Underground pipeline real-time positioning and three-dimensional reconstruction device and method

Abstract

The invention discloses an underground pipeline real-time positioning and three-dimensional reconstruction device and method. The underground pipeline real-time positioning and three-dimensional reconstruction device is composed of a pipeline crawling robot, a processor, an RGB-D camera and an inertia measurement unit. The underground pipeline real-time positioning and three-dimensional reconstruction method comprises the following steps: firstly, calibrating an RGB-D camera and an inertial measurement unit, including internal parameters of the camera and external parameters of the camera andthe inertial measurement unit, namely a relative position and attitude relationship between the camera and an IMU; then controlling the pipeline crawling robot to move in the pipeline space to obtainreal-time data of a sensor; and calculating the accurate position of the crawling robot in the underground pipeline in real time through an algorithm, and reconstructing a three-dimensional space model of the underground pipeline in real time. The underground pipeline real-time positioning and three-dimensional reconstruction device achieves real-time positioning of the crawling robot in the underground pipeline and three-dimensional reconstruction of the underground pipeline.

Description

technical field [0001] The invention belongs to the technical field of surveying and mapping, and relates to a device and method for real-time positioning and three-dimensional reconstruction of underground pipelines, in particular to a crawling robot based on underground pipelines and the real-time positioning and three-dimensional reconstruction of underground pipelines using an RGB-D camera and an inertial measurement unit (IMU). Apparatus and method for reconstruction. Background technique [0002] Underground pipes (such as urban drainage pipe network) are "urban veins", the basis for safe and stable operation of the city, and an important part of smart city construction. One of the signs. Pipeline detection is the premise of fine management and preventive repair of underground pipelines. It is very necessary to maintain the normal operation of urban functions and ensure the safety of life and property. For example, sewage and rainwater pipelines undertake the tasks o...

AI Technical Summary

Problems solved by technology

[0005] 1) The data visualization effect is not good, mainly relying on human eyes to interpret 2D image data (such as CCTV video (Closed-Circuit Television)), and 2D image data cannot well reflect the real situation of 3D inside the pipeline. Time-consuming and labor-intensive, it takes a long time to suspend the use of the pipeline, and even needs to excavate the road surface;

[0006] 2) There is no real-time positioning system in the pipeline, and the spatial positioning of the detection data cannot be carried out, which reduces the effective use of data and the overall performance of the system (such as the support efficiency and degree of automation for decision-making)

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