CN209795830U - Pipe gallery inspection device - Google Patents
Pipe gallery inspection device Download PDFInfo
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- CN209795830U CN209795830U CN201920603319.1U CN201920603319U CN209795830U CN 209795830 U CN209795830 U CN 209795830U CN 201920603319 U CN201920603319 U CN 201920603319U CN 209795830 U CN209795830 U CN 209795830U
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Abstract
the utility model discloses a piping lane inspection device, including setting up the track in the piping lane and installing the railcar on the track, it can be connected and separate with the railcar through interfacing apparatus to patrol and examine unmanned aerial vehicle. Through set up the track in the piping lane, and set up the railcar that can follow orbital motion for when patrolling and examining unmanned aerial vehicle and railcar and being connected, drive through the railcar and patrol and examine the unmanned aerial vehicle motion and carry out whole independently and patrol and examine or arrive the suspected fault area fast and investigate. Patrol and examine unmanned aerial vehicle simultaneously and can pass automatically and prevent fire door and next section piping lane track cooperation and patrol and examine, patrol and examine unmanned aerial vehicle and receive the technological bottleneck that the unable whole independently of factors such as the piping lane location degree of difficulty is high, the environment is complicated for patrolling and examining in the traditional scheme, the utility model provides a patrol and examine unmanned aerial vehicle's safety in utilization is high, and work efficiency is high.
Description
Technical Field
the utility model relates to a inside technical field that patrols and examines of piping lane, in particular to piping lane inspection device.
Background
along with the development of cities, underground pipe gallery begins to spread all over each big city, and daily pipe gallery is patrolled and examined to be a work of pipe gallery management. The work of patrolling and examining of present underground city piping lane is mainly accomplished by the manual work, because the piping lane is very long, patrols and examines the task and need plenty of time and manpower to this work is dull and stereotyped relatively.
Adopt to patrol and examine unmanned aerial vehicle usually and carry out the piping lane and patrol and examine work, it is specific, fly in the piping lane through patrolling and examining unmanned aerial vehicle, detect piping lane internal state. Due to the fact that the internal environment of the pipe gallery is complex and various bulges (metal frames and the like) exist, the unmanned aerial vehicle needs to automatically avoid obstacles in real time in the whole process; simultaneously the inside GPS location that does not have of piping lane can only rely on UWB and other vision means, but the long and narrow ground condition of piping lane for use UWB to realize whole automatic positioning, the degree of difficulty is great, leads to patrolling and examining unmanned aerial vehicle and patrols and examines the security lower.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a piping lane inspection device to improve the security of patrolling and examining and work efficiency of patrolling and examining unmanned aerial vehicle.
In order to achieve the above object, the utility model provides a pipe rack inspection device, including patrolling and examining unmanned aerial vehicle, still including setting up the track in the pipe rack and installing railcar on the track, patrol and examine unmanned aerial vehicle can through interfacing apparatus with railcar connects and separates.
preferably, all be equipped with in the piping lane between two adjacent fire doors the track reaches the railcar, it is in to patrol and examine unmanned aerial vehicle orbital motion under the railcar drives.
Preferably, the docking device is in including setting up the electromagnetic control device that the electromagnetism piece, the control electromagnetism piece got rid of the electricity of railcar and setting are in patrol and examine on the unmanned aerial vehicle, and can with the piece is closed in the suction of electromagnetism piece actuation.
Preferably, interfacing apparatus include the lifting hook with the spacing collar of lifting hook joint, the lifting hook with one of spacing collar sets up on the railcar, another sets up patrol and examine on the unmanned aerial vehicle.
Preferably, the rail car comprises a slide block and a middle cabin; the sliding block is positioned in the sliding groove of the track; the middle cabin is located the slider lower part, just the middle cabin inside is provided with driving motor, driving motor is used for the drive the traveling of railcar, interfacing apparatus is located the lower part of middle cabin.
