CN218524891U

CN218524891U - Underground blind well and curved pipeline position detection system

Info

Publication number: CN218524891U
Application number: CN202221767141.2U
Authority: CN
Inventors: 吴锟; 王春; 张哲�; 史骏; 张�成; 李晓; 刘环宇; 李翀; 崔广坡; 司鸿德; 陈宇声
Original assignee: Beijing General Municipal Engineering Design and Research Institute Co Ltd
Current assignee: Beijing General Municipal Engineering Design and Research Institute Co Ltd
Priority date: 2022-07-11
Filing date: 2022-07-11
Publication date: 2023-02-24
Anticipated expiration: 2032-07-11

Abstract

The utility model relates to a detection system of underground blind well and curve pipeline position, this system include main control unit, signal composite cable, crawl device, camera, high accuracy positioning device and detection signal receiver. The camera carried by the crawler finds the underground blind well and the curve pipeline, the main controller commands the crawler to move in the underground pipeline, the high-precision positioning equipment moves along with the crawler in the underground pipeline and transmits signals, the ground detection signal receiver receives the signals transmitted by the high-precision positioning equipment, and the main controller can determine the positions of the underground blind well and the curve pipeline on site by analyzing the distribution characteristics of the main controller. The system is suitable for detecting the position of an underground blind well and the position of an underground curve pipeline, has wide application range, flexible application and safe operation, can play the underground detection function when the problems of broken pipes, no upstream and intermediate pipelines and the like occur in urban underground drainage pipelines, and plays a positive role in solving the municipal drainage problem.

Description

Underground blind well and curved pipeline position detection system

Technical Field

The utility model relates to a detecting system of underground blind well and curve pipeline position belongs to urban drainage technical field.

Background

The existing underground pipeline and inspection well detection technologies mainly comprise pipeline periscopes, sonar detection and television detection (CCTV).

Present secret well positioner, patent number: CN 105490694A. Mainly for using in the underground well detection device in electric power field. The signal transmitting device is mainly installed at the front end of the dredging rod of the wire leading machine, works on the premise of not influencing the normal use of the dredging rod, and is synchronously implemented with cable laying.

The patent number CN 107355685A discloses a device for locating defects in underground pipelines. The main working principle is mainly to integrate the data of the video instrument 2 and the data in the displacement sensor 3 to be transferred to a computer, and to search the position corresponding to the picture through the time corresponding to the video picture, so that the searched defect can be accurately positioned.

Compared with the prior art, the patent has the following technical progress and innovation:

the prior art mainly aims at searching and judging the defect positions of the blind well and the underground pipeline of the linear pipeline, the device can be suitable for searching and judging the positions of the curved pipeline sections, the underground blind well connected with the curved pipeline sections and the defect positions of the pipeline through iterative updating of the device, and the application range of the device is wider.

According to the existing cable blind well positioning device, a signal transmitting device is arranged at the front end of a dredging rod of a wire leading machine, and the signal transmitting device and a cable are coiled simultaneously to be positioned in a blind well after encountering the blind well along with the synchronous advance of the dredging rod of the wire leading machine. Due to the fact that the underground pipeline is complex in condition, the signal transmitting device and the cable fall off at a position which is not a cable well, and the possibility of misjudgment is caused. The utility model discloses an independent work system need not with other engineering synchronous operation, and can realize withdrawing of detecting system through retreating the function after accomplishing the blind shaft and surveying, has wider range of application. The utility model discloses signal emission device is the real-time image data that passes back at main control unit according to the camera, drags into blind well or pipeline defect department through the crawler accuracy. It has higher reliability and stability in the search of blind wells and defect positions.

The existing accurate positioning device for the internal defect position of the underground pipeline has the principle that time-displacement data stored in a displacement sensor is exported and compared with the time of a video picture in the pipeline to determine the position of the defect, so that the relative position of the defect in the pipeline can only be determined. And detection system can directly judge the position and the trend of underground pipeline to and underground blind well, pipeline defect are more advanced than current technique for the position on ground.

