SK662019U1 - Monitoring and distance recording device for piping systems with ability to record images - Google Patents

Abstract

The monitoring and distance recording device (18) for piping systems with ability to record images uses a freely available system (6) for the unmanned aerial vehicle (16) to stabilize multiple motor unmanned aerial vehicles along with additional stabilization (10) using sensors (11) for measure the distance to avoid collisions with possible obstacles. The manual or semi-automated control by the receiver (3) for controlling the reconnaissance unmanned flying device (16) is performed based on commands from the control module (14) located on the advanced flight controller (17). The device (18) has the possibility of instantaneous video capture by means of a high-resolution camera (7). An additional light source (13) is used to improve the quality of the recorded video. The reconnaissance unmanned flying device (16) is placed on the frame (1) with additional protection that prevents damage from possible collisions and is powered by a lithium polymer battery (12).

Description

Technical field

The technical solution relates to a device for the determination and examination of pipeline condition in piping systems, where free flow of liquid is also possible. The equipment for reconnaissance and recording of distances in piping systems with the possibility of recording is intended mainly for the survey of individual piping sections between inspection shafts or entry objects to pipelines from the pipeline size DN 300 mm

Distance sensing and distance recording equipment in image recording pipelines is applicable in several sectors of the national economy where another method of exploring piping systems is difficult to pre-prepare, inefficient or time-consuming and unrealistic due to environmental conditions.

BACKGROUND OF THE INVENTION

At present, camera inspection systems with motor drive or with the aid of a push camera up to a distance of 30 to 55 meters, depending on the nature of the pipeline, are used for surveying and determining distances in piping and sewer systems. These systems provide sufficiently reliable information in the case of piping, branching, individual positioning, or branching and trouble condition determination, in surveys of deposits, condition, corrosion, clogging and contamination of individual pipelines. With a significant degree of deposition or fouling, the ability to survey individual sections decreases considerably and it is necessary to pre-clean these sections or, in some extreme cases, to omit the inspection of the section at all. The inspection equipment may become stuck in the environment of the trunk, and by not being able to return the system to the inlet by means of motor equipment, mechanical release is used. In such a procedure, the operator must use a retractor to force the inspection camera to the inlet shaft. In this way, the sensor device is often damaged because the device is tipped from a horizontal position, etc.,

- Inspection systems need to pre-prepare the existing potion before starting and monitoring the individual sections (summoning the cleaning vehicle and pressure cleaning the lengthwise sections using the available water often drinking water),

- Areas with impossibility of pre-cleaning with a pressure cleaner, or without the possibility of flushing sediment (sediment height is more than half the diameter of the potmbia, or sediment is of such a composition that it will not dissolve and wash away the necessary layer).

The present equipment allows inspection and additional survey of pipelines in a non-exploration environment by standard systems. Compared to the usual inspection survey, the pre-treatment of existing equipment with additional pressure systems and vehicles and the restriction of the stay of persons in an environment with increased risk of infection are avoided, thus supporting favorable health protection at work.

The essence of the technical solution

These limitations are largely eliminated by equipment for distance sensing and recording in potential image recording systems. The essence of the technical solution is a device for inspection in sewage and drainage systems on the basis of monitoring distances from the starting point of the survey and visual survey. Distance-sensing and distance recording equipment in image-capable trunking systems is equipped with additional security features and stabilization systems to limit the possibility of collision with the wall of the trunk and the possibility of collision in the event of unexpected obstructions in pipes. Reconnaissance Unmanned Flying Equipment can be manipulated to the initial point of measurement in the dark and monitored for one control maneuver specified on the advanced flight controller. Reconnaissance unmanned aircraft position measurement is active with immediate display capability on the advanced flight controller and recording operational parameters by a recording device on the memory card located in the recording device. Operating information, along with video transmission, is displayed in real time on the advanced flight controller monitor. A reconnaissance unmanned flying device is equipped with a telemetry system (battery status, distance from the starting point and the nearest obstacle), which in real time transmits this information to the advanced flight controller display using the transmitter module and the transmit antenna, and records distance and video transmission in high quarks. External omnidirectional antennas located at the starting point of the measurement are used for the best possible transmission of video and signal for controlling the device, as the electromagnetic energy propagation between the source and the receiver affects the performance characteristics of the environment

