Comprehensive pipeline corridor inspection system

Abstract

The present invention provides a comprehensive pipe gallery inspection system, comprising: a drone, at least one wireless power supply device, at least one regional control unit and a server; the drone is wirelessly connected to the regional control unit; the regional control unit and the wireless power supply device are distributed in the comprehensive pipe gallery; wherein the drone includes a camera device, the drone is used to collect internal images of the comprehensive pipe gallery, and transmit the collected internal images to the server in real time through the currently connected regional control unit, and the server is used to use an image recognition method to identify damaged equipment according to the internal images and locate the damaged equipment. The present invention provides a flexible, low-cost comprehensive pipe gallery inspection system that can meet the daily inspection needs of the pipe gallery.

Description

Technical Field

[0001] The present invention relates to the technical field related to integrated pipe corridors, and in particular to an integrated pipe corridor inspection system. Background Art

[0002] As a form of municipal pipeline laying, integrated pipe gallery technology has received widespread attention. There are mature cases in various countries. In recent years, the construction of integrated pipe gallery in my country has developed rapidly. The integrated pipe gallery is long and has a small internal space, which is not convenient for personnel to patrol. At present, rail-hanging robots or ground inspection robots are usually used to replace personnel for internal inspection of the pipe gallery. The rail-hanging method requires the installation of tracks and power supply lines within the range of the inspection robot's operation, which increases the overall cost of the pipe gallery. The rail-hanging robot needs to reserve track installation space and robot walking space inside the pipe gallery, squeezing out the installation space of lighting, fire alarm and other monitoring equipment. In order to ensure the normal use of lighting and monitoring equipment, the inspection channel needs to be widened. And the inspection track needs to avoid various openings such as escape holes and ventilation holes in the pipe gallery, which seriously affects the speed of the inspection robot. In addition, the problem of rail-hanging robots passing through fireproof partitions such as firewalls and fire doors has not been solved, and special mechanisms need to be added when the slope of the sinking section is large. The ground inspection robot has poor passing ability, and a special ramp needs to be set up in the sinking section, and the slope cannot be too large. Therefore, the current automatic inspection systems are subject to great constraints and their application in pipe corridors is very limited. Summary of the invention

[0003] The present invention provides a comprehensive pipe gallery inspection system, which can avoid setting up special tracks for inspection equipment and can quickly identify and locate damaged parts of equipment, thereby improving inspection efficiency and accuracy, saving costs, and ensuring personnel safety.

[0004] In order to achieve the above-mentioned purpose, a comprehensive pipe gallery inspection system is provided, comprising: a drone, at least one wireless power supply device, at least one regional control unit and a server; the drone is wirelessly connected to the regional control unit; the regional control unit and the wireless power supply device are distributed in the comprehensive pipe gallery; wherein,

[0005] The drone includes a camera device, which is used to collect internal images of the integrated pipeline corridor. The drone transmits the internal images to the server in real time through the currently connected regional control unit. The server is used to use an image recognition method to identify damaged equipment based on the internal images and locate the damaged equipment.

[0006] In one embodiment, the server is specifically configured to perform differentiation on the internal image, identify the damaged device according to the differentiation result, and locate the damaged device.

[0007] In one embodiment, the drone further comprises: a laser ranging device, a UWB communication device, a wireless charging device and a flight control device, wherein:

[0008] The UWB communication device is used to send the internal image collected by the drone to the UWB relay terminal of the regional controller unit;

[0009] The wireless charging device is used to connect with the wireless power supply device and charge the drone;

[0010] The laser ranging device is used to measure the distance between the UAV and the integrated pipeline corridor.

[0011] In one embodiment, the flight control device includes: a positioner, an inertial sensor, a shock-absorbing landing gear, an indicator light and a radio station.

[0012] In one embodiment, the integrated pipe corridor inspection system also includes: a fire door control device, which includes: a fire door, an electric door opener and a data transmission device, wherein: the data transmission device is connected to the area control unit.

[0013] In one embodiment, the camera device includes: an infrared camera and a low-light camera.

[0014] In one embodiment, the regional control unit includes: a PLC, an industrial switch, a circuit breaker and an intermediate relay;

[0015] The PLC is connected to the industrial switch network; the PLC is electrically connected to the circuit breaker and the intermediate relay respectively.

[0016] In one embodiment, the regional control unit is connected to the server via optical fiber.

[0017] In one embodiment, the UWB communication device communicates using pulses with a time interval less than 1 ns.

[0018] In one embodiment, the positioning accuracy of the UWB communication device is no more than 10 cm.

