Pipe gallery positioning and navigation system

Abstract

A pipe gallery positioning navigation system comprises a slide rail mapping subsystem, a personnel positioning subsystem and a data interaction calibration subsystem; the slide rail mapping subsystem is used for constructing a magnetic field fingerprint reference library and a structural feature map of a pipe gallery environment, and comprises a long slide rail, a mapping device and a charging supply station installed on the long slide rail; the personnel positioning subsystem is used for collecting a surrounding environment feature of a worker in real time and comparing with the reference library to realize positioning, and comprises a wearing piece and a positioning sensing module arranged in the wearing piece; the data interaction calibration subsystem is used for processing positioning data, updating the reference library and dynamically calibrating a positioning result, and the data interaction calibration subsystem is in communication connection with the slide rail mapping subsystem and the personnel positioning subsystem respectively. The application can improve the positioning accuracy in the pipe gallery.

Description

Technical Field

[0001] This utility model belongs to the technical field of pipe gallery positioning and navigation, and specifically relates to a pipe gallery positioning and navigation system. Background Technology

[0002] As a crucial transport channel for various cables and pipelines, utility tunnels experience a continuous increase or decrease in the number of cables installed due to adjustments in power demand. These cables intersect and run parallel within the tunnels, forming a complex network structure. The internal environment of utility tunnels possesses significant unique characteristics: the space is long and enclosed, typically stretching for several kilometers or even tens of kilometers; the presence of numerous metal structures and dense cables creates a complex electromagnetic environment; satellite signal coverage, such as GPS and BeiDou, is generally lacking; and harsh operating conditions exist, including dust, humidity, and extreme temperatures. These characteristics limit the application of traditional positioning and navigation technologies in utility tunnel environments, becoming a key bottleneck restricting the intelligent operation and maintenance of utility tunnels. Currently, mainstream utility tunnel positioning technologies have significant drawbacks: Bluetooth positioning technology relies on beacon deployment, and the signal attenuates severely in metal environments, with positioning accuracy typically only reaching 3-5 meters, which cannot meet the needs of precision operations; Wi-Fi positioning is susceptible to multipath effects, and positioning drift can reach several meters in narrow spaces; although ultra-wideband technology can achieve sub-meter positioning, signal blockage is severe in densely metal areas, resulting in a positioning interruption rate of over 30%, and requires dense deployment of base stations, with a deployment cost exceeding 500,000 yuan per kilometer; inertial navigation technology accumulates significant errors over time, with errors exceeding 10 meters after 30 minutes of continuous operation. Utility Model Content

[0003] This invention provides a pipe gallery positioning and navigation system to solve the problem of positioning accuracy in cable corridors.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: A utility tunnel positioning and navigation system, comprising: The sliding rail mapping subsystem is used to construct a magnetic field fingerprint benchmark library and structural feature map of the utility tunnel environment. It includes a long sliding rail, as well as mapping equipment and a charging and replenishment station installed on the long sliding rail. The personnel positioning subsystem is used to collect the characteristics of the surrounding environment of the workers in real time and compare them with the benchmark database to achieve positioning. It includes a wearable device and a positioning sensing module set in the wearable device. The data interaction calibration subsystem is used to process positioning data, update the benchmark library, and dynamically calibrate positioning results. The data interaction calibration subsystem is communicatively connected to the slide rail mapping subsystem and the personnel positioning subsystem.

[0005] Furthermore, the surveying equipment includes a track trolley suspended on the long slide rail, and a sensing module set on the track trolley. The sensing module includes a magnetic field detection unit for collecting magnetic field information at various locations in the pipe gallery, an environmental scanning unit for collecting structural features of the inner wall of the pipe gallery, and a positioning feedback unit for obtaining the absolute position signal of the track trolley.

[0006] Furthermore, the positioning sensing module includes: The magnetic field acquisition unit is used to acquire three-dimensional magnetic field data in the pipe gallery environment in real time, which serves as the raw data for matching with the magnetic field fingerprint database acquired by the magnetic field detection unit. A visual acquisition unit is used to match the structural feature data of the inner wall of the pipe gallery acquired by the environmental scanning unit; The structured light projection unit is used to project optical markers within the pipe gallery, serving as the basis for the visual acquisition unit.

[0007] Furthermore, the long slide rail includes several slide rail segments spliced ​​together in sequence. One end of each slide rail segment is provided with a positioning pin, and the other end of each slide rail segment is provided with several positioning holes for the positioning pins on adjacent slide rail segments to be inserted.

[0008] Furthermore, the magnetic field detection unit is installed on the bottom or side of the track trolley, and a rubber elastic support is provided between the magnetic field detection unit and the track trolley.

