CN209214673U - A kind of piping lane inspection positioning system based on Radio Frequency Identification Technology - Google Patents
A kind of piping lane inspection positioning system based on Radio Frequency Identification Technology Download PDFInfo
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- CN209214673U CN209214673U CN201822219696.3U CN201822219696U CN209214673U CN 209214673 U CN209214673 U CN 209214673U CN 201822219696 U CN201822219696 U CN 201822219696U CN 209214673 U CN209214673 U CN 209214673U
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- piping lane
- radio frequency
- robot
- positioning system
- frequency identification
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Abstract
The piping lane inspection positioning system based on Radio Frequency Identification Technology that the utility model discloses a kind of, comprising: piping lane robot, reader and electronic tag；Electronic tag is sequentially disposed with along the inner wall of the piping lane, each electronic tag corresponding record there are the position coordinates of piping lane, and the reader of identification electronic tag is provided in the piping lane robot.The piping lane inspection positioning system based on Radio Frequency Identification Technology of the utility model has positioning accuracy height, economy high feature low to environmental requirement.
Description
Technical field
The utility model relates to piping lane monitoring fields, and in particular to a kind of piping lane inspection positioning based on Radio Frequency Identification Technology
System.
Background technique
Piping lane is built in underground, and environment is complicated, and lighting condition is very insufficient, it is therefore desirable to certain mode be taken to come in real time really
Determine the position that piping lane robot is presently in.Traditional location technology includes infrared confirming orientation technology, GPS positioning technology and Wi-
Fi location technology.
Infrared confirming orientation technology is only used for short-range propagation, while being easy to be interfered by other light, therefore fixed
Has certain limitation in the precision of position.Although GPS positioning technology has been widely used at present, coverage area is wider,
It is very weak that GPS reaches ground signal, can not penetrated surface building very well, so being all confined to outdoor positioning in most cases.
Wi-Fi location technology relative inexpensiveness, but whether being in outdoor or interior, signal covering radius is all very limited, simultaneously
Other signals can be interfered, other signal datas is caused to be distorted.
Utility model content
The main purpose of the utility model is to provide a kind of piping lane inspection positioning system based on Radio Frequency Identification Technology, passes through
Different location setting records the electronic tag of current position coordinates information in piping lane, and being arranged in piping lane robot can recognize
The reader of electronic tag determines the position that piping lane robot is presently in.Simultaneously piping lane robot be provided with multiple sensors and
Camera is for acquiring various information in piping lane and being sent to remote control terminal.
In order to achieve the above object, the utility model is resolved using following technical scheme.
A kind of piping lane inspection positioning system based on Radio Frequency Identification Technology, comprising: piping lane robot, reader and electronics mark
Label；Electronic tag is sequentially disposed with along the inner wall of the piping lane, each electronic tag corresponding record has the position coordinates of piping lane,
The reader of identification electronic tag is provided in the piping lane robot.
It further, further include the optical fiber being connected in piping lane, the wireless router that is sequentially arranged on the inner wall of piping lane,
It is provided with fibre optic modem between each wireless router and optical fiber, is provided in the piping lane robot and wireless routing
The Wi-Fi module of device communication.
Further, visible image capturing head is provided in the piping lane robot, the visible image capturing head is for acquiring
Image information in piping lane.
Further, infrared camera is provided in the piping lane robot, the infrared camera is for monitoring
Temperature information in piping lane.
Further, oxygen content sensor is provided in the piping lane robot, the oxygen content sensor is used for
Monitor the concentration of oxygen in piping lane.
Further, methane content sensor is provided in the piping lane robot, the methane content sensor is used for
Monitor the concentration of methane in piping lane.
Further, hydrogen sulfide content sensor, the hydrogen sulfide content sensor are provided in the piping lane robot
For monitoring the concentration of hydrogen sulfide in piping lane.
Further, Temperature Humidity Sensor is provided in the piping lane robot, the Temperature Humidity Sensor is for monitoring
The temperature and humidity of air in piping lane.
