Unmanned probe vehicle for pipeline tunnel

Abstract

The utility model provides an unmanned probe vehicle for a pipeline tunnel, which comprises an unmanned vehicle-mounted platform serving as a movable chassis for carrying a detection module; the radar detection device comprises a radar rotating mechanism and a double-radar detection mechanism and is used for realizing four-dimensional accurate scanning detection of the tunnel; the panoramic monitoring device is arranged on the unmanned vehicle-mounted platform and is used for realizing 360-degree non-blind area detection; the lighting devices are arranged in front of and behind the unmanned vehicle-mounted platform and used for meeting the requirement for illumination in the tunnel; the wireless communication module is used for receiving and transmitting a remote control signal; and the multifunctional remote control unit is used for controlling operation of the unmanned vehicle-mounted platform, the radar detection device and the panoramic monitoring device and processing detected information. The unmanned probe vehicle for the pipeline tunnel is compact in structure and light in weight, and the requirement for autonomous detection in a limited space of the in-service pipeline tunnel is met; and remote control is adopted, so that the safety risk of manual detection is eliminated.

Description

TECHNICAL FIELD

[0001] The utility model relates to pipeline tunnel detection technology, concretely is an unmanned electric detection vehicle for pipeline tunnel detection. BACKGROUND

[0002] Long-distance pipeline is an important means of oil and gas transportation, and its laying faces different complex terrains, especially in mountainous areas, and needs to pass through tunnels to realize pipeline crossing. The design of the tunnel usually adopts double-line design to reserve space for subsequent laying of long-distance pipelines. The cross section of the built tunnel is relatively narrow (width <4m, height <4m), plus the in-service pipeline, the space for laying new pipelines is smaller, the construction environment is complex and difficult, and manual entry into the tunnel for detection exists uncertain safety risks. Therefore, an unmanned detection trolley that can solve the above problems is urgently needed, which utilizes remote control and unmanned technology. SUMMARY

[0003] In view of the problems of complex tunnel environment, narrow space and unknown safety situation of in-service pipelines, the utility model provides an unmanned detection vehicle.

[0004] The pipeline tunnel unmanned detection vehicle of the utility model comprises:

[0005] The unmanned vehicle platform is a mobile chassis for carrying detection modules;

[0006] The radar detection device comprises a radar rotating mechanism and a double-radar detection mechanism, and is used for realizing four-dimensional accurate scanning detection of the tunnel;

[0007] The panoramic monitoring device is arranged on the unmanned vehicle platform and is used for realizing 360-degree blind area-free detection;

[0008] The lighting device is arranged at the front and rear of the unmanned vehicle platform and is used for ensuring the illumination requirement in the tunnel;

[0009] The wireless communication module is used for receiving and transmitting remote control signals;

[0010] The multifunctional remote control unit is used for controlling the operation of the unmanned vehicle platform, the radar detection device and the panoramic monitoring device, and processing the detected information.

[0011] In one embodiment, the unmanned vehicle platform comprises a chassis, a driving mechanism, and a caterpillar walking mechanism symmetrically arranged below the chassis, wherein the caterpillar walking mechanism is a triangular caterpillar walking mechanism, the caterpillar walking mechanism comprises a hinged mechanism, a driving wheel, a supporting wheel, a tensioning mechanism, and a wear-resistant rubber caterpillar, the hinged mechanism is triangular, and the driving wheel, the supporting wheel, and the tensioning wheel are respectively arranged at the three corners of the hinged mechanism, and the wear-resistant rubber caterpillar is arranged outside the driving wheel, the supporting wheel, and the tensioning wheel to connect the driving wheel, the supporting wheel, and the tensioning wheel, wherein the caterpillar walking mechanism is fixed below the chassis through a chassis support damping mechanism connected with the hinged mechanism.

[0012] In one embodiment, the driving mechanism is a double-motor driving mechanism, which comprises a driving motor, a speed reducer, and a steering mechanism, wherein the driving motor is connected with the speed reducer through a shaft coupling to drive the driving wheel to rotate.

[0013] In one embodiment, the radar detection mechanism comprises a front / rear mechanical laser radar, an information processing unit, and a receiving system, the receiving system receives radar information from the front / rear mechanical laser radar through a wireless communication module and transmits the radar information to the information processing unit.

[0014] In one embodiment, the radar rotating mechanism comprises a radar rotating platform and a gear rotating mechanism arranged below the radar rotating platform, the gear rotating mechanism comprises a radar rotating gear arranged in parallel with the radar rotating platform, the radar rotating gear is meshed with a motor gear on the side surface, the motor gear is connected with a rotating motor, and the other end of the rotating motor is fixed on the chassis.

