Utility tunnel inspection system based on robot and interactive system

A technology of comprehensive pipe gallery and inspection system, applied in the direction of instruments, manipulators, program control manipulators, etc., can solve the problems of large risks and inspection process risks, labor costs, timeliness, and reliability.

Inactive Publication Date: 2018-08-03
史聪灵
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to solve the defects of timeliness and poor reliability in the manual patrol inspection of urban comprehensive utility corridors in the prior art, which cost more lab

Method used

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  • Utility tunnel inspection system based on robot and interactive system
  • Utility tunnel inspection system based on robot and interactive system
  • Utility tunnel inspection system based on robot and interactive system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] Such as figure 1 As shown in Fig. 1, a robot-based integrated pipe gallery inspection system is built with the robot as the carrier platform. Of course, different detection systems or devices can be built on this platform.

[0038] The system includes remote infrared monitoring and diagnosis module, remote image monitoring and diagnosis module, remote sound monitoring and diagnosis module, navigation positioning and motion control module, database; remote infrared monitoring and diagnosis module, remote image monitoring and diagnosis module, remote sound monitoring It is connected with the diagnosis module, the navigation positioning module and the motion control module respectively through the network and the database.

[0039] Remote infrared monitoring and diagnosis module

[0040] This design uses an online infrared thermal imaging device. This module includes an infrared image acquisition device, that is, an infrared camera, an infrared image processing unit, an...

Embodiment 2

[0054] Such as figure 1 , figure 2 , image 3 As shown, a robot-based interactive system for inspection of integrated pipeline corridors includes inspection systems, robots, servers, and remote monitoring terminals; the inspection system, servers, and remote monitoring terminals are connected through a network. The inspection system is the inspection system of the first embodiment above. The infrared camera, RGB camera, and noise acquisition and transmission unit are all installed and fixed on the robot; the server includes a database storing various parameter information of the environment in the underground pipe gallery and electrical equipment; the infrared image processing unit, image processing unit, and noise processing unit will The inspection information is stored in the database; the server sends the inspection information to the remote monitoring terminal through the network; the user queries the inspection information and sends instructions to the inspection syst...

Embodiment 3

[0060] Such as Figure 4 , Figure 5 As shown, a shock-absorbing chassis of a robot, the robot includes a chassis system; the specific structure of the chassis system is:

[0061] The motor 1 is connected to the reducer 2, and the motor 1 and the reducer 2 are fixed on the fixed sleeve of the reducer by bolts. The shaft end of the reducer 2 and the fixed sleeve of the reducer are provided with fixing bolts to prevent the driving wheel from falling off due to excessive axial force. , the fixed shaft sleeve of the reducer 2 clamps the driving wheel, the fixed shaft sleeve of the reducer 2 is fixed in the bearing sleeve through the bearing and positioned on the outer fixed plate 3, and the outer fixed plate 3 and the inner fixed plate 4 are connected by three The fixed plate fixes the longitudinal position so that the drive wheels are always driven on the inner teeth of the track. The driving wheel is divided into 2 pieces for the purpose of convenient processing. After the pro...

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PUM

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Abstract

The invention provides a utility tunnel inspection system based on a robot and an interactive system. The utility tunnel inspection system based on the robot comprises a remote infrared monitoring anddiagnosis module, a remote image monitoring and diagnosis module, a remote sound monitoring and diagnosis module, a navigation positioning and motion control module, and a database. The remote infrared monitoring and diagnosis module is used for detecting the temperature of equipment in a utility tunnel, and sending equipment information exceeding an alarm value to the database after judgement ismade; the remote image monitoring and diagnosis module is used for collecting images of the equipment and moving bodies in the utility tunnel, analyzing the images and sending abnormal results to thedatabase; the remote sound monitoring and diagnosis module is used for collecting noise of electrical equipment in the utility tunnel, analyzing the noise and sending the noise to the database; and the navigation positioning and motion control module is used for obtaining the operating path of the robot. According to the utility tunnel inspection system, known targets and unknown targets can be detected through surrounding environment information obtained through sensors and treatment on the environment information, and treatment results are displayed on a system interface.

Description

technical field [0001] The invention relates to the technical field of underground pipe gallery inspection, in particular to a robot-based integrated pipe gallery inspection system and an interactive system. Background technique [0002] The underground comprehensive pipe corridor is a narrow and long restricted space, with few holes connected to the atmosphere and a small area. When a fire occurs, the hot smoke cannot be discharged, the heat accumulates, and the heat dissipation is slow. The temperature of the space rises rapidly, and flashover may occur earlier. , Even if the temperature rises sharply from about 400°C to 800-900°C, the air volume will expand rapidly, and the concentration of harmful gases such as carbon monoxide and carbon dioxide will increase rapidly. In addition, there are a large number of combustibles in the underground comprehensive pipe gallery, such as plastic and rubber protective sleeves for cables and optical cables. There are many fire factor...

Claims

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Application Information

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IPC IPC(8): B25J9/16G01D21/02
CPCB25J9/1602B25J9/1679B25J9/1697G01D21/02
Inventor 史聪灵王文伟车洪磊胡鹄李建胥旋
Owner 史聪灵
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