N E 66-2019 U1

Distance Reconnaissance and Recording Equipment in Image Capable Piping Systems consists of a reconnaissance unmanned aerial vehicle consisting of a battery-powered control, control and stabilization module, and an advanced flight controller powered by standard AA batteries. The basis of reconnaissance unmanned flying equipment is a system of stabilization of multiple engine unmanned flying equipment together with a receiver for controlling reconnaissance unmanned flying equipment, engine speed controllers and engines themselves. Each engine is electric, rotary, DC, with shaft and propeller. A reconnaissance unmanned flying device has an integrated post-stabilization module that processes data from distance sensors. The received data is processed by a microprocessor, who also manages the communication with these sensors and manages the telemetry of the device. Post-stabilization processed data is sent to a multi-engine unmanned aircraft stabilization system. The multi-engine unmanned aircraft stabilization system evaluates device position data from a gyroscope and accelerometer, which are used as input for the PID stabilization algorithm. The output of the algorithm is pie pie data of individual engine speeds. The distance sensor works on the principle of "Time-of-Flight", which translates into light pulses of light and measures the phase shift from beam emission to impact on the TOF sensor. The wireless video signal is analogue in PAL format for maximum delay elimination. Outputs from the proximity sensors are stored on the memory card by the recording device. The video is recorded in digital pie format to achieve the highest image quality by the recording equipment, with the possibility of back-checking and evaluation of the recording.

The reconnaissance bczpilotnč flying device is designed as a closed, liquid impermeable unit. The only exposed components are brushless motors. These can also operate in a splash-liquid environment with a high degree of IP protection.

Distance sensing and distance recording equipment in image-capable piping systems can operate in two modes. The primary mode is the semi-automatic control of the reconnaissance bczpilot flying device together with additional stabilization where the operator controls the horizontal or vertical direction of movement by means of the control module, in the free space axis of the pipeline under investigation. The secondary mode is manual, where additional stabilization is disabled. The operator controls the reconnaissance unmanned aircraft fully manually using the control module located on the advanced flight controller.

The entire reconnaissance drone assembly is located on a protective frame / carbon fiber pie for maximum strength and light weight and is powered by a lithium-polymer battery. As protection against mechanical damage, additional protection is used for reconnaissance unmanned flying propellers to protect propellers on engines in the event of an unexpected collision or drop into a liquid, consisting of a lightweight frame structure.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawing of FIG. 1 is a simplified illustration of a circuit reconnaissance and logging device in an image recording pipeline system.

EXAMPLES

The distance sensing and recording apparatus 18 in the image-recording pipeline systems of the image and distance recording apparatus 9 comprises a reconnaissance unmanned aerial vehicle 16 comprising a primary stabilization system 6 together with an additional stabilization 10 using optical sensors 11 for measuring distances based on ToF (Team of Flight) principle to avoid collisions with possible obstacles. The data from the distance measuring sensors 11 are then used to evaluate the distance of the reconnaissance unmanned flying device 16 from obstacles. The evaluation of the data from the proximity sensors 11, the additional stabilization 10 and the stabilization system 6 together with the control module 14 located on the advanced flight controller 17 allow semi-automatic movement of the reconnaissance unmanned aerial vehicle 16 in confined spaces where the reconnaissance unmanned aerial vehicle 16 free space in the pipeline. Manual control is performed by means of a control module 14 which transmits data by means of a transmitting antenna 2b using the 2.4 GHz frequency band and by means of a receiver 3 for controlling the reconnaissance unmanned aircraft together with the receiving antenna 2a. These data are processed by the stabilization system 6 together with the additional stabilization 10. Motor speed controllers 4 are used to control the electric motors 5. Transmitting antenna 8a for Transmitter Module 8 allows real-time wireless video transmission with minimal time response

