Underground canal box three-dimensional detection method based on SLAM technology

Abstract

The invention relates to the technical field of underground canal detection, and discloses an underground canal box three-dimensional detection method based on an SLAM technology, and the method comprises the following steps: arranging a control point position and an SLAM scanner motion track; target paper is arranged at the control points; the SLAM scanner moves along a preset movement track and extends into a well mouth of the control point to scan the channel box, and scanning of the target paper on the control point is completed; inputting the measured data into SLAM (Simultaneous Localization and Mapping) resolving software; and importing the point cloud data into point cloud processing software for processing, importing a point cloud processing result into drawing software for drawing, and importing a drawing result into a database. The system is suitable for complex scenes which cannot be entered, and accidents of personnel injury and instrument property loss are avoided; compared with a traditional operation mode, the method has the advantages that the relative precision is high, the measurement efficiency is improved, the information amount provided in the same operation period is greatly increased, important basic data are provided for water environment treatment work, and powerful technical support is provided for later canal box operation and maintenance work.

Description

technical field [0001] The invention relates to the technical field of underground ditch detection, in particular to a three-dimensional detection method of an underground ditch box based on SLAM technology. Background technique [0002] At present, there are two main types of rivers: surface rivers and capped rivers. Surface rivers are exposed on the ground, and the governance is more intuitive. Capped rivers are also called culverts, which are more common in large cities. As urban development aggravates river pollution, in order to reduce the impact of pollution on urban senses, many areas directly It is the product of the early stage of river remediation that the river canal is covered and turned into an undercurrent. With the development of society, it is the general trend to treat or transform the underdrain. The material, shape and burial depth of the underdrain are different, and the interconnection method is complicated. Accurate detection of the exact edge and spec...

AI Technical Summary

Problems solved by technology

However, these methods have certain limitations, and it is impossible to perform funny and high-precision detection of canal boxes with narrow spaces, surface debris coverage, and deep burial depth under the premise of safety, and it is also impossible to quickly draw the internal structure of box culverts

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