Further, the piping lane robot includes locomotive and hanger rail；The hanger rail includes sunpender, the upper end of the sunpender
It is fixedly connected on the wall top of piping lane, the lower end of sunpender is fixedly connected with the first angle steel and the second angle steel being arranged back-to-back, and first
The horizontal sides of angle steel and the second angle steel form two edges of a wing of the hanger rail；It is provided at the top of the locomotive two rows of and hanger rail
The matched locomotive suspension sheave in the edge of a wing, the locomotive suspension sheave are placed in the upper surface on the edge of a wing；It is hinged at the top of the locomotive
The upper surface of motor fixing plate, the free end of the motor fixing plate is provided with hub motor；The free end of motor fixing plate
Electric pushrod is provided between lower surface and the top of locomotive, the hub motor is contradicted in the lower surface on the edge of a wing；It is described
Angular transducer and control module are provided in locomotive, the angular transducer is electrically connected with the control module, the control
Module is electrically connected with the electric pushrod, and the angular transducer is used to monitor the variable angle and root of the hanger rail and horizontal plane
It is sent to control module according to angle change information, the control module is long according to the stretching that angle change information controls electric pushrod
Degree.
Further, the piping lane robot further includes trailer, and the trailer is connected to the tail portion of the locomotive, described to drag
Trailer suspension sheave is provided at the top of vehicle, the trailer is placed in the upper surface on the edge of a wing by trailer suspension sheave.
The piping lane inspection positioning system based on Radio Frequency Identification Technology of the utility model has positioning accuracy height, wants to environment
Ask low, the high feature of economy.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, the structure that can also be shown according to these attached drawings obtains other attached drawings.
Fig. 1 is a kind of signal of embodiment of piping lane robot in the piping lane inspection positioning system based on Radio Frequency Identification Technology
Figure；
Fig. 2 is that another embodiment of piping lane robot in piping lane inspection positioning system based on Radio Frequency Identification Technology is shown
It is intended to；
In the above figure: 1 visible image capturing head；2 infrared cameras；3 oxygen content sensors；4 methane content sensors；
5 hydrogen sulfide content sensors；6 Temperature Humidity Sensors；7 locomotives；71 locomotive suspension sheaves；72 motor fixing plates；73 hub motors；74
Electric pushrod；8 hanger rails；81 sunpenders；82 first angle steel；83 second angle steel；9 trailers；91 trailer suspension sheaves.
Specific embodiment
It is understandable in order to enable the above objects, features, and advantages of the utility model to become apparent, it is right with reference to the accompanying drawing
Specific embodiment of the present utility model is described in detail.
Elaborate detail in the following description in order to fully understand the utility model.But the utility model can
It is different from other way described herein with a variety of and implements, those skilled in the art can be without prejudice to the utility model connotation
In the case where do similar popularization.Therefore the utility model is not limited by following public specific embodiment.
A kind of piping lane inspection positioning system based on Radio Frequency Identification Technology, comprising: piping lane robot, reader and electronics mark
Label；Electronic tag is sequentially disposed with along the inner wall of the piping lane, each electronic tag corresponding record has the position coordinates of piping lane,
The reader of identification electronic tag is provided in the piping lane robot.
After piping lane is built up, the reader that can recognize electronic tag, the wall on piping lane both sides are set in piping lane robot
On stick record every a distance and have the electronic tags of piping lane current position coordinates, the certain calculation of value of these electronic tags
After method is packaged, the value of return can be counted as being presently in by certain Formula Solution when piping lane robot reads label
Position.Therefore the function of positioning is just completed.
It further, further include the optical fiber being connected in piping lane, the wireless router that is sequentially arranged on the inner wall of piping lane,
It is provided with fibre optic modem between each wireless router and optical fiber, is provided in the piping lane robot and wireless routing
The Wi-Fi module of device communication.
