Pipe network leakage inspection unmanned aerial vehicle carrying medium-short wave radar and intelligent inspection system of pipe network leakage inspection unmanned aerial vehicle

Abstract

The utility model relates to a pipe network leakage inspection unmanned aerial vehicle carrying a medium-short wave radar and an intelligent inspection system of the pipe network leakage inspection unmanned aerial vehicle carrying the medium-short wave radar, which comprise an aircraft, a medium-short wave radar device arranged on the aircraft, a camera device arranged on the aircraft 1 and a data processing device arranged on the aircraft, the medium-short wave radar device 2 is provided with a transmitting unit capable of transmitting medium-short wave radar signals to the near-side soil of the pipe network and a receiving unit for receiving reflected signals so as to collect reflected data of water-containing soil for pipe network leakage detection. According to the utility model, the medium-short wave radar (the frequency band of 300MHz-3GHz) is combined with the unmanned aerial vehicle inspection technology, and the medium-short wave radar has high sensitivity to the dielectric property of the water-containing soil (the dielectric constant change gt; and the leakage detection of the underground water supply pipe network is realized through radar echo signal analysis.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of aircraft device and the field of pipe network leakage detection, especially to a pipe network leakage inspection unmanned aerial vehicle carrying medium and short wave radar and its intelligent inspection system. BACKGROUND

[0002] The pipe network leakage detection is an important link of water supply operation and maintenance, and in the currently disclosed pipe network leakage detection technology, most are ground secondary sound wave receiver positioning methods, or three-dimensional image attribute analysis methods based on ground penetrating radar, or dam leakage detection technology based on unmanned aerial vehicle carrying thermal infrared imaging. Among them, the traditional ground secondary sound wave detection method needs to lay receivers along the pipeline path, which is time-consuming and easily affected by traffic obstacles; although the ground penetrating radar detection can provide three-dimensional imaging, the equipment is fixed and the deployment is limited; the unmanned aerial vehicle thermal infrared imaging is mostly used for dam leakage detection and has not been applied to pipe network leakage positioning. At present, there is still a lack of a convenient, efficient and visual low-altitude inspection scheme. UTILITY MODEL CONTENT

[0003] Therefore, the utility model provides a pipe network leakage inspection unmanned aerial vehicle carrying medium and short wave radar and its intelligent inspection system to solve the problems of complex deployment, great influence of traffic and low positioning efficiency of the traditional detection method.

[0004] The utility model discloses a kind of pipe network leakage inspection unmanned aerial vehicles carrying medium and short wave radar, including aircraft, medium and short wave radar device, mounting device and connecting component, wherein, medium and short wave radar device is installed on aircraft, its structure is with the emission unit that can emit medium and short wave radar signal to the near side soil of pipe network and the receiving unit that receives reflected signal, to collect the reflected data of water-containing soil and be used for pipe network leakage detection;Mounting device is installed on aircraft, and the mounting device includes sleeve fixed on aircraft, support body arranged in sleeve and compression mechanism;It further includes connecting component connected to medium and short wave radar device and used for being connected with mounting device, and the connecting component includes connecting rod and radial fin arranged on the upper side of connecting rod;Center through-hole for connecting rod to pass through and passageway radially communicated with center through-hole and used for radial fin to pass through are set on the support body, and clamping groove is arranged on the top surface of the support body, connecting rod is structured to be able to be operated to rotate relative to support body, so that when radial fin is received in clamping groove by means of the rotation of connecting rod after exceeding the top surface of support body;The compression mechanism can form compression to connecting rod and / or radial fin from above.

[0005] In the utility model, the high sensitivity (dielectric constant change >5% can be detected) of the medium-short wave radar to the dielectric property of the water-containing soil is utilized, the leakage detection of the underground water supply pipe network is realized through the radar echo signal analysis, and due to the combination of the medium-short wave radar (sensitive to the water-containing soil reflection) and the unmanned aerial vehicle platform, the limitation of ground and high altitude application is broken, the flexible deployment can be realized at 0-100m low altitude, and the rapid positioning of the pipe network leakage is realized.