Preferably, a first visual mark is arranged on the rail car;
the system comprises a plurality of UWB base stations arranged at a plurality of positions on a pipe gallery, wherein the UWB base stations are used for positioning the inspection unmanned aerial vehicle in the pipe gallery;
Patrol and examine unmanned aerial vehicle includes:
The positioning device comprises a UWB (ultra wide band) tag, and acquires the global position of the inspection unmanned aerial vehicle in the pipe gallery when the inspection unmanned aerial vehicle inspects the pipe gallery by measuring the distance between the UWB tag and the UWB base station arranged in the pipe gallery;
The first positioning camera is positioned at the top end of the inspection unmanned aerial vehicle, the lens of the first positioning camera faces upwards, and is used for detecting and identifying a first visual mark, acquiring the relative pose of the inspection unmanned aerial vehicle and a rail car by a visual means, providing positioning information for the inspection unmanned aerial vehicle and realizing butt joint;
The ultrasonic sensors are distributed around the inspection unmanned aerial vehicle, and autonomous obstacle avoidance is realized by measuring surrounding obstacles;
The inspection camera is used for photographing the internal state of the pipe gallery;
Piping lane detects the sensor, piping lane detect the sensor with it connects to patrol and examine the camera, and integrated patrol and examine on unmanned aerial vehicle's the cloud platform for detect the running state of piping lane.
preferably, still including setting up the second vision mark on preventing fire door, patrol and examine unmanned aerial vehicle still including being used for discerning the second location camera of second vision mark, the second location camera is located patrol and examine unmanned aerial vehicle's side, it is right to patrol and examine unmanned aerial vehicle direction of flight direction.
preferably, still include ground monitoring control platform, ground monitoring control platform pass through data transmission device with patrol and examine unmanned aerial vehicle and communicate, and acquire patrol and examine the information of patrolling and examining of unmanned aerial vehicle in the piping lane.
Preferably, when the railcar is in an initial position, the railcar is all located at the same end of the pipe gallery.
preferably, the system further comprises an inspection resetting device for controlling the rail car to reset.
In the technical scheme, the utility model provides a pipe rack inspection device is including setting up the track in the pipe rack and installing the railcar on the track, and it can be connected and the separation with the railcar through interfacing apparatus to patrol and examine unmanned aerial vehicle. Can know through the above-mentioned description, in the pipe rack inspection device that this application provided, through set up the track in the pipe rack, and set up the railcar that can follow orbital motion for when patrolling and examining unmanned aerial vehicle and railcar and being connected, drive through the railcar and patrol and examine the unmanned aerial vehicle motion and carry out whole independently and patrol and examine or arrive the suspected fault area fast and investigate. Patrol and examine unmanned aerial vehicle simultaneously and can pass automatically and prevent fire door and next section piping lane track cooperation and patrol and examine, patrol and examine unmanned aerial vehicle and receive the technological bottleneck that the unable whole independently of factors such as the piping lane location degree of difficulty is high, the environment is complicated for patrolling and examining in the traditional scheme, the utility model provides a patrol and examine unmanned aerial vehicle's safety in utilization is high, and work efficiency is high.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a layout diagram of a pipe gallery inspection device provided by an embodiment of the invention;
Fig. 2 is a partial enlarged view of the pipe gallery inspection device provided by the embodiment of the present invention;
fig. 3 is an installation position diagram of the inspection unmanned aerial vehicle provided by the embodiment of the present invention;
Fig. 4 is a schematic structural diagram of the inspection unmanned aerial vehicle provided by the embodiment of the present invention;
Fig. 5 is a schematic structural block diagram of the inspection unmanned aerial vehicle provided in the embodiment of the present invention;
Fig. 6 is a working schematic diagram of the inspection unmanned aerial vehicle provided by the embodiment of the present invention;
Fig. 7 is a schematic structural diagram of a data transmission device according to an embodiment of the present invention.