The existing accurate positioning device for the internal defect position of the underground pipeline determines the position of the defect by deriving time-displacement data stored in a displacement sensor and comparing the time with the time of a video picture. The method is mainly used for accurately positioning the defect position of the pipeline through comparison and calculation under the condition that an advancing device advances at a constant speed. However, the underground pipelines are complex in condition, and pipeline concretions, silting, water levels in the pipelines and the like have great influence on uniform-speed forward of the forward device, so that the reliability of the obtained data is low. The utility model discloses the crawler has the four-wheel location and prevents the function of turning on one's side, can realize advancing in real time as required, retreat and stop the function such as, the camera that it carried can rotate as required. The utility model discloses a crawler gos forward, retreats and the camera that carries is rotatory and focus adjustment etc. carries out secret hidden well and pipeline defective position and seeks. The main controller can stop the crawler at the underground blind well and the position of the problem pipeline according to the real-time image data transmitted back by the camera. Because the signal emitter is bound on the crawler, the signal emitter can be accurately positioned on the ground by the signal detector according to the position of the signal emitter. Simultaneously the utility model discloses can read out its distance of advance according to the scale reading on the composite cable simultaneously to advance according to the cable distance of advance and fix a position the check to secret hidden well and underground piping defective position. Compared with the prior art, the utility model, not restricted by displacement-time data, and can recheck the location through the composite cable, and has higher precision, reliability and stability. Practice shows the utility model discloses not only can adapt to the straight line pipeline section, also be suitable for the curve pipeline section simultaneously, it has wider application scene and scope, can adapt to more complicated operating mode.

The utility model discloses possess real-time image observation ability, and the crawl device possesses and gos forward, retreat and prevent functions such as turn on one's side. When the underground pipeline does not have the crawler to pass, the crawler and the related equipment can be timely withdrawn under the command of the main controller, so that the equipment is prevented from being accidentally clamped in the underground pipeline to cause economic loss.

The following problems are faced in the urban pipeline detection evaluation and repair process: 1. the part of pipelines have no downstream or upstream and become broken pipes, so that the operation and maintenance loss of the part of pipelines affect municipal drainage; 2. auxiliary structures such as inspection wells and the like in the middle sections of the partial pipelines are covered or lost, so that the municipal drainage is influenced by the loss of the operation and maintenance of the partial pipelines; 3. a part of the pipeline is covered or rerouted in the implementation process of other projects, but is not recorded in a drainage department, so that the operation and maintenance loss of the part of the pipeline influences municipal drainage.

In order to solve the above problems, it is necessary to find the covered manhole and the curved pipeline and perform a lifting reconstruction or a repair operation. The premise of the operation is to find the positions of the inspection well and the underground curve pipeline by certain technical means. The utility model discloses a detection system is constituteed to equipment such as crawl device, camera, controller, signal generator and receiver, the effectual accurate detection of having realized secret well and curve pipeline underground position. The method has remarkable effect on the detection and repair of the underground pipeline with the hidden well and the lifting and reconstruction of the hidden well.

Disclosure of Invention

The utility model aims at providing a detecting system of underground blind well and curved pipeline. Through the organic combination of relevant equipment of detecting system, real-time realization is to accurate location and the affirmation of secret hidden shaft and underground piping position. And the confirmation of the three-dimensional data of the underground blind well and the underground pipeline is realized according to the rechecking and the measurement and calculation of the related data. The crawler can be adjusted according to the size of the pipeline, so that the crawler has a wide application range. The problem of position confirmation of the coverage inspection well can be effectively solved, and technical service is provided for lifting and transformation of the coverage inspection well; meanwhile, the work of confirming the position of the underground pipeline can be solved, and technical service is provided for repairing and transforming the underground pipeline. It plays an important role in municipal pipeline detection and repair.

The utility model provides a detecting system of underground blind well and curve pipeline position, this system includes: the system comprises a main controller, a signal comprehensive cable, a crawler, a camera, a signal transmitting device and a detection signal receiver; the signal transmitting device and the camera are installed and fixed on the crawler, one end of the signal comprehensive cable is connected with the main controller, the other end of the signal comprehensive cable is connected with the signal transmitting device, and wheels with the sizes corresponding to the pipe diameters and the conditions in the pipelines are installed on the crawler.

The utility model discloses following positive beneficial effect has: the system is suitable for position detection of underground blind wells, positioning of the underground blind wells in pipeline detection and repair engineering, promotion and reconstruction play an important role, and the problem of blind and disorderly excavation can be solved; the system is suitable for position detection of underground curved pipelines and long-distance box culverts, and has positive effects on solving the problem that inspection wells (manholes) are added to the long-distance curved pipelines and the underground box culverts; the system has wide application range, flexible application and safe operation, can play the underground detection function when the problems of broken pipes, no upstream and intermediate pipelines and the like occur in urban underground drainage pipelines, and plays a positive role in solving the municipal drainage problem.

Drawings

A more complete appreciation of the invention and the attendant advantages and features thereof will be readily obtained as the same becomes better understood by reference to the following detailed description when considered in connection with the accompanying drawings, wherein:

fig. 1 is a diagram of the apparatus and system of the present invention.

