane environmental monitoring, fire control early warning, video monitoring, emergent calling and piping lane environment, pipeline outward appearance infrared temperature measurement, regularly, the fixed point is tourd key position, key equipment etc. and all has good performance.
Because the investment of the infrastructure of China is increased day by day, the construction of the utility tunnel is carried out towards the international standard, but the utility tunnel with a laggard design still exists in China at present. Therefore, the comprehensive pipe rack with different characteristics is comprehensively considered, the design meets the requirement of the intelligent inspection robot, and the intelligent, remote and visual monitoring of the comprehensive pipe rack is realized.
Disclosure of Invention
The invention aims to provide a pipe rack inspection robot based on BIM data management and an operation method thereof, which can effectively solve the problems of multiple and complicated pipe rack detection contents in the background technology; the manual detection is easy to fatigue, and the detection efficiency is low; the environment detection of the pipe gallery has the defects of weak detection of toxic gas concentration, humidity, oxygen content and the like.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention provides a pipe gallery inspection robot based on BIM data management, which comprises: a gas detection unit: detecting various gases in the pipe gallery to realize detection and analysis of the gas environment in the pipe gallery; a noise sensor: monitoring and analyzing abnormal sounds in the pipe gallery to realize state monitoring of field operation equipment in the pipe gallery through sound analysis; a visual inspection module: capturing images at specific positions through a high-definition camera, converting captured image information into digital information, and providing data for BIM modeling processing of an upper computer; the tracing sensor: the inspection robot carries out tracing through the tracing sensor so as to carry out self-learning on a moving route; a motion motor module: the inspection robot is subjected to motion control so as to realize acceleration, deceleration and uniform motion of the inspection robot; the wireless communication module: and uploading the digital information to an upper computer to perform BIM modeling analysis.
Furthermore, the gas detection unit firstly determines the type of the detected harmful gas, and then selects corresponding gas detection sensors respectively to construct a perfect gas sensor detection network.
Furthermore, the noise sensor performs amplification, noise reduction and extraction processing on the field sound monitoring data, discriminates abnormal sound emitted by the field operation equipment in the complex sound data, and triggers an alarm signal, thereby realizing safety monitoring on the field operation equipment.
Further, the image data of the specific position of visual detection module inside to the piping lane carries out automatic shooting and collection, the selection of high definition digtal camera is selected according to the image rate of distinction and the collection rate of needs.
Further, the motion motor module includes multidimensional ultrasonic sensor and patrols and examines the module, it recognises the special sign in ground to patrol and examine the module, control patrol and examine the robot and patrol and examine according to the trailing route of formulating in advance, trailing sensor combines multidimension ultrasonic sensor control patrol and examine the motion of robot and realize patrol and examine the obstacle avoidance of robot.
Further, wireless communication module realizes patrolling and examining the data exchange of robot and host computer through wired transmission, through the communication module with the thing networking as the medium, realizes uploading of the inside picture of utility tunnel, carries out remote transmission through the radio frequency wave with the environmental data that detects, the state information of patrolling and examining the robot.
The invention also provides an operation method of the pipe gallery inspection robot based on BIM data management, which comprises the following steps: when the pipe gallery is built, a pipe gallery model is built through the BIM technology and uploaded to a database, a tracing route is formulated in advance in the pipe gallery, a comprehensive pipeline in the pipe gallery is patrolled according to the pre-formulated tracing route, and the oxygen content, the harmful gas concentration and the temperature and humidity trend in the pipe gallery are monitored; abnormal sound in the comprehensive pipe rack is collected and alarmed in real time, so that abnormal monitoring of field operation equipment in the pipe rack is improved; capturing images at specific positions through a high-definition video lens; various data are uploaded to an upper computer through an internet of things wireless communication module, image data processing is completed through the upper computer, comparison between the image data and BIM discrete data is established, and real-time early warning is given to data abnormity; judging the existing condition, judging the accident type, confirming the judged accident type, marking on a pipe gallery model in a database when the accident type is smaller so that the upper computer can determine the accident type and the position of an accident point pipeline, and then, continuing to move forward to inspect by the inspection robot.
The invention has the following beneficial effects:
1. according to the invention, the inspection robot integrates functions of harmful gas detection, abnormal sound monitoring, intelligent tracing and high-definition online monitoring, the production field and equipment operation data are collected in real time, the Internet of things wireless transmission technology is utilized to carry out real-time monitoring and analysis on the abnormality of the equipment, the fault which is possibly generated in a period of time in the future is predicted and early-warned, a scientific basis is provided for the overhaul of the equipment, and the operation and maintenance cost is reduced.