Wherein in FIGS. 1-7: 1-pipe gallery, 2-track;
3-a rail car and 31-a spacing ring;
4-patrol unmanned aerial vehicle, 41-duct, 42-lifting hook, 43-patrol camera, 44-pipe gallery detection sensor, 45-fuselage, 46-first positioning camera, 47-ultrasonic sensor, 48-second positioning camera, 49-UWB label, 410-unmanned aerial vehicle onboard computer, 411-data transmission module, 412-image transmission module, 413-WiFi equipment and 414-data transmission device;
5-fire door, 51-opening;
6-ground monitoring console and 7-UWB base station.
Detailed Description
the core of the utility model is to provide a piping lane inspection device to improve the security of patrolling and examining and work efficiency of patrolling and examining unmanned aerial vehicle.
In order to make those skilled in the art better understand the technical solution of the present invention, the present invention will be further described in detail with reference to the accompanying drawings and embodiments.
please refer to fig. 1 to 7.
in a specific embodiment, the utility model discloses the piping lane inspection device that the specific embodiment provided, including patrolling and examining unmanned aerial vehicle 4, setting track 2 in piping lane 1 and installing the railcar on track 2, wherein, railcar 3 drives and patrols and examines unmanned aerial vehicle 4 and move along track 2. Patrol and examine unmanned aerial vehicle 4 and do not restrict type and material, can be any one for open unmanned aerial vehicle, duct formula unmanned aerial vehicle, miniature aircraft, as shown in the figure, patrol and examine unmanned aerial vehicle 4 and can be duct formula unmanned aerial vehicle for setting up duct 41.
Specifically, be equipped with the spout on pipe gallery 1 and railcar 3 one, be equipped with on the other with spout complex track 2, preferably, railcar 3 moves along 1 length direction in the pipe gallery. Wherein, the track 2 can be a C-shaped hanging rail and also can be an I-shaped hanging rail. In order to improve connection stability, the spout can be two, two spout parallel arrangement, and the spout sets up with 2 one-to-one on the track.
In order to facilitate patrolling and examining unmanned aerial vehicle 4 and the cooperation of railcar 3, preferably, track 2 sets up on 1 inner wall top of pipe gallery, and is concrete, and track 2 is laid on underground pipe gallery 1's ceiling, patrols and examines unmanned aerial vehicle 4 and install the bottom at railcar 3. Of course, the position of the track 2 can be modified according to the actual need.
All be equipped with track 2 and railcar 3 in the piping lane 1 between two adjacent fire doors 5, wherein prevent when fire door 5 opens, prevent that fire door 5 forms and is used for supplying to patrol and examine the opening 51 that unmanned aerial vehicle 4 passes through. Because railcar 3 can not pass prevents fire door 5, so prevent arranging a railcar 3 between the fire door 5 for two, railcar 3 is as delivery unmanned aerial vehicle's carrier, and the same unmanned aerial vehicle 4 of patrolling and examining can realize patrolling and examining the work at a plurality of piping lane 1.
Can know through the above-mentioned description, in the pipe rack inspection device that this application embodiment provided, through set up track 2 in pipe rack 1, and set up the railcar 3 that can follow the motion of track 2 for when patrolling and examining unmanned aerial vehicle 4 and railcar 3 and being connected, drive through railcar 3 and patrol and examine unmanned aerial vehicle 4 motion and carry out whole independently and patrol and examine or arrive the suspected fault area fast and investigate. Patrol and examine unmanned aerial vehicle 4 simultaneously and can pass automatically and prevent fire door and next section piping lane inner rail 2 cooperation and patrol and examine, patrol and examine unmanned aerial vehicle and receive the technical bottleneck that the unable whole journey of factors such as the piping lane location degree of difficulty is high, the environment is complicated and independently patrols and examines for patrolling and examining in the traditional scheme, the utility model provides a patrol and examine unmanned aerial vehicle 4's safety in utilization is high, and work efficiency is high.