Reference numbers in the figures: 1-main controller, 2-signal integrated cable, 3-cable reel, 4-fixed pulley, 5-camera, 6-high precision positioning equipment, 7-crawler and 8-detection signal receiver

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments; based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the attached drawing, reference numeral 1 denotes a main controller which performs comprehensive management and data processing on crawlers and other devices, and a monitor of the main controller can synchronously display information such as date, time, pipe diameter, coordinates and electromagnetic signals and synchronously perform data processing.

In the figure 2 is a signal combining cable which has the function of transmitting signals and recording length. The main effect is for providing data transmission and record crawler travel distance to the monitoring devices on the crawler.

In the attached drawing, 3 is a cable reel which has a cable winding and unwinding function and ensures that the advancing or retreating distance of the crawler is consistent with the cable winding and unwinding length, and the metering unit of a cable counter is 0.1m.

In the attached drawing, the fixed pulley 4 is used for controlling the direction of the cable and facilitating the cable winding and unwinding.

In the attached drawing, 5 is a camera which has the functions of flat scanning, pitching, rotating and zooming, and the height of the camera can be freely adjusted.

In the attached drawing, 6 is high-precision positioning equipment such as an electromagnetic transmitter, and the transmitting frequency of the electromagnetic transmitter is low frequency, medium frequency, high frequency and radio frequency and is mainly matched with a receiver for use; high precision positioning devices are primarily used to make precise measurements of distance traveled and orientation during travel.

Fig. 7 shows a crawler, which has the functions of advancing, retreating, neutral gear, speed changing, side turning prevention and the like. The size of the wheel diameter and the wheel interval can be replaced or adjusted according to the size of the detected pipeline.

In the figure 8, a detection signal receiver is used for accurately positioning the underground pipeline by selecting the optimal frequency.

While the basic principles and principal features of the invention and advantages of the invention have been shown and described, it will be understood by those skilled in the art that the foregoing description is only illustrative of the principles of the invention. The utility model discloses during the actual application, should dispose different accessories according to the particular case and the site environment condition of its implementation ground.

Example 1

This example is an implementation of the precise location of the flaw location of the underground blind well and the pipeline for curved pipe sections (including straight sections). But cannot therefore limit the scope of application of the invention.

1. On-site investigation and pretreatment

The organization professional reconnaissance personnel carry out site survey on the drainage pipeline with the blind well, confirm the diameter, the buried depth, the slope, the water yield in the pipeline and the relevant parameters such as siltation condition of the pipeline under the present situation through the known inspection well, and can adopt a pipeline periscope QV to carry out auxiliary observation if necessary. When the water quantity and the sludge quantity in the pipeline are more than 20 percent of the pipe diameter, plugging and dredging and pump drainage treatment are needed to be carried out on the upstream and the downstream of the pipeline so as to ensure that the detection crawler can smoothly pass.

2. Device selection and debugging

1) According to the pipe diameter and the basic condition in the pipeline, proper crawler wheels are confirmed, and the crawler wheels are controlled to be between 1/5 and 1/2 of the diameter of the pipeline, so that the crawler can smoothly pass through the pipeline.

2) And checking whether the installation of high-precision positioning equipment such as an electromagnetic emitter of the signal emitting device and the like and a camera is firm. The method comprises the steps of opening a main controller and a signal receiving device, detecting whether signal transmission and signal reception are normal, detecting whether a signal receiving and commanding system of the main controller is normal, detecting whether functions of advancing, retreating and the like of the crawler are normal, and detecting whether focusing and rotation of a camera are normal.

3) After debugging is finished, the equipment is put into the well and installed according to the figure 1. And record the initial scale of the composite cable.

3. Crawler observation and travel

An operator carries the camera to feed back real-time image data on the main controller through the crawler, and the main controller operates the camera to rotate and adjust the focal length to judge the basic condition in the pipeline. When the basic condition of the pipeline allows, a crawler advancing instruction is given through the main controller until the crawler runs to a blind well or a pipeline defect. When the pipeline can not meet the requirement that the crawler continues to advance, a retreating instruction is issued to the crawler, and the equipment is firstly withdrawn. The pipeline is retested after necessary treatment.

4. Precision positioning of blind wells and defect locations

When the crawler advances, a ground operator holds the detection signal receiver by hand and advances synchronously with the crawler, and the underground pipeline position is accurately positioned through the optimal frequency. When the crawler stops at the blind well or the position of the pipeline defect, the blind well or the position of the pipeline defect is accurately positioned according to the signal change condition of the signal receiver. And synchronously reading out the comprehensive cable scale, determining the distance between the blind well or the defect position and the known inspection well according to the difference value between the comprehensive cable scale and the initial cable scale, and completing the positioning and rechecking of the defect position of the underground blind well or the pipeline. In the straight line segment, the precise positioning can be completed only by the scale change of the comprehensive cable; need rely on electromagnetic emitter's high accuracy location to judge the secret hidden well when curve section to change through synthesizing the cable scale and carry out recheck, realize the utility model discloses to the precision positioning of curve section pipeline defect and secret hidden well.