[0006] In addition, the utility model provides a kind of quick connecting structure of radar device and aircraft, specifically, when needing to assemble radar device to aircraft, the connecting rod of connecting member on radar device is inserted from the center of support in the sleeve of mounting device, while the radial fin on connecting rod is inserted from the passageway of support, and connecting rod and its radial fin can be from the top surface of support in sleeve, at this time, connecting rod and / or radial fin can provide certain force to compression mechanism, so that compression mechanism works, but, at this time, it does not hinder connecting rod to be operated to rotate, until connecting rod is rotated to its radial fin and the position corresponding to the clamping groove of support, connecting rod can be operated to stop, at this time, radial fin can fall into clamping groove to form clamping cooperation, and compression mechanism can still provide compression force to connecting rod and / or radial fin at this time, so that radial fin is stably received in clamping groove.

[0007] By means of the quick connecting structure in the utility model, i.e. the structure formed by mounting device and connecting member together, radar device can be quickly, simply and conveniently connected with aircraft, and even when disassembly is needed, radar device and aircraft can be quickly separated, solving the technical problem of complex unmanned aerial vehicle radar device mounting structure and inconvenient disassembly in the prior art.

[0008] Further, the compression mechanism includes compression plate and telescopic spring, one end of the telescopic spring is connected to the inner side of the top of the sleeve, and the other end is fixedly connected to the compression plate to provide elastic force to the compression plate when it is pressed by connecting rod and / or radial fin. By means of the compression mechanism composed of compression plate and telescopic spring, the connecting cooperation of connecting member and mounting device can be quickly, conveniently and stably realized, and by means of the elastic force of telescopic spring, necessary vibration isolation effect can be well provided for radar device to reduce the transmission of vibration in aircraft flight process to radar device, thereby ensuring the accurate work of radar device.

[0009] In order to further improve the vibration isolation effect, the support body is made of rubber material, and the radial ribs clamping the connecting rod are arranged in the center through hole of the support body. The radial ribs are arranged in two or more than two along the extension direction of the center through hole, and the radial ribs are integrally made with the support body and are also made of rubber material. During assembly, the connecting rod passes through the center through hole, and the radial ribs form circumferential contact with the outer side of the connecting rod to clamp the connecting rod. That is, the clamping is formed by the elasticity of the support body and the radial ribs as a whole, and by means of the clamping of the radial ribs, the contact area of the connecting rod and the support body can be reduced, and the connecting rod can be conveniently inserted from the center through hole under the condition of ensuring stable clamping.

[0010] Further, the radial fins are arranged in two radial symmetries or in a cross structure; the passageway and the clamping groove are arranged in correspondence with the number and structure of the radial fins.

[0011] Further, the pipe network leakage inspection unmanned aerial vehicle further comprises a camera device mounted on the aircraft, a data processing device arranged on the aircraft, and a GNSS positioning unit arranged on the aircraft, wherein the camera device is configured to visually image the pipe network and the soil near the pipe network; the data processing device is electrically connected with the medium-short wave radar device, can process the reflected signal received by the receiving unit of the medium-short wave radar device, and judge whether the current pipe network position is leaking; the GNSS positioning unit is in real-time signal connection with the data processing device to feed back the current position information of the aircraft to the data processing device.

[0012] Further, the data processing device is electrically connected with the camera device, and when the data processing device judges that the current pipe network position is leaking, the data processing device can send a working command to the camera device to visually image the current pipe network leakage point.

[0013] Further, the working frequency of the medium-short wave radar device is set to 300MHz-3GHz, and the transmitting power is set to less than or equal to 10W.

[0014] Further, the working frequency of the medium-short wave radar device is set to 900MHz±10%, and the bandwidth is greater than or equal to 150MHz.

[0015] Further, the medium-short wave radar device adopts a double-channel orthogonal polarization antenna, the antenna spacing is λ / 2, and the pulse repetition frequency is 10kHz.

