SK8771Y1 - 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 concerns the device for determining and surveying the condition of the pipeline in piping systems, where it is also possible to flow the liquid with a free surface. The device for surveying and recording distances in pipeline systems with the possibility of recording is intended mainly for the survey of individual pipeline sections between inspection shafts or inlet objects to pipelines from pipeline size DN 300 mm.

The device for surveying and recording distances in pipeline systems with the possibility of image recording can be used in several sectors of the national economy, where another method of surveying pipeline systems is difficult to prepare for the survey, inefficient or time consuming and unfeasible due to environmental conditions.

Prior art

Currently, camera inspection systems with motorized travel or with the help of a pressure camera up to a distance of 30 to 55 meters are used to survey and determine the distance in pipeline and sewerage systems, depending on the nature of the pipeline. These systems provide sufficiently reliable information in the case of determining the condition of the pipeline, branches, individual ambiguities in determining the position or condition of the branch and pipeline, in surveys of deposits, condition, corrosion, clogging and contamination of individual pipes. With a significant degree of deposits or clogging of the pipeline, the ability to survey individual sections decreases significantly and it is necessary to pre-clean these sections in advance or in some extreme cases to abandon the inspection of the pipeline at all. The inspection device may become stuck in the pipeline environment and mechanical failure may be used due to the fact that it is not possible to return the system to the inlet by means of motor equipment. In this procedure, it is necessary for the operator to use a winding device that forces the inspection camera to the entrance shaft. In such a procedure, the scanning device is often damaged because the device is tilted from a horizontal position and the like.

- Inspection systems require pre-preparation of existing pipelines before start-up by self-monitoring of individual sections (summoning a cleaning vehicle and pressure cleaning of length-significant sections using available drinking water, often drinking water),

- areas with the impossibility of pre-cleaning with a pressure washer, or without the possibility of leaching the sediment (the height of the sediment is more than half the diameter of the pipe, respectively the sediment is of such a composition that it will not allow dissolution and leaching

The present device allows the inspection and additional survey of pipelines in an environment that does not allow exploration by standard systems. In contrast to the usual inspection, the preparation of existing pipelines with additional pressure systems and vehicles is eliminated, as well as the restriction of people in environments with an increased risk of infection, thus supporting not only cost reductions but also favorable occupational health conditions.

The essence of the technical solution

These limitations are largely eliminated by the device for surveying and recording distances in pipeline systems with the possibility of recording the image. The essence of the technical solution is a device for inspection in sewerage and piping systems based on monitoring distances from the starting point of the survey and visual survey. The device for surveying and recording distances in pipeline systems with the possibility of image recording is equipped with additional protective elements and stabilization systems to limit the possibility of collision with the pipeline wall and the possibility of collision with unexpected obstacles in the pipelines. The reconnaissance drone can be manipulated to the starting point of measurement in the pipeline and the pipeline monitored by a single control maneuver specified on the advanced flight controller. The measurement of the position of the reconnaissance drone is active with the possibility of immediate display on the advanced flight controller and recording of operating parameters by the recording device on a memory card located in the recording device. Operational information, along with video transmission, is displayed in real time on the advanced flight controller monitor. A telemetry system (battery status information, distance from the starting point and the nearest obstacle) is located on the reconnaissance drone, which transmits this information in real time using the transmitter module and transmitting antenna to the display of the advanced flight controller and records the distance and video transmission in high quality. External omnidirectional antennas located in the initial point of measurement are used for the best possible transmission of video and signal to control the device, because the propagation of electromagnetic energy between the source and receiver affects the performance characteristics of the environment.

S K 8771 Υ1

The device for surveying and recording distances in pipeline systems with the possibility of image recording consists of a reconnaissance unmanned aerial vehicle consisting of a system of control, management and stabilization modules powered by a battery and an advanced flight controller powered by standard AA batteries. The basis of the reconnaissance unmanned aerial vehicle is a stabilization system for multiple engine unmanned aerial vehicles, together with a receiver for controlling the reconnaissance unmanned aerial vehicle, engine speed controllers and the engines themselves. Each motor is electric, rotary, unidirectional, with a shaft and a propeller. An additional stabilization module is integrated in the reconnaissance drone, which processes data from distance sensors. The received data is processed by a microprocessor, which also controls the communication with these sensors and controls the telemetry of the device. The data processed by the additional stabilization is sent to the stabilization system of several motorized unmanned aerial vehicles. The stabilization system of multi-engine unmanned aerial vehicles evaluates the position data of the device from a gyroscope and an accelerometer, which are used as input for the PID stabilization algorithm. The output of the algorithm is data for individual motor speed controllers. The distance measurement sensor works on the principle of "Time-Ole-Flight", which represents the transmission of short pulses of light and the measurement of the phase shift from the transmission of the beam to the impact on the TOF sensor. The wirelessly transmitted video signal is analog in PAL format to eliminate delays as much as possible. The outputs from the distance sensors are stored on a memory card by a recording device. The video is recorded in digital format for the highest possible image quality by the recording device, with the possibility of retrospective control and evaluation of the recording.

The reconnaissance drone is designed as a closed, liquid-impermeable unit. The only exposed components are brushless motors. These can also operate in a spray liquid environment, using a high degree of IP protection.

The device for surveying and recording distances in pipeline systems with the possibility of image recording can operate in two modes. The primary mode is the semi-automatic control of the reconnaissance unmanned heater together with additional stabilization, where the operator controls the horizontal or vertical direction of movement by means of a control module, in the axis of the free space of the investigated pipeline. Secondary mode is manual, where additional stabilization is disabled. The operator controls the reconnaissance drone fully manually using a control module located on the advanced flight controller.