[0009] Furthermore, the magnetic field detection unit employs a high-precision triaxial magnetometer; the magnetic field acquisition unit employs a miniature triaxial magnetometer.

[0010] Furthermore, the environmental scanning unit employs a line lidar, which is installed at the front or rear of the track trolley, and the scanning plane of the line lidar is parallel to the axis of the pipe gallery.

[0011] Furthermore, the positioning feedback unit adopts a magnetic grating ruler positioning system, with the magnetic grating ruler pasted on the side of the long slide rail, and the length of each section of the magnetic grating ruler being consistent with the slide rail section; a reading head is also provided on the side of the track trolley.

[0012] Furthermore, the structured light projection unit includes a semiconductor laser, which is fixed to the wearable device by an adjustable angle bracket for projecting a sinusoidal stripe pattern into the tube gallery.

[0013] Furthermore, the visual acquisition unit includes a binocular camera and a supplementary lighting component. The binocular camera is mounted on the wearable device and is used to acquire structured light stripe images and natural structural features. The supplementary lighting component is an infrared LED light that forms uniform illumination through a diffuse reflection lens. The present invention can achieve the following beneficial effects: 1. This application discloses a pipe gallery positioning and navigation system. By setting up a sliding rail mapping subsystem, the mapping equipment moves along a long sliding rail to form positioning data specific to the inside of the pipe gallery, which serves as a navigation map. After entering the pipe gallery, the workers need to wear a device. The positioning sensing module in the device collects the workers' current information in real time and matches the collected information with the navigation map formed by the sliding rail mapping subsystem to obtain the workers' real-time location information. This overcomes the problems of complex electromagnetic environment and weak signal caused by the closed environment inside the pipe gallery, enabling workers to achieve more accurate positioning operations while working inside the pipe gallery and improving the safety of the workers.

[0014] 2. The sliding rail mapping subsystem of this application uses a magnetic field detection unit to conduct magnetic field surveys and records in various areas within the utility tunnel, and uses an environmental scanning unit to scan and acquire image information with structural features of the inner wall of the utility tunnel, thereby forming a feature map of the inside of the utility tunnel; at the same time, it cooperates with a positioning feedback unit to acquire the absolute position information of the information collected by the magnetic field detection unit and the environmental scanning unit, thereby completing the construction of the navigation map inside the utility tunnel, and has dual information sources of magnetic field information and internal structural feature information, to prevent the loss of contact of staff due to the failure of information at one point. 3. This application incorporates a positioning sensing module within the wearable device of the operator. This module can sense the magnetic field at the operator's location and the structural features of the pipe gallery wall near the location in real time. It can then be compared with the navigation map generated within the sliding rail mapping subsystem to generate detailed location information of the operator. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the overall positioning and navigation system for a utility model. Figure 2 This is a schematic diagram of the installation location of a pipe gallery positioning and navigation system according to this utility model; Figure 3 This is a schematic diagram of the structure of a single-section slide rail segment of this utility model.

[0016] The attached diagram lists the components represented by each number as follows: 1. Slide Rail Mapping Subsystem; 11. Long Slide Rail; 111. Slide Rail Section; 112. Positioning Pin; 113. Positioning Hole; 12. Mapping Equipment; 121. Track Trolley; 122. Magnetic Field Detection Unit; 123. Environmental Scanning Unit; 124. Positioning Feedback Unit; 13. Charging and Supply Station; 2. Personnel Positioning Subsystem; 21. Wearable Device; 22. Magnetic Field Acquisition Unit; 23. Visual Acquisition Unit; 24. Structured Light Projection Unit; 3. Data Interaction and Calibration Subsystem; 100. Utility tunnel. Detailed Implementation

[0017] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0018] like Figures 1 to 3 As shown, this application discloses a utility tunnel positioning and navigation system comprising a sliding rail mapping subsystem 1, a personnel positioning subsystem 2, and a data interaction calibration subsystem 3. The sliding rail mapping subsystem 1 is used to construct a magnetic field fingerprint reference database and a structural feature map of the utility tunnel environment 100, providing reference coordinates for personnel positioning. The personnel positioning subsystem 2 collects environmental features surrounding the personnel in real time and compares them with the magnetic field fingerprint reference database and the structural feature map to achieve positioning. The data interaction calibration subsystem 3 processes positioning data, updates the magnetic field fingerprint reference database and the structural feature map, and dynamically calibrates the positioning results to ensure long-term accuracy.