[0019] From the above description, it can be seen that the integrated pipe corridor inspection system provided by the present invention uses drone inspection to inspect the integrated pipe corridor, which can avoid the use of inspection equipment to set up special tracks, thereby reducing the top space occupied by the integrated pipe corridor and the investment cost of the integrated pipe corridor inspection equipment. Through the camera carried by the drone, the damaged part of the equipment can be quickly identified and located, the inspection efficiency and accuracy can be improved, the cost can be saved, and the safety of personnel can be guaranteed. By introducing UWB wireless transmission technology, this device can achieve close-range and accurate indoor positioning of the drone, and the positioning error is at the centimeter level. In addition, under normal circumstances, the drone communicates with the fire door, which allows the drone to pass through the firewall or fire door partition without obstacles during inspection, simplifies the inspection facilities between the fire partitions, and eliminates the particularity of the inspection at the fire partition nodes of the ventilation shaft or escape hatch.

[0020] In summary, the present invention provides a comprehensive pipeline corridor inspection system which is flexible, low-cost and can meet the needs of daily pipeline corridor inspections. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 It is a structural schematic diagram of the comprehensive pipe gallery inspection system in an embodiment of the present invention;

[0023] Figure 2 is a schematic structural diagram of a drone in an embodiment of the present invention;

[0024] Figure 3 A schematic diagram of a method for using a laser distance measuring device in an embodiment of the present invention;

[0025] Figure 4 is a schematic diagram of a method for using a wireless power supply device in an embodiment of the present invention;

[0026] Figure 5 Schematic diagram of the structure of a fire door control device in an embodiment of the present invention;

[0027] Figure 6 It is a schematic diagram of the principle of the comprehensive pipeline corridor inspection system in an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] In the prior art, one is to realize the automatic inspection of the integrated pipe corridor by using the automatic inspection method of the hanging rail robot. It includes tracks, transmission cables and inspection robots, wherein the tracks and transmission cables are respectively suspended on the upper part of the pipe corridor and laid along the pipe corridor, and the inspection robot runs on the tracks and receives electric energy through the contact between the pantograph and the transmission cable. The automatic inspection system provided by the present invention is designed for the inspection of the urban integrated pipe corridor. It has a simple structure, convenient operation, safety and reliability, high efficiency, and adopts a suspended operation mode. It can adapt to the complex conditions inside the integrated pipe corridor and will not be affected by water accumulation. It can realize comprehensive and rapid detection of the integrated pipe corridor and 24h cycle dynamic inspection. However, the hanging rail method requires the installation of tracks and power supply lines within the range of the inspection robot operation, which increases the overall cost of the pipe corridor. The hanging rail robot needs to reserve track installation space and robot walking space inside the pipe corridor, which squeezes the installation space of lighting, fire alarm and other monitoring equipment. In order to ensure the normal use of lighting and monitoring equipment, it is necessary to widen the inspection channel. Moreover, the inspection track needs to avoid various openings such as escape holes and ventilation holes in the pipe gallery, which seriously affects the speed of the inspection robot. In addition, the problem of the hanging track robot passing through fire partitions such as firewalls and fire doors has not been solved.

[0030] Second, the use of movable tracks solves the problem of the track of the hanging robot blocking various openings inside the corridor, and avoids the track from avoiding various openings. However, it still does not solve the problem of the high overall cost of the track of the hanging robot; the conflict between the track and the robot's walking space and the lighting and monitoring equipment requires the increase of the inspection channel width. In addition, this method does not solve the problem of the hanging robot passing through fire partitions such as firewalls and fire doors.

[0031] Based on this, the embodiment of the present invention provides a comprehensive pipe gallery inspection system. For specific implementation, see Figure 1 The integrated pipe gallery inspection system includes: a drone, at least one wireless power supply device, at least one regional control unit and a server; the drone is wirelessly connected to the regional control unit; the regional control unit and the wireless power supply device are distributed in the integrated pipe gallery; wherein,

[0032] See also Figure 2The UAV includes a camera device (camera), which is used to collect internal images of the integrated pipe gallery. The UAV transmits the internal images to the server in real time through the currently connected regional control unit. The server is used to use an image recognition method to identify damaged equipment based on the internal images and locate the damaged equipment.

[0033] The area control unit (ACU) and the wireless power supply device are arranged inside the integrated pipe corridor along the extension direction of the integrated pipe corridor. The drone will transmit the collected internal images of the integrated pipe corridor to the server through the currently connected area control unit in real time. The server is used to use the image recognition method to identify the damaged equipment according to the internal image and locate the damaged equipment. It can be understood that the application of drone technology in the field of integrated pipe corridor inspection technology can greatly reduce the overall cost of the integrated pipe corridor, save the internal space of the pipe corridor, and solve the problem that the rail-mounted robot in the prior art cannot pass through fire partitions such as firewalls and fire doors.