[0015] In one embodiment, the panoramic monitoring device comprises a high-definition camera, a storage device, a directional wireless transmitting device, and a 3G / 4G signal receiving device, the high-definition camera is remotely controlled to realize 360-degree blind area detection, the directional wireless transmitting device is used to solve the problem of unstable mobile signal in the tunnel, and the 3G / 4G signal receiving device is used for the transmission speed of video data.

[0016] In one embodiment, the panoramic monitoring device is arranged on the radar rotating platform.

[0017] In one embodiment, the multifunctional remote control unit comprises a remote control device and a wireless transmitting / receiving device, the remote control device comprises a double-operation handle for controlling the running direction and speed of the detection vehicle and the rotation of the high-definition camera.

[0018] In one embodiment, the wireless communication module comprises a sensor, a signal acquisition module, a signal processing module, and a wireless transmission module.

[0019] In one embodiment, further comprising a battery pack disposed on the unmanned vehicle platform, the battery pack providing power source for the motor, lighting, radar and video monitoring.

[0020] Compared with the prior art, the pipeline tunnel unmanned detection vehicle has compact structure and light weight, meets the autonomous detection in the limited space of the in-service pipeline tunnel, adopts remote control to eliminate the safety risk of manual detection, adopts the special track type walking mechanism to solve the walking reliability of the tunnel under unknown working conditions, adopts double motor drive to stabilize the speed and provide sufficient power, adopts the laser radar to form the 3D model of the tunnel, and adopts the directional 3G / 4G wireless panoramic video device to ensure the stable and fast signal transmission.

[0021] The above technical features can be combined in various technically feasible ways to produce new embodiments, as long as the purpose of the utility model can be achieved. BRIEF DESCRIPTION OF DRAWINGS

[0022] The utility model will be described in more detail below based on only non-limiting examples and with reference to the drawings. Among them:

[0023] Figure 1 The triangular track type walking chassis side view of the pipeline tunnel unmanned detection vehicle according to the utility model is shown;

[0024] Figure 2 The main view of the triangular track type walking chassis of the pipeline tunnel unmanned detection vehicle in Figure 1 is shown;

[0025] Figures 3A-3B The radar rotating mechanism diagram of the pipeline tunnel unmanned detection vehicle in Figure 1 is shown;

[0026] Figure 4 The system composition diagram of the pipeline tunnel unmanned detection vehicle in Figure 1 is shown;

[0027] Figure 5 The planar layout diagram of the pipeline tunnel unmanned detection vehicle in Figure 1 is shown;

[0028] Figure 6 The power mechanism diagram of the pipeline tunnel unmanned detection vehicle in Figure 1 is shown.

[0029] In the drawings, the same components are indicated by the same reference numerals. The drawings are not drawn according to the actual scale.

[0030] Among them, the reference numerals are:

[0031] 1. First chassis supporting shock absorbing mechanism; 2. Triangular crawler walking mechanism; 3. Second chassis supporting shock absorbing mechanism; 4. Dual-motor driving mechanism; 41. Front driving motor; 42. Rear driving motor; 43. Reducer; 44. Front crawler track; 45. Rear crawler track; 5. Chassis; 6. Driving wheel; 7. Supporting roller; 8. Articulated mechanism; 9. Wear-resistant rubber crawler track; 10. Tensioning pulley; 11. Radar rotating gear; 12. Radar rotating platform; 13. Motor gear; 14. Rotating motor; 15. Multi-function remote control unit; 16. Wireless communication module; 17. Lighting device; 18. Power system; 19. Panoramic monitoring device; 20. Mechanical laser radar; 21. Display; 22. Battery pack. DETAILED DESCRIPTION

[0032] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, as long as no conflict arises, the various embodiments and features of the present invention can be combined with each other, and the resulting technical solutions are all within the scope of protection of the present invention.

[0033] Parts not described in the present invention can be realized by adopting or drawing on existing technologies.

[0034] like Figures 1-2 As shown, the utility model provides an unmanned detection vehicle for a pipeline tunnel, comprising: an unmanned vehicle-mounted platform, which serves as a mobile chassis carrying a detection module; a radar detection device, including a radar rotation mechanism and a dual radar detection mechanism, for realizing four-dimensional precise scanning and detection of the tunnel; a panoramic monitoring device 19, which is arranged on the unmanned vehicle-mounted platform, for realizing 360-degree detection without blind spots; a lighting device 17, which is arranged at the front and rear of the unmanned vehicle-mounted platform, for ensuring the lighting requirements in the tunnel; a wireless communication module 16, for receiving and transmitting remote control signals; a multifunctional remote control unit 15, for controlling the operation of the unmanned vehicle-mounted platform, the radar detection device and the panoramic monitoring device 19, and processing the detected information.