[0016] Further, the camera device is a high-definition camera.

[0017] Another aspect of this utility model discloses an intelligent inspection system, including a ground workstation and a pipeline leakage inspection drone equipped with a medium- and short-wave radar as disclosed in the first aspect of this utility model. The pipeline leakage inspection drone and the ground workstation are connected wirelessly to transmit pipeline leakage point information to the ground workstation.

[0018] Beneficial Effects: This utility model's pipeline leakage inspection drone and its intelligent inspection system, equipped with medium- and short-wave radar, overcomes the limitations of ground and high-altitude applications by combining medium- and short-wave radar (sensitive to reflections from water-bearing soil) with a drone platform. It allows for flexible deployment at low altitudes of 0–100m, enabling rapid location of pipeline leaks. Furthermore, the drone platform overcomes the problems of ground-based inspection requiring road excavation or being limited by traffic conditions, efficiently covering urban and suburban pipeline networks without the need for large-scale manpower or pipeline excavation, thus meeting the economic and operational convenience requirements of water supply network operation and maintenance.

[0019] The following describes in detail the present invention's pipeline leakage inspection drone equipped with medium- and short-wave radar and its intelligent inspection system, with reference to the embodiments shown in the accompanying drawings and the reference numerals. Attached Figure Description

[0020] Figure 1 A schematic diagram of the signal transmission process of this utility model is shown.

[0021] Figure 2 A schematic diagram of the overall structure of this utility model is shown.

[0022] Figure 3 This is a cross-sectional structural diagram of the installation device in this utility model.

[0023] Figure 4 for Figure 3 View from AA.

[0024] Figure 5 This is a schematic diagram of the connecting component in this utility model.

[0025] Figure 6 This is an assembly diagram showing the connecting rod and radial fins of the connecting component extending from the top surface of the support.

[0026] Figure 7 This is a schematic diagram of the final assembly of the connecting components and the support body.

[0027] Figure Labels

[0028] 1. Aircraft, 2. Medium and shortwave radar device, 3. Camera device, 4. Data processing device, 5. GNSS positioning unit, 6. Ground workstation, 7. Sleeve, 8. Support body, 9. Connecting rod, 10. Radial fins, 11. Central through hole, 12. Passageway, 13. Slot, 14. Pressure plate, 15. Telescopic spring. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0030] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directional indications will also change accordingly.

[0031] In addition, the description of "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope required by the present application.

[0032] Figure 1 The structural schematic diagram of the present application is shown. In combination with Figure 1 As shown in the drawings, the present application discloses a kind of unmanned aerial vehicle of pipe network leakage inspection carrying medium-short wave radar, it includes aircraft 1, medium-short wave radar device 2 installed on aircraft 1, camera device 3 installed on aircraft 1 and data processing device 4 arranged on aircraft 1, wherein, medium-short wave radar device 2 is structured to have the emission unit capable of emitting medium-short wave radar signal to the near side soil of pipe network and the receiving unit of receiving reflected signal, to collect the reflected data of water-containing soil and be used for pipe network leakage detection;Camera device 3 is structured to be able to visualize imaging to pipe network and its near side soil;The data processing device 4 is electrically connected with the medium-short wave radar device 2, can process the reflected signal received by the receiving unit of medium-short wave radar device 2, and judge whether the current pipe network position is leakage or not.In addition, GNSS positioning unit 5 is also provided on aircraft 1, which is in real-time signal connection with data processing device 4, to feed back the current position information of aircraft 1 to data processing device 4.

[0033] In the utility model, the medium and short wave radar device 2 is used for transmitting and receiving medium and short wave radar signal, detects soil moisture change;The camera device 3 is coordinated with the medium and short wave radar device 2, and the suspected leakage position is imaged visually;And the data processing device 4 integrates radar echo and image data, and combines GNSS positioning information, and real-time mark is labeled to leakage point.