In above embodiments, piping lane robot is responsible for monitoring, acquires the various information in piping lane, need to finally be transferred to long-range
Controlling terminal is handled, and since the construction distance of piping lane is up to tens kilometers or even kilometers up to a hundred, and there are various pipelines in the inside,
Signal interference is stronger, high, signal decays small fiber optic communication that it is advantageous to anti-interferences.Wireless router is arranged in piping lane,
Wireless router is connected to optical fiber by fibre optic modem, and the Wi-Fi module in piping lane robot and wireless router connect
It connects.Remote control terminal is connected to optical fiber also by fibre optic modem.Fibre optic modem is a kind of network terminal, is used
In the equipment that optical signal and electric signal are converted.It is collected in this way by the camera, the sensor that are arranged in piping lane robot
The information such as video, image, temperature and humidity, pernicious gas content remote control terminal, staff are transferred to by optical fiber
The various situations in piping lane are recognized in remote control terminal, are positioned in conjunction with Radio Frequency Identification Technology, and staff is recognized that
The situation of any position in piping lane.It takes measures if necessary, piping lane machine need to be only sent instructions to by remote control terminal
People.
Further, visible image capturing head 1 is provided in the piping lane robot, the visible image capturing head 1 is for adopting
Collect image information in piping lane.Such as: equipment working state, bracket displacement, catchment Well Water Level situations such as, and to the image of abnormal conditions
Information is recorded.Monitoring center can transfer the real time video signals and history playback image of visible image capturing head 1 at any time, and throw
It is put on the display screen of remote control terminal.
Further, infrared camera 2 is provided in the piping lane robot, the infrared camera 2 is for supervising
Temperature information in test tube corridor.Infrared camera 2 is arranged in piping lane robot in real time to supervise piping lane temperature
Control, once discovery dangerous work personnel can take measures on customs clearance.
Further, oxygen content sensor 3 is provided in the piping lane robot, the oxygen content sensor 3 is used
In the concentration of oxygen in monitoring piping lane.
Further, methane content sensor 4 is provided in the piping lane robot, the methane content sensor 4 is used
In the concentration of methane in monitoring piping lane.
Further, hydrogen sulfide content sensor 5, the hydrogen sulfide content sensor are provided in the piping lane robot
5 for monitoring the concentration of hydrogen sulfide in piping lane.
Further, Temperature Humidity Sensor 6 is provided in the piping lane robot, the Temperature Humidity Sensor 6 is for supervising
The temperature and humidity of air in test tube corridor.
In the above various embodiments, various sensors are laid in piping lane robot, that is, are convenient in remote control terminal
The information such as oxygen content, pernicious gas, the fuel gas in light corridor are understood in detail.
Further, the piping lane robot includes locomotive 7 and hanger rail 8；The hanger rail 8 includes sunpender 81, the sunpender
81 upper end is fixedly connected on the wall top of piping lane, and the lower end of sunpender 81 is fixedly connected with the first angle steel 82 being arranged back-to-back and
The horizontal sides of two angle steel 83, the first angle steel 82 and the second angle steel 83 form two edges of a wing of the hanger rail 8；The top of the locomotive 7
Portion is provided with two rows of matched locomotive suspension sheaves 71 in the edge of a wing with hanger rail 8, and the locomotive suspension sheave 71 is placed in the upper of the edge of a wing
Surface；The top of the locomotive 7 is hinged with motor fixing plate 72, and the upper surface of the free end of the motor fixing plate 72 is provided with
Hub motor 73；Electric pushrod 74 is provided between the lower surface of the free end of motor fixing plate 72 and the top of locomotive 7, it is described
Hub motor 73 is contradicted in the lower surface on the edge of a wing；Angular transducer and control module, the angle are provided in the locomotive 7
Degree sensor is electrically connected with the control module, and the control module is electrically connected with the electric pushrod 74, the angle sensor
Device is used to monitor the variable angle of the hanger rail 8 and horizontal plane and is sent to control module, the control according to angle change information
Molding root tuber controls the extension elongation of electric pushrod 74 according to angle change information.