[0035] The utility model is an unmanned detection vehicle for pipeline tunnels with a compact structure and light weight, and can meet the requirements of autonomous detection in the limited space of an in-service pipeline tunnel; it adopts remote control to eliminate the safety risks of manual detection.

[0036] like Figure 1 and Figure 2As shown, the unmanned vehicle platform comprises a chassis 5, a driving mechanism and a caterpillar walking mechanism symmetrically arranged below the chassis 5, wherein the caterpillar walking mechanism is preferably a triangular caterpillar walking mechanism 2, the triangular caterpillar walking mechanism 2 comprises a wear-resistant rubber caterpillar 9, a driving wheel 6, a supporting wheel 7, a tension wheel 10 and a hinged mechanism 8, wherein the hinged mechanism 8 is triangular, and the driving wheel 6, the supporting wheel 7 and the tension wheel 10 are respectively arranged at the three corners of the hinged mechanism 8 to form a triangular frame structure. Specifically, the driving wheel 6 is located at the top corner position and is close to the chassis 5, and the supporting wheel 7 and the tension wheel 10 are respectively located at the two ends of the bottom side of the triangle. The wear-resistant rubber caterpillar 9 is arranged outside the driving wheel 6, the supporting wheel 7 and the tension wheel 10 to connect the driving wheel 6, the supporting wheel 7 and the tension wheel 10. The triangular caterpillar walking mechanism 2 is arranged at the front and rear of the unmanned vehicle platform, and one triangular caterpillar walking mechanism 2 is arranged at the left and right sides of the front and rear, respectively. Each triangular caterpillar walking mechanism 2 is fixed below the chassis 5 through a first chassis support damping mechanism 1 and a second chassis support damping mechanism 3. The first chassis support damping mechanism 1 and the second chassis support damping mechanism 3 are connected with the hinged mechanism 8.

[0037] The unmanned detection vehicle for pipeline tunnels adopts the triangular caterpillar walking mechanism, has large adhesion traction and strong climbing ability, is matched with the wear-resistant rubber caterpillar, has large ground contact pressure, and is more stable in climbing. The connection mode of the steel shaft and the connecting rod is adopted between the chassis and the hinged mechanism, the anti-vibration and stability are good, the space occupation is small, the structure is simple, and the unmanned detection vehicle is more suitable for detecting uncertain factors in unknown areas.

[0038] In an optional embodiment, as shown in Figure 1 and Figure 6 The driving mechanism is a double-motor driving mechanism 4, which comprises a front driving motor 41, a rear driving motor 42 and a speed reducer 43. The front and rear driving motors are connected with shaft couplings (not shown in the figure) and drive the speed reducer 43 to drive the driving wheel 6 to rotate through the shaft couplings.

[0039] Further, the driving mechanism further comprises an independent suspension steering mechanism (not shown in the figure), which is connected with the front driving motor 41, the rear driving motor 42 and the driving wheel 6 respectively, so as to further control the steering of the triangular caterpillar walking mechanism 2.

[0040] Further, as shown in Figure 1 The driving mechanism 4 is preferably arranged at the bottom of the unmanned detection vehicle.

[0041] The unmanned detection vehicle for pipeline tunnels is driven by double motors, has stable speed regulation, sufficient power and low power consumption rate, and improves the climbing distance of the unmanned detection vehicle.

[0042] The utility model discloses a pipeline tunnel unmanned detection vehicle drives through double motor, and the speed is stable, and the power is sufficient.

[0043] In an alternative embodiment, the radar detection device is arranged at the front of the unmanned detection vehicle, and the radar detection mechanism comprises front / rear mechanical laser radar 20, an information processing unit and a receiving system.

[0044] In an alternative embodiment, as shown in Figure 2 , Figure 3A and Figure 3B , the radar rotating mechanism comprises a radar rotating platform 12 and a gear rotating mechanism arranged below the radar rotating platform 12, the gear rotating mechanism comprising a radar rotating gear 11 arranged parallel to the radar rotating platform 12 and a motor gear 13 connected with a rotating motor 14, the motor gear 13 being engaged with the side surface of the radar rotating gear 11, one end of the motor gear 13 being connected with the rotating motor fixed on the chassis 5, and the mechanical laser radar being arranged on the radar rotating platform 12 (the front mechanical laser radar and the rear mechanical laser radar being symmetrically arranged on the front and rear sides of the radar rotating platform 12), when the rotating motor 14 works, the motor gear 13 is driven to move, thereby driving the radar rotating gear 11 to rotate, and the radar rotating platform 12 is driven to rotate through the radar rotating gear 11, thereby driving the mechanical laser radar on the radar rotating platform 12 to rotate, so as to realize 360-degree radar detection of the mechanical laser radar.