[0034] The utility model discloses the combination of medium and short wave radar (300MHz-3GHz frequency band) and unmanned plane inspection technology, utilizes the high sensitivity of medium and short wave radar to the dielectric property of water-containing soil (dielectric constant change >5% can detect), realizes underground water supply pipe network leakage detection through radar echo signal analysis.Compared with the ground penetrating radar detection and acoustic fingerprint / visual detection in the prior art, it has the following advantages: the traditional ground penetrating radar needs ground deployment and complex data processing, the scheme realizes non-contact type fast scanning through the unmanned plane, and the detection efficiency is improved by more than 3 times;Acoustic fingerprint is susceptible to environmental noise interference, and visual detection depends on visible damage on the surface of the pipeline, and the scheme can penetrate the ground directly to detect underground leakage characteristics.

[0035] In the utility model, the inspection height of the aircraft 1 is set to 10m~100m, and can be selected from autonomous flight or remote control flight mode.The data processing device 4 can be set as CPU device (or called central controller), which can be set as based on the machine learning model of pre-training, realizes one-key automatic identification of leakage point, which can be realized by prior art, and does not involve any program or algorithm improvement, and will not be repeated here.

[0036] In the embodiment of the utility model, the data processing device 4 is electrically connected with the camera device 3, when the data processing device 4 judges that the current pipe network position appears leakage, the data processing device 4 can send work command to the camera device 3, to make it to the current pipe network leakage point visual imaging.

[0037] In the embodiment of the utility model, the working frequency of the medium and short wave radar device 2 is set to 300MHz~3GHz, and the transmitting power is set to less than or equal to 10W.

[0038] In the embodiment of the utility model, the working frequency of the medium and short wave radar device 2 is set to 900MHz±10%, and the bandwidth is greater than or equal to 150MHz.

[0039] In the embodiment of the utility model, the medium and short wave radar device 2 adopts double-channel orthogonal polarization antenna, and the antenna spacing is λ / 2, and the pulse repetition frequency is 10kHz.

[0040] In the embodiment of the utility model, the camera device 3 is a high-definition camera.

[0041] In addition, in the utility model, the medium-short wave radar device is assembled and connected with the aircraft by means of a quick connecting structure, and the specific implementation is as follows.

[0042] Figure 2 The overall structure schematic diagram of the utility model is shown. Figure 3 The cross-section structure schematic diagram of the mounting device in the utility model is shown. Figure 4 Figure 3 The A-A direction view in the utility model is shown. Figure 5 The structure schematic diagram of the connecting member in the utility model is shown. Figure 6 The assembly schematic diagram when the connecting rod of the connecting member and the radial fin protrude from the top surface of the support body is shown. Figure 7 The final assembly schematic diagram of the connecting member and the support body is shown.

[0043] Combined Figures 2-7 As shown in the utility model, the pipe network leakage inspection unmanned aerial vehicle further includes a mounting device and a connecting member, wherein the mounting device is installed on the body of the aircraft 1, the mounting device includes a sleeve 7 fixed on the aircraft 1, a support body 8 arranged in the sleeve 7 and a pressing mechanism; the connecting member is connected to the medium-short wave radar device and is used for being connected with the mounting device, the connecting member includes a connecting rod 9 and a radial fin 10 arranged on the upper side of the connecting rod 9; the support body 8 is provided with a central through hole 11 for the connecting rod 9 to pass through and a passageway 12 radially communicated with the central through hole 11 and used for the radial fin 10 to pass through, and the top surface of the support body 8 is provided with a clamping groove 13, the connecting rod 9 is configured to be able to be operated to rotate relative to the support body 8, so that when the radial fin 10 exceeds the top surface of the support body 8, the radial fin 10 is received in the clamping groove 13 by means of the rotation of the connecting rod 9; the pressing mechanism can form pressing on the connecting rod 9 and / or the radial fin 10 from above.