The entire assembly of the reconnaissance unmanned heater is placed on a protective skeleton of synthetic fibers for maximum strength and low weight and is powered by a Htium-polymer battery. As protection against mechanical damage, an additional protection of the reconnaissance unmanned hitching device is used to protect the propellers on the engines in the event of an unexpected collision or fall into the liquid, consisting of a light frame construction.

Overview of figures in the drawings

The technical solution of the device in question is explained in more detail in the drawing in FIG. 1, which shows in a simplified manner the connection of a device for surveying and recording distances in pipeline systems with the possibility of recording an image.

Examples of embodiments

The device 18 for exploring and recording distances in pipeline systems with the possibility of recording an image by a recording device 9 for recording images and distances consists of a reconnaissance unmanned hitting device 16 which comprises a primary stabilization system 6 together with an additional stabilization 10 using optical sensors 11 to measure distances based on ToF (Time of FHght) principle to avoid collisions with possible obstacles. The data from the distance sensors 11 are then used to evaluate the distance of the reconnaissance unmanned heater 16 from the obstacles. The evaluation of the data from the distance 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 drone 16 in enclosed spaces, where the reconnaissance drone 16 keeps the axis free. space in the pipeline. The manual control is performed by the control module 14, which transmits the data by the transmitting antenna 2b using the 2.4 GHz frequency band, and by the receiver 3 for controlling the reconnaissance unmanned heater together with the receiving antenna 2a. This data is processed by the stabilization system 6 together with the additional stabilization 10. Motor speed regulators 4 are used to control the electric motors 5. The transmitting antenna 8a to the transmitting module 8 enables real-time wireless video transmission with a minimum of time

With K 8771 Υ1 response 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. Video recording and measured distances are recorded by the device 9 for recording distance and image in high quality with the possibility of recording on a memory card. The lighting in front of the device is provided by a light source 13. The reconnaissance unmanned aerial vehicle 16 is powered by a lithium-polymer battery 12. The skeleton 1 with additional protection serves to secondary protect the reconnaissance unmanned aerial vehicle 16. The control module 14, the receiving antenna 8b, the transmitting antenna 2b and the video signal receiving module 15 are located on the advanced flight. drivers 17.

Example 1

It is necessary to measure the distance of individual connections to the main pipeline discharging the liquid in the selected area due to lack of documents and data from the operator or inconsistency of data with the project documentation before the excavation work. The described device uses visual contact with the main pipe to determine the position of the connection, the distance from the point of entry into the inspection opening or shaft being measured. The device for surveying and recording distances in pipeline systems with the possibility of recording transmits the distance from the point of entry to the display of the operator's control device and based on this distance it is then possible to determine the location for the excavation mechanism as a place where the existing terrain will be excavated. pipe branch connections.

Example 2

It is necessary to perform a visual inspection of the pipeline with a thick layer of deposit at the bottom of the pipeline, especially in older, unmaintained or exceptionally maintained pipelines, or pipelines that have not been inspected due to operator ignorance or trouble-free operation. The described device for surveying and recording distances in pipeline systems with the possibility of recording uses a camera system located on the device for visual survey. The visual survey will ensure the documentation of the condition of the pipeline, as well as the positions of foreign networks, which found themselves in various ways during the individual phases of construction in the examined pipeline. The device for surveying and recording distances in pipeline systems with the possibility of recording allows to record the condition of the pipeline on a data card for additional examination and evaluation of the condition of the pipeline. The data serves the pipeline operator as relevant evidence of the condition of the pipeline with subsequent applicability in reconstruction and renewal plans.

Example 3

It is necessary to perform a visual inspection of the pipeline where the slope of the pipeline does not allow the passage of a standard mechanism for the survey of the pipeline or non-breathable gas is accumulated in the pipeline with the risk of the possibility of poisoning. The device for surveying and recording distances in pipeline systems with the possibility of recording allows to overcome the positions of the pipeline with a large slope, and thus ensure the survey in non-standard conditions of pipeline revision. The device in question makes it possible to overcome sections of pipeline in which non-respirable gases accumulate.

Industrial applicability

The technical solution according to the utility model covers a wide range of applications in the national economy. It can be used especially for pipeline systems, where inspection and visual inspection of the pipeline is required with the impossibility of inspection by conventional means, as well as financial savings in preparation before the survey, for exploring inaccessible places with risk of accumulation of hazardous gases, for system of pipeline condition evaluation by individual operators with subsequent use in the management and optimization of reconstruction and repair plans of enterprises and local governments, for the management of pipelines and to avoid sudden accidents in the operation of the needs.

Claims (1)

CLAIMS FOR PROTECTION Device (18) for surveying and recording distances in pipeline systems with the possibility of recording the image and for determining the length of the piping system, characterized in that it comprises 5 reconnaissance unmanned aerial vehicles (16) with skeleton (1) with additional protection, receiver (3) for controlling a reconnaissance drone with a receiving antenna (2a), a stabilization system (6) connected to an additional stabilization (10) and to engine speed regulators (4) connected to the engines themselves (5), a camera (7) with a transmitting module (8) with signal transmission by the transmitting antenna (8a), light source (13), image and distance recording device (9), distance measuring sensors (11), video signal receiving module (15) and control module (14) together with receiver the antenna (8b) and the transmitting antenna (2b) located on the advanced flight controller (17) are powered by a lithium-polymer battery (12).