[0045] In an alternative embodiment, the panoramic monitoring device 19 comprises a high-definition camera, a storage device, a directional wireless transmitting device and a 3G / 4G signal receiving device, the high-definition camera being remotely controlled by the multifunctional remote control unit 15 to realize 360-degree blind area detection, the directional wireless transmitting device being used to solve the problem of unstable mobile signal in the tunnel, and the 3G / 4G signal receiving device being used to solve the problem of poor signal outside the mountain tunnel, so as to ensure the transmission speed of the video data.

[0046] In an alternative embodiment, as shown in Figure 2 , the panoramic monitoring device 19 is arranged at the middle position of the radar rotating platform 12.

[0047] As shown in Figure 2 and Figure 5As shown, in an optional embodiment, the lighting device 17 includes two sets of high-beam lights, one for the front and one for the rear, respectively, of the unmanned vehicle platform. The lighting device 17 is electrically connected to the wireless communication module 16 and the multi-function remote control unit 15 to ensure the required lighting level within the tunnel.

[0048] In an optional embodiment, the multifunctional remote control unit 15 further includes a remote control device and a wireless transmitting / receiving device. The remote control device may include a dual operating handle for controlling the running direction and speed of the probe vehicle and the rotation of the high-definition camera.

[0049] In an optional embodiment, the wireless communication module 16 includes a sensor, a signal acquisition module, a signal processing module, and a wireless transmission module. The signal acquisition module collects sensor signals, video signals, radar signals, and other signals via dedicated cables and transmits them to the signal processing module via the wireless transmission module. The signal processing module processes the signals collected downstream (i.e., the unmanned tunnel detection vehicle of this application) or received upstream (the host computer in the control room). The processed data from the downstream is transmitted to the upstream computer via the wireless transmission module, while the processed signals from the upstream are sent to the multi-functional remote control unit via the wireless transmission module to execute the upstream control commands.

[0050] The multifunctional remote control unit sends out a remote wireless control signal, and the unmanned exploration vehicle receives and transmits the remote control signal through the wireless communication module to control the dual-motor drive mechanism, drive the dual motors to operate and control the speed to drive the running direction and crawling speed of the crawler walking mechanism.

[0051] In an optional embodiment, the unmanned tunnel exploration vehicle further includes a battery pack 22. The battery pack 22 provides power for the motor, lighting, radar, and video surveillance. The battery pack preferably comprises eight lead-acid batteries, providing a 24V DC power supply, sufficient for five hours of operation.

[0052] like Figure 2 As shown, the battery pack 22 can be arranged in the middle of the chassis 5 and at the upper or lower part of the chassis 5. To facilitate replacement of the battery pack or charging of the battery pack, the battery pack 22 is preferably arranged at the upper part of the chassis 5, more preferably, at the middle position of the unmanned vehicle platform.

[0053] The utility model discloses a kind of unmanned electric trolley based on remote control, to the problem that in-service pipeline tunnel environment is complex, space is narrow, safety condition is not clear, etc., provide a kind of unmanned electric trolley based on remote control.The unmanned detection vehicle compact structure meets the use of tunnel limited space, and remote operation is simple, has radar detection, video monitoring etc.Functions.The unmanned detection vehicle overcomes the difficulty of crawling under special conditions by special triangular track walking mechanism and double-motor driving force, meets the requirements of humid environment and dangerous area in tunnel according to protection level IP56 and explosion-proof design;With the form of remote control, advance at 5km / h in tunnel and explore, improve the safety of tunnel construction personnel.

[0054] Unless otherwise defined, technical terms or scientific terms used in the utility model should be understood as the usual meaning understood by persons skilled in the art to which the utility model belongs.The term "include" or "contain" and similar words used in the utility model mean that the element or object before the word covers the element or object listed after the word and its equivalent, without excluding other elements or objects."Connected" or "connected" and similar words are not limited to physical or mechanical connection, but can include electrical connection, whether direct or indirect.In the description of the utility model, the orientation or position relationship indicated by the terms "front", "back", "left", "right", "top", "bottom" and the like is based on the orientation or position relationship shown in the drawing, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and when the absolute position of the described object changes, the relative position relationship may also change accordingly, so it cannot be understood as a limitation on the utility model.