[0034] In one embodiment, the server is specifically configured to perform differentiation on the internal image, identify the damaged device according to the differentiation result, and locate the damaged device.

[0035] It is understood that image recognition refers to the technology of using computers to process, analyze and understand images to identify targets and objects of various different patterns. It is a practical application of deep learning algorithms. Specifically, the corresponding pixel values ​​of two images are subtracted to weaken the similar parts of the images and highlight the changed parts of the images. It is understandable that the differential image can often detect the outline of moving targets, extract the trajectory of the flashing catheter, etc. For example: There are two functions related to difference in OpenCV, one is cvSub() function, and the other is cvAbsDiff() function.

[0036] void cvSub(const CvArr*src1, const CvArr*src2, CvArr*dst, const CvArr*mask=NULL);

[0037] Two input images src1 and src2 and one output image dst have the same type and size. cvSub is applicable to both IplImage and cvMat structures. A simple example is as follows:

[0038] #include<opencv2 / opencv.hpp>

[0039] int main()

[0040] {

[0041] IplImage*src1=cvLoadImage("E:\\testvideo\\test1.png");

[0042] IplImage*src2=cvLoadImage("E:\\testvideo\\test2.png");

[0043] assert(src1);

[0044] IplImage*dst=cvCreateImage(cvGetSize(src1),src1->depth,src1->nChannels);

[0045] cvSub(src1,src2,dst);

[0046] cvShowImage("1",src1);

[0047] cvShowImage("2",src2);

[0048] cvShowImage("dst",dst);

[0049] cvWaitKey(0);

[0050] }

[0051] If the code cvSub(src1, src2, dst); is changed to cvSub(src2, src1, dst);, the difference result is:

[0052] The cvSub() function directly subtracts the pixel values ​​of the two images, normalizes the difference to zero if it is less than zero, and does not take the absolute value of the difference. At the same time, it also shows that cvSub() not only supports grayscale images, but also supports three-channel images. The cvAbsDiff() function calculates the absolute value of the difference between the two images. Its parameters are similar to those of the cvSub() function, as shown below.

[0053] void cvAbsDiff(const CvArr*src1,const CvArr*src2,CvArr*dst);

[0054] Therefore, the execution results of cvAbsDiff(src2,src1,dst); and cvAbsDiff(src1,src2,dst); are the same.

[0055] / *Image difference

[0056] *Requires input and output images to have the same format and size

[0057] * /

[0058] void cvSub(IplImage*src1,IplImage*src2,IplImage*dst)

[0059] {

[0060] IplImage*src1_gray=cvCreateImage(cvGetSize(src1),8,1);

[0061] IplImage*src2_gray=cvCreateImage(cvGetSize(src2),8,1);

[0062] cvCvtColor(src1,src1_gray,CV_RGB2GRAY);

[0063] cvCvtColor(src2,src2_gray,CV_RGB2GRAY);

[0064] CvScalarpixel;

[0065] for(int i=0; i <src1->height;i++)

[0066] for(int j=0;j <src1->width; j++)

[0067] {

[0068] CvScalarp1=cvGet2D(src1_gray,i,j);

[0069] CvScalarp2=cvGet2D(src2_gray,i,j);

[0070] pixel.val[0] = abs(p1.val[0] - p2.val[0]) * 120 / (p1.val[0]); / / relative gray value

[0071] cvSet2D(dst,i,j,pixel);

[0072] }

[0073] cvReleaseImage(&src1_gray);

[0074] cvReleaseImage(&src2_gray);

[0075] cvShowImage("result",dst);

[0076] }

[0077] In one embodiment, see Figure 2 The UAV includes: a laser ranging device, a UWB communication device, a wireless charging device and a flight control device, wherein:

[0078] The UWB communication device is used to send the internal image collected by the drone to the UWB relay terminal of the regional controller unit;

[0079] The wireless charging device is used to connect with the wireless power supply device and charge the drone;

[0080] See also Figure 3 The laser ranging device is used to measure the distance between the UAV and the integrated pipeline corridor.

[0081] It is understandable that the camera device at the front end of the drone can collect internal images of the integrated pipe corridor and locate damaged equipment and its damaged parts. The camera device transmits the image to the UWB relay end in the form of a pulse radio signal through the communication module in the UWB communication device, and further transmits it to the regional control unit (ACU) placed in the integrated pipe corridor in the form of a pulse radio signal, and further transmits it to the server through optical fiber.