specifically, the docking device comprises an electromagnetic part arranged on the rail car 3, an electromagnetic control device for controlling the electromagnetic part to lose power and an attraction part arranged on the inspection unmanned aerial vehicle 4 and capable of attracting with the electromagnetic part. Specifically, the electromagnetic part can be an electromagnetic chuck, specifically, when butt joint is needed, the electromagnetic chuck on the rail car 3 is electrified to work, the inspection unmanned aerial vehicle 4 is adsorbed and fixed through the electromagnetic chuck, and the flight control system of the inspection unmanned aerial vehicle 4 is closed; when needing the separation, patrolling and examining unmanned aerial vehicle 4's flight control system and opening, 3 electromagnet outage of railcar, stop work patrols and examines unmanned aerial vehicle 4 and break away from with railcar 3.
of course, in another specific embodiment, the docking device includes a spacing collar 31 with the hook 42 and the hook 42 being in clamping connection, one of the hook 42 and the spacing collar 31 is disposed on the rail car 3, and the other is disposed on the inspection unmanned aerial vehicle 4. When butt joint is needed, the position of the butt joint mechanism is adjusted to realize attachment and fixation, and a flight control system of the inspection unmanned aerial vehicle 4 is closed; when needing the separation, patrol and examine unmanned aerial vehicle 4's flight control system and open, adjust butt joint structure's relative position, realize patrolling and examining unmanned aerial vehicle 4 and break away from with railcar 3.
preferably, the rail car 3 comprises a slide block and a middle cabin; the slide block is positioned in the sliding groove of the track 2; the middle cabin is positioned at the lower part of the sliding block, a driving motor is arranged in the middle cabin and used for driving the rail car 3 to run, and the butt joint device is positioned at the lower part of the middle cabin.
further, a first visual mark is arranged on the rail car; in particular, the first visual marking is arranged around the middle compartment, i.e. a plurality of railcars 3 with first visual markings are arranged on the track 2. Wherein first visual mark guide unmanned aerial vehicle is close the railcar, docks fixedly through interfacing apparatus such as above-mentioned couple or magnetic chuck. Certainly, interfacing apparatus can be the vacuum adsorption structure, through vacuum adsorption, realizes patrolling and examining unmanned aerial vehicle 4 and 3 docks of railcar.
Patrol and examine unmanned aerial vehicle 4 and include fuselage 45, positioner, first positioning camera 46, ultrasonic sensor 47, patrol and examine camera 43 and piping lane detection sensor 44 etc. wherein positioner, first positioning camera 46, ultrasonic sensor 47, patrol and examine camera 43 and piping lane detection sensor 44 and all set up on fuselage 45.
The positioning device comprises a UWB tag 49, wherein the UWB tag 49 is matched with the UWB base station 7, and the UWB base station 7 is positioned in the pipe gallery and is fixed in position. The positioner obtains the position of unmanned aerial vehicle overall situation at pipe gallery 1 when patrolling and examining through measuring UWB label 49 and arranging the distance of UWB basic station 7 in pipe gallery 1, patrols and examines unmanned aerial vehicle 4 and utilizes UWB technique to realize overall situation location. This pipe rack inspection device is still including the UWB basic station 7 that sets up a plurality of positions of pipe rack 1, can realize unmanned aerial vehicle at the inside global positioning of pipe rack 1, and UWB basic station 7 acquires power through the electric wire of arranging in pipe rack 1 to the mark in its area is patrolled and examined unmanned aerial vehicle 4 and is provided a local position and refer to the road sign.
First positioning camera 46, first positioning camera 46 are located the top of patrolling and examining unmanned aerial vehicle 4, and first positioning camera 46 camera lens is used for detecting up and discernment first visual mark to acquire the relative position appearance of patrolling and examining unmanned aerial vehicle 4 and railcar 3 through the means of vision, provide accurate local locating information for patrolling and examining unmanned aerial vehicle 4. Patrol and examine unmanned aerial vehicle 4 and utilize first positioning camera 46 and first vision mark to be close to the railcar, realize the butt joint with railcar 3.