[0044] When the radar device needs to be assembled on the aircraft, the connecting rod 9 of the connecting member on the radar device is inserted into the central through hole of the support body 8 in the sleeve 7 of the mounting device, at the same time, the radial fin 10 on the connecting rod 9 is inserted into the passageway 12 of the support body 8, and the connecting rod 9 and the radial fin 10 thereof can protrude from the top surface of the support body 8 in the sleeve 7, at this time, the connecting rod 9 and / or the radial fin 10 can provide a certain acting force on the pressing mechanism, so that the pressing mechanism works, but at this time, the connecting rod 9 is not hindered to be operated to rotate, until the connecting rod 9 is rotated to the position corresponding to the clamping groove 13 of the support body 8, the operation on the connecting rod 9 can be stopped, at this time, the radial fin 10 can fall into the clamping groove 13 to form a clamping fit, and the pressing mechanism can still provide a pressing force on the connecting rod 9 and / or the radial fin 10 at this time, so that the radial fin 10 is stably received in the clamping groove 13.

[0045] ​By means of the quick connecting structure in the utility model, the radar device can be quickly, simply and conveniently connected with the aircraft, and even when disassembly is needed, the radar device can be quickly separated from the aircraft, thereby solving the technical problems of the prior art unmanned aerial vehicle radar device mounting structure being complex and inconvenient to disassemble.

[0046] In the embodiment of the utility model, the pressing mechanism includes the pressing plate 14 and the telescopic spring 15, one end of telescopic spring 15 is connected to the inside of the top of sleeve 7, and one end is fixedly connected to the pressing plate 14, so as to provide elastic force to the pressing plate 14 when it is pressed by the connecting rod 9 and / or the radial fin 10. By means of the pressing mechanism composed of the pressing plate 14 and the telescopic spring 15, the connection and cooperation of the connecting member and the mounting device can be quickly, conveniently and stably realized, and at the same time, by means of the elastic force of the telescopic spring 15, the radar device can be well provided with the necessary vibration isolation effect, so as to reduce the transmission of vibration of the aircraft in the flight process to the radar device, and further ensure the accurate work of the radar device.

[0047] In order to further improve the vibration isolation effect, in the utility model, the support body 8 can also be made of rubber material. And a radial convex rib for clamping the connecting rod is arranged in the center through hole of the support body. Two or more radial convex ribs are arranged on the inside of the center through hole along the extension direction of the center, and the radial convex rib is integrally made of rubber material with the support body. When assembling, the connecting rod passes through the center through hole, and the radial convex rib forms circumferential contact with the outside of the connecting rod to clamp the connecting rod. That is, the clamping is formed by the elasticity of the support body and the radial convex rib as a whole, and by means of the clamping of the radial convex rib, the contact area of the connecting rod and the support body can be reduced, and the connecting rod can be conveniently inserted from the center through hole under the condition of ensuring stable clamping

[0048] The radial fin 10 is arranged in a radial symmetry of two or a cross-shaped structure, and the passageway 12 and the clamping groove 13 are arranged in correspondence with the number and structure of the radial fin 10.

[0049] The utility model discloses a kind of intelligent inspection systems, including ground workstation 6 and according to the pipe network leakage inspection unmanned aerial vehicle of the first aspect of the utility model disclosed, the pipe network leakage inspection unmanned aerial vehicle is connected with ground workstation by wireless mode to form signal connection, so that pipe network leakage point information is sent to ground workstation 6.

[0050] The pipe network leakage inspection unmanned aerial vehicle carrying a medium-short wave radar and the intelligent inspection system thereof have the following advantages: rapid deployment is realized, a receiver need not be broken or laid; high sensitivity is achieved: the medium-short wave radar is sensitive to water-containing soil reflection, and leakage can be accurately positioned; visualization is achieved: a camera shoots in real time, and maintenance personnel can confirm and subsequent construction; high efficiency is achieved: the unmanned aerial vehicle has a high inspection speed, and is suitable for large-scale detection.

[0051] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the present application, and all should be covered in the scope of the claims of the present application.