[0019] The sliding rail mapping subsystem 1 includes a long sliding rail 11, mapping equipment 12, and a charging and replenishment station 13. Specifically, the long sliding rail 11 includes several sliding rail segments 111 spliced ​​together in sequence. The cross-section of the sliding rail segment 111 is I-shaped, and the length of a single segment is set to 6m. A reinforcing fixing seat is set every 1.5m along the length direction at the top of the long sliding rail 11. The reinforcing fixing seat is connected to the top wall of the pipe gallery 100 by expansion bolts. The installation stability of the reinforcing fixing seat is ensured by controlling the embedding depth of the expansion bolts.

[0020] Each slide rail section 111 is equipped with a quick docking mechanism at both ends, including multiple positioning pins 112 at one end of the slide rail section 111 and multiple positioning holes 113 at the other end of the slide rail section 111. The positioning pins 112 are inserted into the positioning holes 113 to reduce the straightness error after the two slide rail sections 111 are docked. The surveying equipment 12 includes a track trolley 121 and a sensing module mounted on the track trolley 121. The track trolley 121 is suspended from the lower chord of a long slide rail 11 and can move along the long slide rail 11. Specifically, the track trolley 121 can be a series track trolley 121, which can increase the stability of the track trolley 121 during movement.

[0021] The sensing module includes a magnetic field detection unit 122, an environmental scanning unit 123, and a positioning feedback unit 124. The magnetic field detection unit 122 is mounted on the bottom of the track trolley 121 or located on both sides of the machine body, supported by a rubber elastic support to isolate the influence of track trolley 121 vibration on magnetic field detection. The magnetic field detection unit 122 employs a high-precision triaxial magnetometer, with its sensitive axis parallel to the axis of the pipe gallery 100 and its detection surface consistent with the cross-section of the pipe gallery 100, ensuring accurate spatial orientation of the magnetic field data. The environmental scanning unit 123 uses a 120° line lidar, which is installed at the front or rear of the track trolley 121, thereby making the lidar scanning range wider. The lidar scanning plane is parallel to the axis of the pipe gallery 100 and is used to collect the structural features of the inner wall of the pipe gallery 100.

[0022] The positioning feedback unit 124 adopts a magnetic grating ruler positioning system. The magnetic grating ruler is attached to the side of the long slide rail 11. The length of each section of the magnetic grating ruler is the same as the length of the slide rail section 111, and the magnetic grating spacing is 1m. Real-time position feedback is achieved through non-contact magneto-electric induction. The reading head is fixed to the side of the track trolley 121 by an aluminum alloy bracket, and the gap between the reading head and the surface of the magnetic grating ruler is maintained at 0.5±0.1mm. In addition, the charging station 13 is based on the principle of wireless inductive charging and is used to automatically stop and charge the sliding surveying equipment 12 when the battery is low. The charging station 13 is fixedly installed on the bottom wall of the lower chord plate of the long slide rail 11, and one is set every 3m along the slide rail to ensure that the sliding surveying equipment 12 can be charged in time.

[0023] When the sliding rail mapping subsystem 1 is running, the track trolley 121 slides along the long track 11. The magnetic scale of the positioning feedback unit 124 works in conjunction with the reading head to output the absolute position signal in real time, providing a precise coordinate reference for magnetic field and structural data. The magnetic field detection unit 122 collects magnetic field data at various points in the pipe gallery 100. Due to the interference of the internal metal structure of the pipe gallery 100 with the Earth's magnetic field, unique magnetic field fingerprints are formed at each location. Installing the track trolley 121 on the top of the pipe gallery 100 makes it easier to capture vertical magnetic field feature differences. The environmental scanning unit 123 simultaneously collects structural features of the inner wall and ground of the pipe gallery 100, including but not limited to the edges of the cable trays, pipe outlines, and the location of fire doors, generating image data of the interior of the pipe gallery 100 as the basis for generating the structural feature map. When the battery of the track trolley 121 is below 30%, the track trolley 121 automatically stops at the nearest charging station 13, and wireless charging is achieved through the charging station 13. Finally, the surveying equipment 12 transmits the collected magnetic field data, structural features, and magnetic scale positioning information to the data interaction calibration subsystem 3, which then constructs a three-dimensional magnetic field fingerprint database and a structural feature map.