[0082] During the inspection process, the UWB communication module on the drone side transmits the real-time location information of the drone to the ACU of the integrated pipeline corridor, and further transmits the real-time location information of the drone to the server via optical fiber.

[0083] When the drone arrives at the designated area near the fire door, the ACU of the integrated pipe corridor receives the real-time location information of the drone. Furthermore, through the logical operation within the ACU, the control information is sent to the electric door opener installed on the fire door to open or close the fire door.

[0084] Preferably, the drone also includes a battery detection module.

[0085] See also Figure 4 When the drone enters the wireless power supply devices installed in the integrated pipeline corridor, the equipment will be automatically charged.

[0086] In one embodiment, the flight control device includes: a positioner, an inertial sensor, a shock-absorbing landing gear, an indicator light and a radio station.

[0087] It is understandable that the locator in the flight control device can use GPS positioning or SLAM technology to locate the drone, and the inertial sensor mainly detects and measures the acceleration, tilt, impact, vibration, rotation and multiple degrees of freedom of the drone. Similar to the role of the landing gear in large aircraft, the shock-absorbing landing gear is an important component in the drone that has both load-bearing and maneuverability. The shock-absorbing landing gear is a necessary supporting component for the drone to take off, land, taxi, move on the ground and park. The drone communicates data through the radio and the ground control device (such as the remote control), and uses the inertial navigation of GPS technology and inertial sensors to jointly guide the drone.

[0088] In one embodiment, see Figure 5 The fire door control device includes: an electric door opener and a data transmission device, wherein: the data transmission device is connected to the regional control unit.

[0089] See also Figure 6 The UWB communication module of the drone transmits the location information of the drone to the ACU of the integrated pipe gallery. When the drone reaches the designated area near the fire door, the ACU of the integrated pipe gallery controls the electric door opener installed on the fire door to open or close the fire door.

[0090] In one embodiment, the camera device includes: an infrared camera and a low-light camera.

[0091] In one embodiment, the regional control unit includes: a PLC (Programmable Logic Controller), an industrial switch, a circuit breaker and an intermediate relay. The PLC is network-connected to the industrial switch; the PLC is electrically connected to the circuit breaker and the intermediate relay respectively.

[0092] It can be understood that the PLC is connected to the industrial switch, and the PLC is set in the regional control unit to perform logical control on the collected switch quantity and analog quantity. The industrial switch is also called the industrial Ethernet switch, which is used for data transmission in complex industrial environments. The circuit breaker and the intermediate relay are set in the circuit of the regional control unit. The circuit breaker refers to a switching device that can close, carry and disconnect the current under normal circuit conditions and can close, carry and disconnect the current under abnormal circuit conditions within a specified time. The circuit breaker can be used to distribute electrical energy, start asynchronous motors infrequently, and protect power lines and motors. When a serious overload or short circuit and undervoltage fault occurs, the circuit can be automatically cut off. Its function is equivalent to a combination of a fuse switch and a thermal relay. Intermediate relays are used in relay protection and automatic control systems to increase the number and capacity of contacts and are used to transmit intermediate signals in control circuits.

[0093] It is understandable that during the inspection process of the drone, its location and inspection information are first transmitted to the ACU of the fire protection zone by the wireless data transmission device, and then transmitted to the server by the ACU. The server integrates the GIS system, environment and equipment monitoring system, security system, fire protection system, power monitoring, energy monitoring and other systems, and has data communication, information collection and comprehensive processing functions.

[0094] In one embodiment, the drone further includes a remote controller.

[0095] In one embodiment, the regional control unit is connected to the server via an optical fiber.

[0096] During the drone inspection process, the inspection information of each fire protection zone is transmitted to the ACU and then transmitted to the server via optical fiber. The server then performs centralized processing of the data information.

[0097] In one embodiment, the UWB communication device uses pulses with a time interval of less than 1 ns to communicate.

[0098] In one embodiment, the positioning accuracy of the UWB communication device is no more than 10 cm.

[0099] It can be understood that the UWB communication device uses pulses with a time interval of less than 1ns for communication, and the maximum positioning accuracy can reach 10cm, which can accurately locate the position of the drone in the integrated pipeline corridor.

