Underground pipe gallery full-automatic unmanned inspection equipment based on BIM (Building Information Modeling) technology and use method

Abstract

According to the BIM technology-based underground pipe gallery full-automatic unmanned inspection equipment and the use method thereof, the height of a bottom plate can be adjusted by controlling synchronous lifting of all electric air cylinders, and then the height of a frame carried on the bottom plate and the height of equipment in the frame are adjusted; meanwhile, the double-sided rack can be driven to move back and forth through the electric telescopic rod, and the gears on the two sides are driven to rotate through meshing, so that when the double-sided rack moves forwards, the rotating frames and the circular rings on the two sides are driven to be unfolded through rotation, far away from each other, in respective frames, and when the double-sided rack moves backwards, the rotating frames and the circular rings are unfolded. And the rotating frames and the circular rings on the two sides are driven to rotate close to each other and are stored in the frame.

Description

Technical Field

[0001] The present invention relates to the field of underground pipe gallery inspection, and in particular to full-automatic unmanned inspection equipment for underground pipe galleries based on BIM technology and a use method thereof. Background Art

[0002] An underground utility corridor refers to a structure and ancillary facilities located below the ground in a city to accommodate two or more types of public utility pipelines or professional pipelines. Public utility pipelines include electricity, communications (including monitoring lines), radio and television, water supply, drainage, heat, gas, firefighting pipelines, traffic signals, emergency optical cables, etc. Ancillary facilities include drainage, ventilation, lighting, electricity, communications, firefighting, safety monitoring systems and monitoring and management rooms used to maintain the normal operation of the corridor.

[0003] Incorporating public utility pipelines into the pipeline corridor not only avoids the trouble of repeated road excavation due to burying or repairing pipelines, but also avoids soil corrosion on the pipelines because the pipelines do not contact the soil and groundwater, thereby extending the service life of the pipelines.

[0004] However, the underground pipe gallery has complex pipelines, and the traditional manual inspection method is inefficient. Although some existing unmanned inspection vehicles can perform inspections, they are not convenient for specific flexible adjustment. Therefore, the pipelines in the pipe gallery are complicated. When the pipelines are bent or coiled, if the distance and angle of the viewing angle cannot be effectively adjusted, effective inspection cannot be performed. Therefore, a fully automatic unmanned inspection device and a method for using the underground pipe gallery based on BIM technology are proposed. Summary of the invention

[0005] The purpose of the present invention is to provide a fully automatic unmanned inspection device for an underground utility corridor based on BIM technology and a method for using the device, so as to solve the problems that the existing manual inspection of underground utility corridors is inefficient, while the inspection by unmanned vehicles has poor flexibility and limited inspection angles.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a fully automatic unmanned inspection device for an underground pipe gallery based on BIM technology and a method for using the device, comprising an unmanned automatic vehicle, a battery pack, and a radar vision device, wherein a plurality of electric cylinders are embedded in an array in the battery pack, and the upper output ends of each electric cylinder extend above the battery pack, and are fixedly connected to a base plate at the extension end, frames are fixedly connected to the left and right sides of the upper end surface of the base plate, and two frames are provided with hinge seats on one side close to each other, and are rotatably connected to a rotating shaft through the hinge seat, and a gear is fixedly sleeved on the middle part of the outer side surface of the two rotating shafts, and a rotating frame is also fixedly connected to the two rotating shafts, and a circular ring is fixedly connected to the side away from each other, and a mounting seat is fixedly connected to the front side of the upper end surface of the base plate, an electric telescopic rod is connected to the mounting seat, and a double-sided rack is fixedly connected to the rear side of the electric telescopic rod, and is between two gears and meshed with the gear, a sleeve is provided through the sleeve on the circular ring, and a sliding rod is provided in the sleeve, and a camera is fixedly connected to one end of the sliding rod at the outer side of the circular ring.

[0007] Preferably, a battery pack is fixedly mounted on the rear side of the upper end surface of the unmanned automatic vehicle, and a radar vision device is fixedly mounted on the front side of the upper end surface of the unmanned automatic vehicle.

[0008] Preferably, the unmanned automatic vehicle, the radar device, the electric cylinder, the electric telescopic rod, and the camera are all electrically connected to the battery pack.

