Pipe rack patrol inspection device and pipe rack patrol inspection method

Abstract

The invention discloses a pipe rack patrol inspection device and a pipe rack patrol inspection method. The pipe rack patrol inspection device comprises tracks arranged in a pipe rack and track vehicles mounted on the tracks, and patrol inspection unmanned aerial vehicles can be connected with and separated from the track vehicles through docking devices. By arranging the tracks in the pipe rack and arranging the track vehicles capable of moving along the tracks, the track vehicles drive the patrol inspection unmanned aerial vehicles to move to carry out whole-course autonomous patrol inspection or to quickly reach a suspected fault area for investigation when the patrol inspection unmanned aerial vehicles are connected with the track vehicles, and meanwhile, the patrol inspection unmannedaerial vehicles can automatically pass through a fireproof door and cooperate with a next segment pipe rack track to perform patrol inspection; and compared with a traditional scheme that a patrol inspection unmanned aerial vehicle cannot carry out the whole-course autonomous patrol inspection caused by being enslaved to the technical bottleneck of factors such as high difficulty in pipe rack positioning and complex in environment, the provided patrol inspection unmanned aerial vehicles have high use safety and high work efficiency.

Description

technical field [0001] The invention relates to the technical field of inspection inside a pipe gallery, in particular to a inspection device for a pipe gallery. The invention also relates to a inspection method for a pipe gallery. Background technique [0002] With the development of the city, underground pipe corridors began to spread all over major cities, and daily inspection of pipe corridors is a task of pipe gallery management. At present, the inspection work of underground city pipe corridors is mainly done manually. Since the pipe corridors are very long, the inspection task requires a lot of time and manpower, and this work is relatively boring. [0003] Usually, inspection drones are used to inspect the pipe gallery. Specifically, the inspection drone flies in the pipe gallery to detect the internal state of the pipe gallery. Due to the complex internal environment of the pipe gallery, there are various protrusions (metal frames, etc.), the UAV needs to avoid ob...

AI Technical Summary

Problems solved by technology

Due to the complex internal environment of the pipe gallery, there are various protrusions (metal frames, etc.), the UAV needs to avoid obstacles autonomously in real time; at the same time, there is no GPS positioning inside the pipe gallery, so it can only rely on UWB and other visual means, but the narrow and long pipe gallery The ground conditions make it difficult to use UWB to realize the whole process of automatic positioning, which leads to low security of inspection drone inspection

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