2. The intelligent comprehensive pipe gallery inspection system is driven by electric power, noise and waste gas pollution cannot be generated in the inspection process, the robot intelligent inspection is adopted, the prediction and early warning are carried out on possible faults of the pipe gallery in a future period, the possibility of risks is revealed to asset owners and operation and maintenance persons in advance, the influence of later-period toxic and harmful gas and liquid leakage on the surrounding environment is avoided, and the secondary environmental hazard caused by the influence of the function loss of the comprehensive pipe gallery on surrounding supporting building groups is avoided.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a system structure diagram of a piping lane inspection robot and an operation method thereof based on BIM data management according to the present invention;
fig. 2 is a work flow of the piping lane inspection robot and the operation method thereof based on BIM data management according to the present invention.
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.
In the description of the present invention, it is to be understood that the terms "upper", "middle", "outer", "inner", and the like, indicate orientations or positional relationships, are used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referenced components or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
The first embodiment is as follows:
referring to fig. 1-2, the present invention provides a piping lane inspection robot based on BIM data management, including:
a gas detection unit: the detection and analysis of the gas environment inside the pipe gallery can effectively guarantee the life and property safety of operation and maintenance personnel;
a noise sensor: abnormal sounds in the pipe gallery are monitored and analyzed, so that the state of internal running equipment is monitored, and the safe running capacity of the equipment is improved;
a visual inspection module: environment grabbing is carried out on a specific position through a high-definition camera, the environment grabbing is converted into digital information, and data are provided for BIM modeling processing of an upper computer;
the tracing sensor: the inspection robot carries out tracing through the tracing sensor so as to carry out self-learning on a moving route;
a motion motor module: the brushless direct current motor realizes the motion control of the tracing robot and can meet the requirements of acceleration, deceleration and uniform speed operation;
a wireless communication module: the inspection robot finishes image capture at a specific position, image information needs to be uploaded to an upper computer for BIM modeling analysis, the image data of a specific monitoring point is ensured to be uploaded in a wireless communication mode, and meanwhile, the inspection robot is enabled to be capable of uploading self state information.
The gas detection unit needs to determine the types of detected harmful gases, select corresponding gas detection sensors respectively, and construct a complete sensor detection network, wherein the harmful gases include methane, hydrogen sulfide, carbon monoxide, ammonia gas and carbon dioxide.
The noise sensor is used for amplifying, reducing noise and extracting the sound monitoring data of the site, distinguishing abnormal sound emitted by the equipment in the complex sound data, and triggering an alarm signal to realize safety monitoring of the site operation equipment.
Wherein, the visual detection module utilizes BIM technique to realize management, the analysis to engineering cost, needs to carry out automatic shooting and the collection to the image data of utility tunnel inside specific position. The high-definition camera can be selected according to the required image resolution and acquisition rate, and a reliable data source can be effectively provided for BIM analysis.
Wherein, the motion motor module includes that the system gathers and seeks mark module, multidimension ultrasonic sensor and patrol and examine the module, patrols and examines the robot and gos forward according to specific route, and the system gathers and seeks mark module and combine multidimension ultrasonic sensor's mode to realize patrolling and examining the motion control of robot, patrols and examines the module and can effectively know the special sign in ground, patrols and examines according to formulating the route in advance, and multidimension ultrasonic sensor provides further safety guarantee simultaneously.
Wherein, wireless communication module accessible wired transmission realizes patrolling and examining the data exchange of robot and host computer, and communication module through the thing networking is as the medium, can realize the inside picture of utility tunnel shooting and upload, will detect environmental data simultaneously, patrol and examine the state information of robot and carry out remote reliable transmission through the radio frequency wave.
The invention also provides an operation method of the pipe gallery inspection robot based on BIM data management, which comprises the following steps:
the method comprises the following steps that a pipe gallery is constructed through a BIM technology, a pipe gallery model is constructed and uploaded to a database, meanwhile, a tracing line is constructed in the pipe gallery, an inspection robot inspects a comprehensive pipeline according to a specific tracing line, and the monitoring of the whole environment of the comprehensive pipe gallery, including mainly monitoring oxygen content, harmful gas concentration, temperature and humidity trends and the like, can be realized; abnormal sounds in the comprehensive pipe rack are collected and reported in real time, and abnormal monitoring of the inside of the pipe rack and running equipment is improved; the image at a specific position is captured through the high-definition video camera lens, and meanwhile, data are uploaded to the upper computer through the Internet of things wireless communication module. The upper computer completes image data processing, comparison between image data and BIM discrete data is established, real-time early warning is given to data abnormity, the inspection robot can judge the existing situation when meeting the situation, after the accident type is judged, the accident type is confirmed, when the accident type is small, after the data model is marked, the background can conveniently determine the accident type and the position of an accident point pipeline, and then the robot can continue to advance to inspect.