[0009] Preferably, the rotating frames are respectively fixedly connected to the upper and lower ends of their respective rotating shafts, and the gears fixedly mounted on the rotating shafts are located in the middle of the rotating frames.

[0010] Preferably, the rotating frames on both sides, which are away from each other, pass through the frames on their respective sides and extend outside the frames, and the rotating frames are rotatably arranged in the frames.

[0011] Preferably, the circular rings on both sides are fixedly connected with a sleeve that penetrates radially thereof and is away from one side from the other.

[0012] Preferably, an electric push rod is embedded on the upper and lower sides of each of the circular rings, and the upper and lower electric push rods in the same circular ring are rotatably connected to the output ends on one side close to each other with a rotating rod, and the sliding rod is fixedly installed with a support seat at one end in the circular ring, and the upper and lower rotating rods are rotatably connected to the upper and lower sides of the support seat at one end close to each other.

[0013] Compared with the related art, the fully automatic unmanned inspection equipment and use method of the underground pipe gallery based on BIM technology provided by the present invention have the following beneficial effects:

[0014] 1. The present invention provides a fully automatic unmanned inspection device for an underground pipe gallery based on BIM technology and a method for using the device. The device can control the synchronous lifting and lowering of each electric cylinder to adjust the height of the bottom plate, thereby adjusting the height of the frame carried thereon and the equipment therein. At the same time, the electric telescopic rod can be used to drive the double-sided rack to move forward and backward, and the gears on both sides can be driven to rotate through engagement, so that when the double-sided rack moves forward, the rotating frames and the rings on both sides are driven to rotate away from each other in their respective frames to unfold, and when the double-sided rack moves backward, the rotating frames and the rings on both sides are driven to rotate toward each other and be stored in the frame.

[0015] 2. The present invention provides a fully automatic unmanned inspection device for an underground pipe gallery based on BIM technology and a method for using the device. The electric telescopic rod drives the double-sided rack to move forward, so that when the rotating frame and the circular ring are unfolded, the electric push rods on the upper and lower sides of each circular ring can be started to push the rotating rods on the upper and lower sides and their connecting ends to each other, thereby driving the two rotating rods to approach each other and one end connected to the support seat to push the sliding rod to slide toward the outside of the sleeve, thereby adjusting the distance of the camera outside the circular ring to achieve comprehensive inspection at different viewing angles, and in conjunction with the above-mentioned height adjustment, a large-scale inspection can be achieved.

[0016] This makes the device flexible, capable of carrying out inspections over a wide range and at multiple angles, and convenient for storage and protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the present invention.

[0018] Figure 2 It is a top view of the structure of the present invention.

[0019] Figure 3 This is a schematic diagram of the structure of the present invention with the battery pack removed.

[0020] Figure 4 It is a schematic diagram of the relevant structures on the bottom plate of the present invention.

[0021] In the figure: 1. unmanned automatic vehicle; 2. battery pack; 3. radar vision equipment; 4. electric cylinder; 5. bottom plate; 6. frame; 7. hinge seat; 8. rotating shaft; 9. gear; 10. rotating frame; 11. ring; 12. mounting seat; 13. electric telescopic rod; 14. double-sided rack; 15. sleeve; 16. sliding rod; 17. camera; 18. electric push rod; 19. support seat; 20. rotating rod. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0023] Embodiment 1:

[0024] See also Figure 1-4 The present invention provides a technical solution: a fully automatic unmanned inspection device for underground pipe gallery based on BIM technology and a method for using the device, comprising an unmanned automatic vehicle 1, a battery pack 2, and a radar vision device 3. A plurality of electric cylinders 4 are embedded in an array in the battery pack 2, and the upper output end of each electric cylinder 4 extends above the battery pack 2, and is fixedly connected to a bottom plate 5 at the extension end. Frames 6 are fixedly connected to the left and right sides of the upper end surface of the bottom plate 5. A hinge seat 7 is installed on one side of the two frames 6 close to each other, and a rotating shaft 8 is rotatably connected to the hinge seat 7. The outer sides of the two rotating shafts 8 A gear 9 is fixedly mounted in the middle of the surface, a rotating frame 10 is also fixedly connected to the two rotating shafts 8, a circular ring 11 is fixedly connected to the side of the two rotating frames 10 away from each other, a mounting seat 12 is fixedly connected to the front side of the upper end face of the bottom plate 5, an electric telescopic rod 13 is connected to the mounting seat 12, and a double-sided rack 14 is fixedly connected to the rear side of the electric telescopic rod 14, and is located between the two gears 9 and meshed with the gear 9, a sleeve 15 is penetrated through the circular ring 11, and a sliding rod 16 is sleeved in the sleeve 15, and a camera 17 is fixedly connected to one end of the sliding rod 16 on the outer side of the circular ring 11.