Ultrasonic sensor 47, ultrasonic sensor 47 distribute in patrolling and examining unmanned aerial vehicle 4 around, through the measurement to barrier around, realize independently keeping away the barrier, improve the flight security of patrolling and examining unmanned aerial vehicle 4.
patrol and examine camera 43, patrol and examine camera 43 and be used for the inside state of camera tube corridor 1.
Piping lane detection sensor 44, piping lane detection sensor 44 with patrol and examine the camera 43 and be connected, and integrated on patrolling and examining unmanned aerial vehicle 4 cloud platform, are used for detecting the running state of piping lane 1. The tube lane detection sensor 44 may be a gas sensor, an infrared sensor, a visible light camera, or the like.
In view of the weight reduction, cost saving, convenience in carrying and the like of the unmanned aerial vehicle, the body 45 of the inspection unmanned aerial vehicle 4 is preferably made of foam, and more loads can be used for carrying various sensors.
This piping lane inspection device is still including setting up the second vision mark on preventing fire door 5, and unmanned aerial vehicle 4 is patrolled and examined still including the second location camera 48 that is used for discerning the second vision mark, and second location camera 48 is located the side of patrolling and examining unmanned aerial vehicle 4, and is concrete, and second location camera 48 is located 45 front ends of fuselage. Through the first visual mark and the second visual mark that set up for guide unmanned aerial vehicle's direction of flight, it is right 4 direction of flight of unmanned aerial vehicle guide patrol and examine.
This pipe rack inspection device still includes ground monitoring control platform 6, and ground monitoring control platform 6 communicates with inspection unmanned aerial vehicle 4 through equipment such as data transmission device 414, issues the order to inspection unmanned aerial vehicle 4 simultaneously to acquire the information of patrolling and examining of inspection unmanned aerial vehicle 4 in pipe rack 1, wherein data transmission device 414 includes wiFi equipment 413, data transmission module 411, picture transmission module 412 etc.. Specifically, unmanned aerial vehicle acquires various information in the pipe gallery 1 through patrolling and examining camera 43 and pipe gallery detection sensor 44, and sends to ground monitoring console 6 through data transmission module 411, picture transmission module 412, wiFi equipment 413. Ground monitoring console 6 is used for monitoring the condition of patrolling and examining unmanned aerial vehicle 4 in piping lane 1, gives to patrol and examine unmanned aerial vehicle 4 and sends the execution instruction simultaneously, and the information of receiving to patrol and examine unmanned aerial vehicle 4 feedback.
when the piping lane inspection device began to patrol and examine, railcar 3 was attached to on track 2, patrolled and examined unmanned aerial vehicle 4 and passed through docking mechanism and connect on railcar 3, and railcar 3 passes through electric drive and moves along track 2, patrolled and examined unmanned aerial vehicle 4 and utilize and patrol and examine camera 43 and piping lane detection sensor 44 and acquire information in the piping lane 1 and pass through wiFi conveying to ground monitoring station. When meetting fire door 5, it breaks away from railcar 3 to patrol and examine unmanned aerial vehicle 4 through docking mechanism, and acquire the mark information of railcar 3 through patrolling and examining first positioning camera 46 on the unmanned aerial vehicle 4, combine the mark information of railcar 3 and the unmanned aerial vehicle on-board computer 410 means of patrolling and examining unmanned aerial vehicle 4 to realize the autonomic location of unmanned aerial vehicle in piping lane 1 and keep away the barrier, utilize second positioning camera 48 to detect the second visual mark on preventing fire door 5, guide unmanned aerial vehicle through the second visual mark and pass fire door 5, thereby acquire the mark information of next section railcar 3, realize obtaining the relative position appearance of patrolling and examining unmanned aerial vehicle 4 and railcar 3 through first visual mark and first positioning camera 46, and the guide is patrolled and examined unmanned aerial vehicle 4 and railcar 3 butt joint and continue to patrol and examine the task. Specifically, the inspection unmanned aerial vehicle 4 can be fixed with the rail car 3 for observation by suspending the operation of the rail car 3; the unmanned aerial vehicle 4 breaks away from railcar 3 in the local steerable unmanned aerial vehicle 4 of patrolling and examining suspicious, needing detailed inspection of process, and unmanned aerial vehicle 4 is close to waiting to detect the region in control patrolling and examining, carries out the multi-view and observes.