Piping lane is in underground, inevitably there is ponding, and therefore, in the present embodiment, on piping lane inner wall top, setting is hung
Rail 8, piping lane robot are suspended on hanger rail 8, such design can to avoid because caused by ponding in piping lane to piping lane robot
Damage.Hanger rail 8 has horizontal flanges, and piping lane robot is clamped in the convex of hanger rail 8 with hub motor 73 by locomotive suspension sheave 71
Edge top and bottom are run when piping lane Robot hanger rail 8 can be driven in the rotation of hub motor 73.
Angular transducer is provided with inside locomotive 7, angular transducer is used to monitor the variable angle of hanger rail 8 Yu horizontal plane
Information due to landform fluctuations, piping lane trend not be always it is horizontal, be also followed by fluctuations when hanger rail 8 by
When level becomes going up a slope, the angle of hanger rail 8 and horizontal plane is a positive value by zero variation, and locomotive 7 has downward along 8 direction of hanger rail
Partical gravity, the frictional force when advancing on horizontal hanger rail 8 may be not enough to that locomotive 7 is driven to go up a slope along hanger rail 8 originally, at this point,
The extension elongation that control module controls electric pushrod 74 increases, and increases the dynamics that electric pushrod 74 pushes motor fixing plate 72, i.e.,
Locomotive 7 can be made to have enough frictional force when going up a slope；When hanger rail 8 becomes descending from level, the angle of hanger rail 8 and horizontal plane by
Zero becomes a negative value, and locomotive 7 has downward partical gravity along 8 direction of hanger rail, originally the friction when advancing on horizontal hanger rail 8
Power may be not enough to limit locomotive 7 and increase along 8 descending of hanger rail at this point, the extension elongation of control module control electric pushrod 74 increases
Big electric pushrod 74 pushes the dynamics of motor fixing plate 72, and locomotive 7 can be made to have enough friction power limit locomotives 7 in descending
Speed in reasonable range.
It can adapt to that there are ascents and descents by setting angular transducer, electric pushrod 74 and control module, locomotive 7
Piping lane, it is more adaptable.
Further, the piping lane robot includes trailer 9, and the trailer 9 is hinged on the tail portion of the locomotive 7, institute
The top for stating trailer 9 is provided with trailer suspension sheave 91, and the trailer 9 is placed in the upper table on the edge of a wing by trailer suspension sheave 91
Face.
It is restricted by landform, piping lane inevitably encounters the situations such as turn, upward slope, descending, and corresponding hanger rail 8 can also turn
Curved, upward slope, descending.Piping lane robot is loaded with the components such as power supply, camera, sensor, driving wheel, in order to avoid piping lane machine
Man-machine body is too long to be not easy to turn round, go up a slope, descending, trailer 9 is arranged behind the locomotive 7 of piping lane robot, due to being provided with trailer
9, the bearing capacity of piping lane robot also accordingly increases, and parts thereof can be arranged onto trailer 9.
Although having made to retouch in detail to the utility model with a general description of the specific embodiments in this specification
It states, but on the basis of the utility model, it can be made some modifications or improvements, this is apparent to those skilled in the art
's.Therefore, these modifications or improvements on the basis of without departing from the utility model belong to the requires of the utility model guarantor
The range of shield.
Claims (10)
1. a kind of piping lane inspection positioning system based on Radio Frequency Identification Technology characterized by comprising piping lane robot, read-write
Device and electronic tag；
Electronic tag is sequentially disposed with along the inner wall of the piping lane, each electronic tag corresponding record has the position of piping lane to sit
It marks, the reader of identification electronic tag is provided in the piping lane robot.
2. the piping lane inspection positioning system according to claim 1 based on Radio Frequency Identification Technology, which is characterized in that further include
The optical fiber being connected in piping lane, the wireless router being sequentially arranged on the inner wall of piping lane, each wireless router and optical fiber it
Between be provided with fibre optic modem, be provided with the Wi-Fi module communicated with wireless router in the piping lane robot.
3. the piping lane inspection positioning system according to claim 1 based on Radio Frequency Identification Technology, which is characterized in that the pipe
It is provided in corridor robot visible image capturing head (1), the visible image capturing head (1) is for acquiring image information in piping lane.