[0025] A battery pack 2 is fixedly installed on the rear side of the upper end surface of the unmanned automatic vehicle 1, and a radar vision device 3 is fixedly installed on the front side of the upper end surface of the unmanned automatic vehicle 1. The unmanned automatic vehicle 1, the radar vision device 3, the electric cylinder 4, the electric telescopic rod 13, and the camera 17 are all electrically connected to the battery pack 2. The rotating frames 10 are respectively fixedly connected to the upper and lower ends of their respective rotating shafts 8, and the gear 9 fixedly mounted on the rotating shaft 8 is in the middle of the rotating frames 10. The rotating frames 10 on both sides are away from each other and pass through the frames 6 on their respective sides and extend to the outside of the frame 6, and the rotating frames 10 are rotatably set in the frame 6.

[0026] The unmanned automatic vehicle 1 is controlled by planning and designing the route, and the path finding and obstacle avoidance are carried out through the radar vision device 3. The above scheme belongs to the prior art, and there are many documents that have relevant introductions, which will not be repeated here. At the same time, the electric cylinders 4 can be controlled to rise and fall synchronously to achieve the height adjustment of the base plate 5, and then the frame 6 and the equipment therein carried thereon can be adjusted in height. At the same time, the double-sided rack 14 can be driven to move forward and backward by the electric telescopic rod 13, and the gears 9 on both sides can be driven to rotate by meshing, so that when the double-sided rack 14 moves forward, the rotating frames 10 and the rings 11 on both sides are driven to rotate away from each other in their respective frames 6 to unfold, and when the double-sided rack 14 moves backward, it drives the rotating frames 10 and the rings 11 on both sides to rotate closer to each other and be stored in the frame 6.

[0027] Embodiment 2:

[0028] See also Figure 1-4 The circular rings 11 on both sides are far away from each other and are fixedly connected with a sleeve 15 that penetrates along the radial direction. The upper and lower sides of each circular ring 11 are embedded with electric push rods 18. The upper and lower electric push rods 18 in the same circular ring 11 are close to each other. The output ends are rotatably connected to the rotating rod 20. The sliding rod 16 is fixedly installed with a support seat 19 at one end in the circular ring 11. The upper and lower rotating rods 20 are rotatably connected to the upper and lower sides of the support seat 19 at one end that is close to each other.

[0029] By driving the double-sided rack 14 forward through the electric telescopic rod 13, when the rotating frame 10 and the ring 11 are unfolded, the electric push rods 18 on the upper and lower sides of each ring 11 can be started to push the rotating rods 20 on the upper and lower sides and their connecting ends to each other, thereby driving the two rotating rods 20 to approach each other and one end connected to the support seat 19 pushes the sliding rod 16 to slide to the outside of the sleeve 15, thereby adjusting the distance of the camera 17 outside the ring 11, thereby realizing comprehensive inspection from different perspectives, and cooperating with the above-mentioned height adjustment to realize a large-scale inspection.

[0030] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A fully automatic unmanned inspection device for underground pipe corridors based on BIM technology, comprising an unmanned automatic vehicle (1), a battery pack (2), and a radar vision device (3), wherein a plurality of electric cylinders (4) are embedded in an array in the battery pack (2), and the upper output end of each electric cylinder (4) extends above the battery pack (2), and a bottom plate (5) is fixedly connected to the extended end, characterized in that: The upper end surface of the bottom plate (5) is fixedly connected to frames (6) on both sides. A hinge seat (7) is installed on the side of the two frames (6) close to each other. A rotating shaft (8) is rotatably connected through the hinge seat (7). A gear (9) is fixedly mounted on the middle of the outer side surface of the two rotating shafts (8). The two rotating shafts (8) are also fixedly connected to rotating frames (10). The two rotating frames (10) are fixedly connected to a ring (11) on the side away from each other. The upper end of the bottom plate (5) is fixedly connected to frames (6). A mounting seat (12) is fixedly connected to the front side, an electric telescopic rod (13) is connected to the mounting seat (12), and a double-sided rack (14) is fixedly connected to the rear side of the electric telescopic rod (14), and is located between two gears (9) and meshed with the gears (9). A sleeve (15) is provided through the ring (11), and a sliding rod (16) is provided inside the sleeve (15), and a camera (17) is fixedly connected to one end of the sliding rod (16) outside the ring (11).