Claims

1. A pipeline leakage inspection drone equipped with a medium- and short-wave radar, characterized in that, include: Aircraft; The medium- and short-wave radar device installed on the aircraft is constructed with a transmitting unit that can transmit medium- and short-wave radar signals to the soil near the pipeline network and a receiving unit that can receive reflected signals, so as to collect reflection data of water-bearing soil for pipeline network leakage detection. An installation device for installation on an aircraft, the installation device comprising a sleeve fixed to the aircraft, a support body disposed within the sleeve, and a clamping mechanism; A connecting member for connection to a medium- and short-wave radar device and for connection to an installation device, the connecting member including a connecting rod and radial fins disposed on the upper side of the connecting rod; The support body has a central through hole for the connecting rod to pass through and a passage that is radially connected to the central through hole and for the radial fins to pass through. The top surface of the support body is provided with a slot. The connecting rod is configured to be operable to rotate relative to the support body so that when the radial fins exceed the top surface of the support body, they are received in the slot by means of the rotation of the connecting rod. The clamping mechanism can clamp the connecting rod and / or the radial fins from above.

2. The pipeline leakage inspection drone equipped with medium- and short-wave radar according to claim 1, characterized in that, The clamping mechanism includes a clamping plate and a telescopic spring. One end of the telescopic spring is connected to the inner side of the top of the sleeve, and the other end is fixedly connected to the clamping plate to provide elastic force to the clamping plate when it is pressed against by the connecting rod and / or radial fins. The support body is made of rubber material, and a radial rib for clamping the connecting rod is provided in the central through hole of the support body.

3. The pipeline leakage inspection drone equipped with medium- and short-wave radar according to claim 2, characterized in that, The radial fins are configured as two radially symmetrical pieces, or as a cross-shaped structure; the passageways and the slots are configured in a manner corresponding to the number and structure of the radial fins.

4. The pipeline leakage inspection drone equipped with medium- and short-wave radar according to claim 3, characterized in that, The pipeline leakage inspection drone also includes: The camera device installed on the aircraft is designed to visualize the pipeline network and the soil nearby. A data processing device installed on the aircraft is electrically connected to the medium- and short-wave radar device. It can process the reflected signals received by the receiving unit of the medium- and short-wave radar device and determine whether there is leakage at the current pipeline location. The GNSS positioning unit installed on the aircraft is connected to the data processing device in real time to feed back the aircraft's current position information to the data processing device.

5. The pipeline leakage inspection drone equipped with medium- and short-wave radar according to claim 4, characterized in that, The data processing device is electrically connected to the camera device. When the data processing device determines that there is a leak at the current location of the pipeline network, the data processing device can issue a working command to the camera device so that it can visualize the leak point of the current pipeline network.

6. The pipeline leakage inspection drone equipped with medium- and short-wave radar according to claim 4 or 5, characterized in that, The operating frequency of the medium- and short-wave radar device is set to 300MHz to 3GHz, and the transmission power is set to less than or equal to 10W.

7. The pipeline leakage inspection drone equipped with medium- and short-wave radar according to claim 6, characterized in that, The operating frequency of the medium- and short-wave radar device is set to 900MHz ± 10%, and the bandwidth is ≥ 150MHz.

8. The pipeline leakage inspection drone equipped with medium- and short-wave radar according to claim 7, characterized in that, The medium- and short-wave radar device uses a dual-channel orthogonal polarized antenna with an antenna spacing of λ / 2 and a pulse repetition frequency of 10kHz.

9. The pipeline leakage inspection drone equipped with medium- and short-wave radar according to claim 8, characterized in that, The camera device is a high-definition camera.

10. An intelligent inspection system, characterized in that, It includes a ground workstation and a pipeline leakage inspection drone equipped with a medium- and short-wave radar according to any one of claims 1-9, wherein the pipeline leakage inspection drone and the ground workstation are connected wirelessly to transmit pipeline leakage point information to the ground workstation.

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