In order to facilitate patrolling and examining unmanned aerial vehicle 4 and in time carry out efficiently and patrol and examine the task, when railcar 3 is located initial position, railcar 3 all is located 1 same end of pipe gallery. For example, when patrolling and examining unmanned aerial vehicle 4 by the left right flight, 3 initial position of railcar all are located the left side for when patrolling and examining unmanned aerial vehicle 4 by the flight of one section piping lane 1 to next section piping lane 1, relatively fast and 3 docks of railcar.
further, this piping lane inspection device still includes the reset device that patrols and examines that control railcar 3 resets. Specifically, reset device patrols and examines is including setting up the limit switch and the drive control mechanism who drives 3 reverse motion of railcar at 2 terminal on track, and when 3 bumps limit switch on the railcar, drive control mechanism drive railcar 3 reverse motion to initial position. When patrolling and examining unmanned aerial vehicle 4 and patrolling and examining at piping lane 1, when needs parkked in the midway at track 2, 3 stop work of railcar, patrol and examine unmanned aerial vehicle 4 and break away from with railcar 3, the railcar stop motion this moment waits to patrol and examine 4 back that fall to the position of unmanned aerial vehicle, and 3 restarts of railcar. Considering the fact that the limit switch is controlled only automatically, deviation may occur in cooperation with the inspection unmanned aerial vehicle 4. Preferably, the outdoor is equipped with the control structure of control limit switch work, and limit switch work is controlled by ground station staff's manual control promptly.
This application is through adopting the mode that patrols and examines unmanned aerial vehicle 4 and track 2 combined together in the piping lane 1, realizes that 1 automatic patrols and examines of piping lane, and the security is secure. Patrol and examine unmanned aerial vehicle 4 simultaneously and can separate with railcar 3, closely observe suspected fault point, observe the visual angle bigger, patrol and examine more nimble freely. Realize patrolling and examining unmanned aerial vehicle 4 and correspond 3 docks of railcar through interfacing apparatus, realize patrolling and examining unmanned aerial vehicle 4 and pass through prevent fire door 5 and patrol and examine work to each section piping lane 1, avoided arranging check out test set respectively at every section piping lane 1 simultaneously, the cost is reduced. Utilize UWB basic station 7 and UWB label 49 to realize unmanned aerial vehicle in the inside position of being general of piping lane 1, utilize vision means and vision mark to realize unmanned aerial vehicle in local accurate location, the automatic scheme of patrolling and examining that this application mentions, more feasible, the practicality is strong, is convenient for extensively promote.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides a pipe rack inspection device, is including patrolling and examining unmanned aerial vehicle (4), its characterized in that, still including setting up track (2) in pipe rack (1) and installing railcar (3) on track (2), it can through interfacing apparatus with railcar (3) connection and separation to patrol and examine unmanned aerial vehicle (4).
2. The pipe rack inspection device according to claim 1, characterized in that the rails (2) and the rail cars (3) are arranged in the pipe rack (1) between two adjacent fireproof doors (5), and the inspection unmanned aerial vehicle (4) is driven by the rail cars (3) to move along the rails (2).
3. The pipe gallery inspection device according to claim 1, wherein the docking device includes an electromagnetic part disposed on the rail car (3), an electromagnetic control device for controlling the electromagnetic part to lose power, and an attraction part disposed on the inspection unmanned aerial vehicle (4) and capable of attracting the electromagnetic part.