[0100] From the above description, it can be seen that the integrated pipe corridor inspection system provided by the present invention uses drone inspection to inspect the integrated pipe corridor, which can avoid the use of inspection equipment to set up special tracks, thereby reducing the top space occupied by the integrated pipe corridor and the investment cost of the integrated pipe corridor inspection equipment. Through the camera carried by the drone, the damaged part of the equipment can be quickly identified and located, the inspection efficiency and accuracy can be improved, the cost can be saved, and the safety of personnel can be guaranteed. By introducing UWB wireless transmission technology, this device can achieve close-range and accurate indoor positioning of the drone, and the positioning error is at the centimeter level. In addition, under normal circumstances, the drone communicates with the fire door, which allows the drone to pass through the firewall or fire door partition without obstacles during inspection, simplifies the inspection facilities between the fire partitions, and eliminates the particularity of the inspection at the fire partition nodes of the ventilation shaft or escape hatch.

[0101] In summary, the present invention provides a comprehensive pipeline corridor inspection system which is flexible, low-cost and can meet the needs of daily pipeline corridor inspections.

[0102] The above is a description of a specific embodiment of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired results.

[0103] Although the present specification embodiment provides the method operation steps as described in the embodiment or flow chart, more or less operation steps may be included based on conventional or non-creative means. The order of steps listed in the embodiment is only one way in the order of execution of many steps, and does not represent a unique execution order. When the device or terminal product in practice is executed, it can be executed in sequence or in parallel (such as a parallel processor or a multi-threaded processing environment, or even a distributed data processing environment) according to the method shown in the embodiment or the accompanying drawings. The term "include", "include" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, product or equipment including a series of elements not only includes those elements, but also includes other elements not clearly listed, or also includes elements inherent to such process, method, product or equipment. In the absence of more restrictions, it is not excluded that there are other identical or equivalent elements in the process, method, product or equipment including the elements.

[0104] The above is only an example of the embodiment of the present specification and is not intended to limit the embodiment of the present specification. For those skilled in the art, the embodiment of the present specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiment of the present specification shall be included in the scope of the claims of the embodiment of the present specification.

Claims

1. A comprehensive pipe gallery inspection system, characterized in that: include: A drone, at least one wireless power supply device, at least one regional control unit, and a server; the drone is wirelessly connected to the regional control unit; The regional control unit and the wireless power supply device are distributed in the integrated pipe gallery; wherein, The drone includes a camera device, which is used to collect internal images of the integrated pipe gallery. The drone can transmit the internal images to the server in real time through the currently connected regional control unit, and the server is used to identify and locate damaged equipment according to the internal images; The UAV also includes: a laser rangefinder, a UWB communication device, a wireless charging device and a flight control device, wherein: The UWB communication device is used to send the internal image collected by the drone to the UWB relay terminal of the regional control unit; The wireless charging device is used to connect with the wireless power supply device and charge the drone; The laser distance measuring device is used to measure the distance between the UAV and the integrated pipe gallery; The camera device at the front end of the drone is used to collect internal images of the integrated pipe gallery and locate damaged equipment and damaged parts thereof. Specifically, the camera device transmits the images to the UWB relay terminal in the form of pulse radio signals through the communication module in the UWB communication device, and further transmits the images to the regional control unit placed in the integrated pipe gallery in the form of pulse radio signals, and further transmits the images to the server via optical fiber; A fire door control device, the fire door control device comprises: a fire door, an electric door opener and a data transmission device, wherein: the data transmission device is connected to the regional control unit; the fire door control device is used to transmit the location information of the drone to the regional control unit of the integrated pipe gallery through the UWB communication module of the drone. When the drone arrives within the designated area near the fire door, the regional control unit of the integrated pipe gallery controls the electric door opener arranged on the fire door to realize the opening or closing of the fire door.

2. The comprehensive pipe gallery inspection system according to claim 1 is characterized in that: The server is specifically used to perform differentiation on the internal image, identify the damaged device according to the differentiation result, and locate the damaged device.

3. The comprehensive pipe gallery inspection system according to claim 1 is characterized in that: The flight control device includes: a positioner, an inertial sensor, a shock-absorbing landing gear, an indicator light and a radio station.

4. The comprehensive pipe gallery inspection system according to claim 1 is characterized in that: The camera device includes an infrared camera and a low-light camera.

5. The comprehensive pipe gallery inspection system according to claim 1 is characterized in that: The regional control unit includes: a PLC, an industrial switch, a circuit breaker and an intermediate relay; The PLC is connected to the industrial switch network; the PLC is electrically connected to the circuit breaker and the intermediate relay respectively.

6. The comprehensive pipe gallery inspection system according to claim 1 is characterized in that: The regional control unit is connected to the server via optical fiber.

7. The comprehensive pipe gallery inspection system according to claim 1 is characterized in that: The UWB communication device uses pulses with a time interval of less than 1 ns to communicate.

8. The comprehensive pipe gallery inspection system according to claim 1 is characterized in that: The positioning accuracy of the UWB communication device is no more than 10 cm.

Images