2. The fully automatic unmanned inspection equipment for underground pipe gallery based on BIM technology according to claim 1 is characterized in that: A battery pack (2) is fixedly mounted on the rear side of the upper end surface of the unmanned automatic vehicle (1), and a radar vision device (3) is fixedly mounted on the front side of the upper end surface of the unmanned automatic vehicle (1).

3. The fully automatic unmanned inspection equipment for underground pipe gallery based on BIM technology according to claim 2 is characterized in that: The unmanned automatic vehicle (1), the radar device (3), the electric cylinder (4), the electric telescopic rod (13), and the camera (17) are all electrically connected to the battery pack (2).

4. The fully automatic unmanned inspection equipment for underground pipe gallery based on BIM technology according to claim 3 is characterized in that: The rotating frames (10) are respectively fixedly connected to the upper and lower ends of the respective rotating shafts (8), and the gear (9) fixedly mounted on the rotating shaft (8) is located in the middle of the rotating frame (10).

5. The fully automatic unmanned inspection equipment for underground pipe gallery based on BIM technology according to claim 4 is characterized in that: The rotating frames (10) on both sides, which are away from each other, pass through the frames (6) on their respective sides and extend outside the frames (6), and the rotating frames (10) are rotatably arranged in the frames (6).

6. The fully automatic unmanned inspection equipment for underground pipe gallery based on BIM technology according to claim 3 is characterized in that: The circular rings (11) on both sides are fixedly connected with a sleeve (15) which penetrates along the radial direction of the circular rings (11) away from each other.

7. The fully automatic unmanned inspection equipment for underground pipe gallery based on BIM technology according to claim 6 is characterized in that: An electric push rod (18) is embedded on both upper and lower sides of each circular ring (11); the upper and lower electric push rods (18) in the same circular ring (11) are rotatably connected to a rotating rod (20) at one end close to each other; a support seat (19) is fixedly installed on one end of the slide bar (16) in the circular ring (11); the upper and lower rotating rods (20) are rotatably connected to the upper and lower sides of the supporting seat (19) at one end close to each other.

8. The method for using the BIM-based underground pipe gallery fully automatic unmanned inspection equipment according to any one of claims 1 to 7, characterized in that: When in use, the unmanned automatic vehicle (1) is controlled by planning and designing a route, and the path is found and obstacles are avoided by using the radar vision device (3). The electric cylinders (4) are controlled to rise and fall synchronously, thereby adjusting the height of the base plate (5), and then adjusting the height of the frame (6) mounted thereon and the equipment therein. The electric telescopic rod (13) drives the double-sided rack (14) to move forward and backward. The gears (9) on both sides are driven to rotate by meshing, so that when the double-sided rack (14) moves forward, the rotating frames (10) and the rings (11) on both sides are driven to rotate away from each other in their respective frames (6). When the double-sided rack (14) moves backward, it drives the rotating frames (10) and the rings (11) on both sides to rotate closer to each other and be stored in the frame (6); The electric telescopic rod (13) drives the double-sided rack (14) to move forward, so that the rotating frame (10) and the circular ring (11) are unfolded, and the electric push rods (18) on the upper and lower sides of each circular ring (11) are started, so that the rotating rods (20) on the upper and lower sides and their connecting ends are pushed to approach each other, thereby driving the two rotating rods (20) to approach each other and one end connected to the support seat (19) to push the sliding rod (16) to slide outside the sleeve (15), thereby adjusting the distance of the camera (17) outside the circular ring (11), realizing comprehensive inspection at different viewing angles, and cooperating with the above-mentioned height adjustment to realize large-scale inspection.

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