4. The pipe rack inspection device according to claim 1, wherein the docking device comprises a hook (42) and a spacing ring (31) which is clamped with the hook (42), one of the hook (42) and the spacing ring (31) is arranged on the rail car (3), and the other is arranged on the inspection unmanned aerial vehicle (4).
5. The pipe rack inspection device according to claim 1, characterized in that the rail car (3) comprises a slide and a middle compartment; the sliding block is positioned in a sliding groove of the track (2); the middle cabin is located on the lower portion of the sliding block, a driving motor is arranged inside the middle cabin and used for driving the rail car (3) to run, and the butt joint device is located on the lower portion of the middle cabin.
6. The pipe rack inspection device according to claim 1, characterized in that the railcar (3) is provided with a first visual marker;
the system is characterized by further comprising UWB base stations (7) arranged at a plurality of positions on the pipe rack (1), wherein the UWB base stations (7) are used for positioning the inspection unmanned aerial vehicle (4) inside the pipe rack (1);
patrol and examine unmanned aerial vehicle (4) and include:
A positioning device comprising a UWB tag (49), the positioning device obtaining a global position of the inspection unmanned aerial vehicle (4) at the pipe gallery (1) by measuring a distance between the UWB tag (49) and the UWB base station (7) arranged in the pipe gallery (1);
The first positioning camera (46), the first positioning camera (46) is located at the top end of the inspection unmanned aerial vehicle (4), the lens of the first positioning camera (46) faces upwards and is used for detecting and identifying a first visual mark, the relative pose of the inspection unmanned aerial vehicle (4) and the rail car (3) is obtained through a visual means, positioning information is provided for the inspection unmanned aerial vehicle (4), and butt joint is achieved;
The ultrasonic sensors (47) are distributed around the inspection unmanned aerial vehicle (4), and the autonomous obstacle avoidance is realized by measuring surrounding obstacles;
The inspection camera (43), wherein the inspection camera (43) is used for photographing the internal state of the pipe gallery (1);
piping lane detection sensor (44), piping lane detection sensor (44) with it connects to patrol and examine camera (43), and integrated patrol and examine on the cloud platform of unmanned aerial vehicle (4) for detect the running state of piping lane (1).
7. The pipe rack inspection device according to claim 6, further comprising a second visual marker disposed on the fire door (5), the inspection unmanned aerial vehicle (4) further comprising a second positioning camera (48) for identifying the second visual marker, the second positioning camera (48) being located at a side end of the inspection unmanned aerial vehicle (4), to guide a flight direction of the inspection unmanned aerial vehicle (4).
8. The pipe rack inspection device according to claim 6, further comprising a ground monitoring console (6), wherein the ground monitoring console (6) communicates with the inspection unmanned aerial vehicle (4) through a data transmission device (414) and acquires inspection information of the inspection unmanned aerial vehicle (4) in the pipe rack (1).
9. Pipe rack inspection device according to claim 1, characterized in that when the rail cars (3) are in the initial position, the rail cars (3) are all located at the same end of the pipe rack (1).
10. The pipe rack inspection device according to claim 9, further comprising an inspection reset device that controls the railcar (3) to reset.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920603319.1U CN209795830U (en) | 2019-04-28 | 2019-04-28 | Pipe gallery inspection device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920603319.1U CN209795830U (en) | 2019-04-28 | 2019-04-28 | Pipe gallery inspection device |
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| CN209795830U true CN209795830U (en) | 2019-12-17 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110001956A (en) * | 2019-04-28 | 2019-07-12 | 酷黑科技（北京）有限公司 | Piping lane inspection device and piping lane method for inspecting |
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2019
- 2019-04-28 CN CN201920603319.1U patent/CN209795830U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110001956A (en) * | 2019-04-28 | 2019-07-12 | 酷黑科技（北京）有限公司 | Piping lane inspection device and piping lane method for inspecting |
| CN110001956B (en) * | 2019-04-28 | 2024-01-30 | 酷黑科技（北京）有限公司 | Pipe gallery inspection device and pipe gallery inspection method |
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