Example 2

The embodiment is an implementation process for accurately positioning the position of a long-distance box culvert without ground auxiliary structures or curved pipelines.

1. Implementing environmental pre-processing

1) Organizing a professional reconnaissance person to carry out preliminary reconnaissance on a box culvert or a curved pipeline for storing a long-distance non-ground structure to be detected, confirming the position of an inspection well for allowing instrument and equipment to enter the pipeline, and ensuring that the environment in the inspection well meets the lowering condition of the instrument and equipment;

2) Relevant parameters such as the size, the burial depth, the gradient, the water quantity in the pipeline, the sedimentation condition and the like of the box culvert or the curve pipeline to be detected are confirmed, and when the water quantity and the sludge quantity in the pipeline are too large, plugging and dredging and pump drainage treatment need to be carried out on the upstream and the downstream of the pipeline so as to ensure that the crawler can smoothly pass.

2. Installation device and commissioning

1) According to the pipe diameter and the condition in the pipeline, wheels with corresponding specifications are installed on the crawler. When the cross section of the box culvert is large, wheels with large sizes are selected to obtain good passing conditions so that the creeper can pass through the pipeline smoothly.

2) And a signal transmitting device (an electromagnetic transmitter) and a camera are arranged on the crawler, and the firmness of the crawler is ensured. One end of an information comprehensive cable in the cable reel is connected with a main controller, the other end of the information comprehensive cable is connected with a signal transmitting device, the main controller and a signal receiving device are started, whether signal transmission and signal reception are normal or not is detected, whether a signal receiving and commanding system of the main controller is normal or not is detected, whether functions of forward movement, backward movement and the like of the crawler are normal or not is detected, and whether focusing and rotation of a camera are normal or not is detected.

3. Crawler observation and travel

1) After debugging, the equipment is put into the well and installed according to the figure 1, the crawler, a signal transmitting device (an electromagnetic transmitter) and a camera which are fixed on the crawler are put down to one end of a detected pipeline together, and the information integrated cable is fixed on a path of putting into the well through a pulley. And record the initial scale of the composite cable.

2) An operator controls the crawler to advance in the pipeline by using the main controller, dynamic adjustment of the advancing direction of the crawler is performed by feeding back real-time images to the main controller through the camera, and the main controller is used for operating the rotation and focal length adjustment of the camera to judge the basic condition of the advancing front in the pipeline. The main controller controls the crawler to advance until the crawler runs to the next inspection well or the specified crawling task is completed. When the pipeline does not meet the condition that the crawler continues to advance, the crawler is controlled to retreat, and the equipment is firstly recovered. And then the pipeline is retested after necessary treatment.

4. Accurate positioning of box culvert or curved pipeline

When the crawler advances, a ground operator holds the detection signal receiver to advance synchronously with the crawler, and the underground curved pipeline is accurately detected through the optimal frequency. When the crawler runs to the next inspection well or completes the specified crawling task, a position curve relative to the ground can be obtained according to the optimal signal frequency received by the ground signal receiver in the whole process, and the curve represents the position and the walking direction of the detected curve pipeline. And checking the box culvert and the curve position through the comprehensive cable scale change.

When no inspection well or ground structure exists in a long distance, a designer can add an auxiliary structure or an inspection well on the long-distance non-structure or curved pipeline according to the field measurement condition and the actual engineering requirement. And the detection positioning system continues to advance the detection of the box culvert and the curved pipeline from the newly added auxiliary structures or the well descending at the inspection well according to the flow until all tasks are completed.

The present invention can be implemented according to the above embodiments, but the application range thereof is not limited thereto. The above embodiments are merely illustrative, and the present invention is not limited to the application of the present invention, but is applicable to the implementation of the precise positioning of the underground blind well position, the defect position and the long-distance box culvert without ground structures under a specific condition.

Claims

1. A system for detecting the location of a blind underground well and a curved pipe, the system comprising: the system comprises a main controller, a signal comprehensive cable, a crawler, a camera, a signal transmitting device and a detection signal receiver; the signal transmission device and the camera are installed and fixed on the crawler, one end of the signal comprehensive cable is connected with the main controller, the other end of the signal comprehensive cable is connected with the signal transmission device, and wheels of specifications corresponding to the pipe diameter and the condition in the pipeline are installed on the crawler.