The specific working principle is as follows: pass to the cloud platform based on BIM technique with the piping lane model, so that visit and modify the model, it tours according to patrolling and examining the route to patrol and examine the robot, and detect whole environment in the piping lane, can detect the oxygen content through gaseous detecting element, harmful gas isopycnic, noise sensor can detect the inside abnormal sound of comprehensive pipe and gather in real time and report to the police, high definition video lens carries out the comparison of uploading in real time to the environment, accomplish image data ization by the host computer and handle, establish the contrast of image data and BIM discrete data, give real-time early warning to data anomaly. Patrol and examine the robot and can judge the accident type to the existing situation when meetting the condition, wherein the accident type can divide into: the fire hazard protection system comprises a sudden fire hazard, gas leakage and mechanical damage, wherein the sudden fire hazard can be a fire hazard caused by line aging, and a fire hazard caused by gas explosion belongs to a larger accident type; the gas leakage can be hydrogen sulfide, ammonia gas, methane and carbon monoxide gas accidents, the mechanical damage can be the conditions of pipeline main body damage, corrosion, deformation, vent blockage, damage and the like, and the condition that the support frame is dropped and damaged belong to a small accident type, then the accident type is confirmed, after the accident place and position are marked, the post-repair maintenance is convenient, when the accident type is small, the next-round inspection person can continue to inspect after the mark is finished.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (7)
1. The utility model provides a piping lane inspection robot based on BIM data management which characterized in that includes:
a gas detection unit: detecting various gases in the pipe gallery to realize detection and analysis of the gas environment in the pipe gallery;
a noise sensor: monitoring and analyzing abnormal sounds in the pipe gallery to monitor the state of field operation equipment in the pipe gallery through sound analysis;
a visual inspection module: capturing images at specific positions through a high-definition camera, converting captured image information into digital information, and providing data for BIM modeling processing of an upper computer;
the tracing sensor: the inspection robot carries out tracing through the tracing sensor so as to carry out self-learning on a moving route;
a motion motor module: the inspection robot is subjected to motion control so as to realize acceleration, deceleration and uniform motion of the inspection robot;
the wireless communication module: and uploading the digital information to an upper computer to perform BIM modeling analysis.
2. The piping lane inspection robot based on BIM data management of claim 1, characterized in that: the gas detection unit firstly determines the types of the detected harmful gases, and then selects corresponding gas detection sensors respectively to construct a perfect gas sensor detection network.
3. The piping lane inspection robot based on BIM data management of claim 1, characterized in that: the noise sensor is used for amplifying, reducing noise and extracting the sound monitoring data of the site, distinguishing abnormal sound emitted by the site operation equipment in the complex sound data and triggering an alarm signal, so that the safety monitoring of the site operation equipment is realized.
4. The piping lane inspection robot based on BIM data management of claim 1, characterized in that: the visual detection module automatically shoots and collects image data of specific positions inside the pipe gallery, and the high-definition camera is selected according to required image resolution and acquisition rate.
5. The piping lane inspection robot based on BIM data management of claim 1, characterized in that: the motion motor module includes multidimensional ultrasonic sensor and patrols and examines the module, it discerns the special sign in ground to patrol and examine the module, control patrol and examine the robot and patrol and examine according to the pursuit route of formulating in advance, the sensor that seeks combines multidimensional ultrasonic sensor controls patrol and examine the motion of robot and realize patrol and examine the obstacle avoidance of robot.
6. The piping lane inspection robot based on BIM data management of claim 1, characterized in that: the wireless communication module realizes the data exchange between the inspection robot and the upper computer through wired transmission, realizes uploading of pictures inside the comprehensive pipe gallery by taking the communication module of the Internet of things as a medium, and carries out remote transmission on detected environmental data and state information of the inspection robot through radio frequency waves.
7. A method of operating a BIM data management based pipe gallery inspection robot according to any of claims 1-6, comprising the steps of:
constructing a pipe gallery model through a BIM (building information modeling) technology and uploading the pipe gallery model to a database when the pipe gallery is built, and presetting a tracing route in the pipe gallery;
inspecting a comprehensive pipeline in the pipe gallery according to a preset tracing route, and monitoring the oxygen content, the harmful gas concentration and the temperature and humidity trend in the pipe gallery; abnormal sounds in the comprehensive pipe rack are collected and alarmed in real time, so that abnormal monitoring of field operation equipment in the pipe rack is improved; capturing images at specific positions through a high-definition video lens;
various data are uploaded to an upper computer through an internet of things wireless communication module, image data processing is completed through the upper computer, comparison between the image data and BIM discrete data is established, and real-time early warning is given to data abnormity;
judging the existing condition, judging the accident type, confirming the judged accident type, marking on a pipe gallery model in a database when the accident type is smaller so that the upper computer can determine the accident type and the position of an accident point pipeline, and then, continuing to move forward to inspect by the inspection robot.
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| CN202211738202.7A CN115847425A (en) | 2022-12-30 | 2022-12-30 | Piping lane inspection robot based on BIM data management and operation method thereof |
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| CN202211738202.7A CN115847425A (en) | 2022-12-30 | 2022-12-30 | Piping lane inspection robot based on BIM data management and operation method thereof |
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