[0055] At this point, those skilled in the art should realize that, although the utility model has been described with reference to the preferred embodiments, various improvements can be made and equivalent parts can be replaced without departing from the scope of the utility model.Especially, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way.The utility model is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. An unmanned exploration vehicle for a pipeline tunnel, characterized in that: include: Unmanned vehicle platform, serving as a mobile chassis carrying the detection module; Radar detection device, including a radar rotation mechanism and a dual radar detection mechanism, for realizing four-dimensional precise scanning and detection of tunnels; A panoramic monitoring device, which is provided on the unmanned vehicle-mounted platform and is used to achieve 360-degree detection without blind spots; Lighting devices, which are arranged at the front and rear of the unmanned vehicle-mounted platform to ensure the required lighting level in the tunnel; A wireless communication module for receiving and transmitting remote control signals; Multifunctional remote control unit, used to control the operation of unmanned vehicle platforms, radar detection devices and panoramic monitoring devices, and process the detected information.

2. The unmanned exploration vehicle for a pipeline tunnel according to claim 1, characterized in that: The unmanned vehicle platform includes: a chassis, a driving mechanism and a crawler-type walking mechanism symmetrically arranged under the chassis, wherein the crawler-type walking mechanism is a triangular crawler-type walking mechanism, and the crawler-type walking mechanism includes an articulation mechanism, a driving wheel, a supporting roller, a tensioning wheel and a wear-resistant rubber track. The articulation mechanism is triangular, and the driving wheel, the supporting roller and the tensioning wheel are respectively placed on the three corners of the articulation mechanism. The wear-resistant rubber track is arranged on the outside of the driving wheel, the supporting roller and the tensioning wheel to connect the driving wheel, the supporting roller and the tensioning wheel. The crawler-type walking mechanism is fixed under the chassis through a chassis support shock-absorbing mechanism, and the chassis support shock-absorbing mechanism is connected to the articulation mechanism.

3. The unmanned exploration vehicle for a pipeline tunnel according to claim 2, characterized in that: The driving mechanism is a dual-motor driving mechanism, including a front driving motor, a rear driving motor and a reducer, wherein the front driving motor and the rear driving motor are respectively connected to the reducer through a coupling to drive the driving wheel to rotate.

4. The unmanned exploration vehicle for a pipeline tunnel according to claim 1, characterized in that: The radar detection mechanism includes front / rear mechanical laser radars, an information processing unit and a receiving system. The receiving system receives radar information from the front / rear mechanical laser radars through a wireless communication module and transmits it to the information processing unit.

5. The unmanned exploration vehicle for a pipeline tunnel according to claim 1, characterized in that: The radar rotation mechanism includes a radar rotation platform and a gear rotation mechanism arranged below the radar rotation platform. The gear rotation mechanism includes a radar rotation gear arranged parallel to the radar rotation platform. A motor gear is engaged with the side of the radar rotation gear. The motor gear is connected to a rotating motor. The other end of the rotating motor is fixed to the chassis.

6. The unmanned exploration vehicle for a pipeline tunnel according to claim 5, characterized in that: The panoramic monitoring device includes a high-definition camera, a storage device, a directional wireless transmission device and a 3G / 4G signal receiving device. The high-definition camera is remotely controlled to achieve 360-degree blind spot detection. The directional wireless transmission device is used to solve the problem of unstable mobile signals in tunnels. The 3G / 4G signal receiving device is used to increase the transmission speed of video data.

7. The unmanned exploration vehicle for a pipeline tunnel according to claim 6, characterized in that: The panoramic monitoring device is arranged on the radar rotating platform.

8. The unmanned exploration vehicle for a pipeline tunnel according to claim 1, characterized in that: The multifunctional remote control unit includes a remote control device and a wireless transmitting / receiving device. The remote control device includes a dual operating handle for controlling the running direction and speed of the probe vehicle and the rotation of the high-definition camera.

9. The unmanned exploration vehicle for a pipeline tunnel according to claim 1, characterized in that: The wireless communication module includes a sensor, a signal acquisition module, a signal processing module and a wireless transmission module.

10. The unmanned exploration vehicle for a pipeline tunnel according to claim 1, characterized in that: It also includes a battery block arranged on the unmanned vehicle platform, and the battery pack of the battery block provides a power source for the motor, lighting, radar and video monitoring.

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