4. the piping lane inspection positioning system according to claim 1 based on Radio Frequency Identification Technology, which is characterized in that the pipe
It is provided in corridor robot infrared camera (2), the infrared camera (2) is believed for monitoring temperature change in piping lane
Breath.
5. the piping lane inspection positioning system according to claim 1 based on Radio Frequency Identification Technology, which is characterized in that the pipe
It is provided in corridor robot oxygen content sensor (3), the oxygen content sensor (3) is used to monitor the dense of oxygen in piping lane
Degree.
6. the piping lane inspection positioning system according to claim 1 based on Radio Frequency Identification Technology, which is characterized in that the pipe
It is provided in corridor robot methane content sensor (4), the methane content sensor (4) is used to monitor the dense of methane in piping lane
Degree.
7. the piping lane inspection positioning system according to claim 1 based on Radio Frequency Identification Technology, which is characterized in that the pipe
It is provided in corridor robot hydrogen sulfide content sensor (5), the hydrogen sulfide content sensor (5) is for monitoring vulcanization in piping lane
The concentration of hydrogen.
8. the piping lane inspection positioning system according to claim 1 based on Radio Frequency Identification Technology, which is characterized in that the pipe
Be provided in corridor robot Temperature Humidity Sensor (6), the Temperature Humidity Sensor (6) for monitor in piping lane the temperature of air and
Humidity.
9. the piping lane inspection positioning system according to claim 1 based on Radio Frequency Identification Technology, which is characterized in that the pipe
Corridor robot includes locomotive (7) and hanger rail (8)；
The hanger rail (8) includes sunpender (81), and the upper end of the sunpender (81) is fixedly connected on the wall top of piping lane, sunpender (81)
Lower end is fixedly connected with the first angle steel (82) and the second angle steel (83) being arranged back-to-back, the first angle steel (82) and the second angle steel
(83) horizontal sides form two edges of a wing of the hanger rail (8)；
Two rows of matched locomotive suspension sheaves (71) in the edge of a wing with hanger rail (8) are provided at the top of the locomotive (7), the locomotive is outstanding
Change gear (71) is placed in the upper surface on the edge of a wing；
It is hinged with motor fixing plate (72) at the top of the locomotive (7), the upper surface of the free end of the motor fixing plate (72)
It is provided with hub motor (73)；Electricity is provided between the lower surface of the free end of motor fixing plate (72) and the top of locomotive (7)
Dynamic push rod (74), the hub motor (73) contradict in the lower surface on the edge of a wing；
It is provided with angular transducer and control module in the locomotive (7), the angular transducer is electrically connected with the control module
It connects, the control module is electrically connected with the electric pushrod (74), and the angular transducer is for monitoring the hanger rail (8) and water
The variable angle of plane is simultaneously sent to control module according to angle change information, and the control module is according to angle change information control
The extension elongation of electric pushrod (74) processed.
10. the piping lane inspection positioning system according to claim 9 based on Radio Frequency Identification Technology, which is characterized in that described
Piping lane robot further includes trailer (9), and the trailer (9) is connected to the tail portion of the locomotive (7), the top of the trailer (9)
It is provided with trailer suspension sheave (91), the trailer (9) is placed in the upper surface on the edge of a wing by trailer suspension sheave (91).
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| CN201822219696.3U CN209214673U (en) | 2018-12-27 | 2018-12-27 | A kind of piping lane inspection positioning system based on Radio Frequency Identification Technology |
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| CN201822219696.3U CN209214673U (en) | 2018-12-27 | 2018-12-27 | A kind of piping lane inspection positioning system based on Radio Frequency Identification Technology |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112030624A (en) * | 2020-09-03 | 2020-12-04 | 南京派光高速载运智慧感知研究院有限公司 | A track infrastructure for piping lane robot operation |
-
2018
- 2018-12-27 CN CN201822219696.3U patent/CN209214673U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112030624A (en) * | 2020-09-03 | 2020-12-04 | 南京派光高速载运智慧感知研究院有限公司 | A track infrastructure for piping lane robot operation |
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