S K 66-2019 U1 of the transmitted video signal, using the 5.8 GHz frequency band. The transmitted video is received by the antenna 8b and processed by the video signal receiving module 15. The video recording and the measured distances are recorded by the high quality distance and image recording apparatus 9 with the possibility of recording on a memory card. Illumination of the space in front of the device is provided by a light source 13. The reconnaissance drone 16 is powered by a lithium-polymer battery 12. The additional protection frame 1 serves for secondary protection of the reconnaissance drone 16. The control module 14, the receiving antenna 8b, the transmitting antenna 2b, and the video receiving module 15 are located on the advanced flight controller 17.

Example 1

It is necessary to measure the distance of the individual connections to the main liquid drainage pipeline in the selected area due to lack of data and data from the operator or data inconsistency with the project documentation prior to excavation work. The described apparatus uses visual contact with the main flange to determine the position of the connections, measuring the distance from the point of entry into the inspection opening or manhole. Distance sensing and recording equipment in recordable piping systems transfers the distance from the point of entry to the operator's control display, and based on this distance, it is possible to determine the excavation site as the site where the existing terrain will be excavated and where the site pipe branch connections.

Example 2

It is necessary to perform a visual examination of pipes with a thick layer of deposition at the bottom of the pipeline, especially for older, unmanaged or exceptionally maintained pipelines, or pipelines that were not inspected due to the operator's lack of knowledge or trouble-free operation. Described equipment for reconnaissance and recording distances in piping systems with the possibility of recording uses for visual survey the camera system located on the equipment. Visual inspection will ensure the documentation of the condition of the pipeline as well as the position of the foreign networks that have been in the pipeline under investigation in different ways during the construction stages. Distance sensing and logging equipment in recordable piping systems allows to record pipeline status on a data card for additional review and evaluation of pipeline status. The data is used by the pipeline operator as relevant evidence of pipeline condition with subsequent usability in the reconstruction and renewal plans.

Example 3

Visual inspection of the pipeline should be carried out where the slope of the pipeline does not allow passage through a standard pipeline survey mechanism or non-breathable gas has accumulated in the pipeline with the risk of poisoning. Distance-sensing and distance recording equipment in recordable piping systems allows to overcome pipeline positions with a high slope and thereby ensure exploration in non-standard pipeline revision conditions. The device in question makes it possible to overcome sections of pipelines in which non-breathable gases accumulate.

Industrial usability

Utility model technical solutions cover a wide range of applications in the national economy. It can be used especially for piping systems where inspection and visual examination of the pipeline is necessary with the impossibility of inspection by classical means, as well as financial savings in pre-survey preparation, for exploration of inaccessible places with risk of accumulation of dangerous gases. subsequent use in the management and optimization of reconstruction and repair plans of enterprises and local governments, for pipe management and avoiding sudden accidents in the operation of the pipelines.

Claims (1)

PROTECTION REQUIREMENTS A device (18) for surveying and recording distances in pipeline systems with image recording capability and for determining the length of a pipeline system, characterized in that it comprises 5 reconnaissance unmanned aerial vehicle (16) with additional protection (1), receiver ( (3) for the control of reconnaissance aircraft flying with a receiving antenna (2a), a stabilization system (6) coupled with additional stabilization (10) and engine speed controllers (4) coupled to the engines (5) alone, a camera (7) with a transmitting module ( 8) with transmission of a signal by a transmitting antenna (8a), a light source (13), a recording device (9) for recording image and distance, sensors (11) for measuring distance, a video receiving module (15) and a control module (14) together with the receiving antenna (8b) and the transmitting antenna (2b) located on the advanced flight controller (17), it is powered by a lithium polymer battery (12).