[0024] The personnel positioning subsystem 2 includes a wearable device 21 and a positioning sensing module installed within the wearable device 21. It should be noted that the wearable device 21 is an item that workers must wear when entering the pipe gallery 100, such as a safety helmet. The positioning sensing module includes a magnetic field acquisition unit 22, a structured light projection unit 24, and a visual acquisition unit 23. The magnetic field acquisition unit 22 uses a miniature triaxial magnetometer to collect three-dimensional magnetic field data in the pipe gallery 100 environment in real time. This data serves as the raw data for matching with the magnetic field fingerprint database, providing basic data support for the magnetic field positioning mode. The installation position of the magnetic field acquisition unit 22 is at least 100mm away from the metal components inside the wearable device 21, and it is connected to the data processing module via a flexible PCB board to avoid metal interference. The structured light projection unit 24 includes a semiconductor laser, projecting a sinusoidal stripe pattern. The structured light projection unit 24 can form a projection area with a width ≥ 2m at a distance of 5m, ensuring effective coverage of the inner wall of the pipe gallery 100. The distortion characteristics of the stripes on different structural surfaces provide structured optical markers for the visual acquisition unit 23, serving as the signal source for the structured light positioning mode, ensuring that positioning can still be achieved through optical features even when the magnetic field is disturbed.

[0025] The visual acquisition unit 23 includes a binocular camera and a supplementary lighting component. The binocular camera is mounted on the wearable device 21 and is used to acquire structured light stripe images and natural structural features of the inner wall of the pipe gallery 100. The supplementary lighting component consists of two infrared LEDs, which form uniform illumination through a diffuse reflection lens to ensure image quality in low-light environments. The binocular camera realizes three-dimensional structural reconstruction through parallax calculation, providing feature matching data for the structured light positioning mode, and forming a closed loop of projection and acquisition with the structured light projection unit 24.

[0026] The data interaction calibration subsystem 3 is used to process positioning data, update the magnetic field fingerprint reference library and structural feature map, and dynamically calibrate positioning results to ensure long-term accuracy. During operation, it first processes and stores data, receiving magnetic field data, structural point clouds, and magnetic scale positioning information uploaded by the sliding rail mapping subsystem 1. It then optimizes the magnetic field fingerprint library and structural feature map using algorithms, compresses and stores the data structure, and synchronously stores real-time position and movement trajectory data uploaded by the personnel positioning subsystem 2. The functions of the data interaction calibration subsystem 3 can all be achieved using existing technologies; therefore, the specific algorithm settings are not described in detail here.

[0027] Under the command of the data interaction calibration subsystem 3, the sliding rail mapping subsystem 1 automatically starts a full corridor inspection every month. It uses a magnetic grating ruler to ensure the overlap between the calibration path and the initial database construction path, re-collects magnetic field data, and updates the benchmark database for newly added cable sections and areas where the cable section layout has changed.

[0028] This application discloses a pipeline tunnel positioning and navigation system with a workflow divided into three stages: database construction, positioning, and calibration. Specifically, in the database construction stage, the sliding rail mapping subsystem 1 slides along the top long sliding rail 11 to collect magnetic field and structural data of the entire pipeline tunnel 100, and constructs a reference database using magnetic scale positioning. In the positioning stage, the operator and the wearable device 21 enter the pipeline tunnel 100 together. The personnel positioning subsystem 2 prioritizes magnetic field matching for positioning; when the magnetic field is disturbed, it automatically switches to structured light positioning. The positioning results are uploaded to the data interaction and calibration subsystem in real time. In the calibration stage, the data interaction and calibration subsystem periodically updates the reference database, dynamically corrects the positioning error of the wearable device 21, ensures long-term operational accuracy, and monitors equipment status to ensure stable system operation.

[0029] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A pipe gallery positioning and navigation system, characterized in that, include: The sliding rail mapping subsystem (1) is used to construct a magnetic field fingerprint reference library and structural feature map of the pipe gallery (100) environment, including a long sliding rail (11), and a mapping device (12) and a charging station (13) installed on the long sliding rail (11). The personnel positioning subsystem (2) is used to collect the environmental features of the workers in real time and compare them with the benchmark database to achieve positioning. It includes a wearable device (21) and a positioning sensing module set in the wearable device (21). The data interaction calibration subsystem (3) is used to process positioning data, update the benchmark library and dynamically calibrate positioning results. The data interaction calibration subsystem (3) is connected to the sliding rail mapping subsystem (1) and the personnel positioning subsystem (2) respectively.

2. The pipe gallery positioning and navigation system according to claim 1, characterized in that: The surveying equipment (12) includes a track trolley (121) suspended on the long slide rail (11) and a sensing module set on the track trolley (121). The sensing module includes a magnetic field detection unit (122) for collecting magnetic field information at various locations in the pipe gallery (100), an environmental scanning unit (123) for collecting structural features of the inner wall of the pipe gallery (100), and a positioning feedback unit (124) for obtaining the absolute position signal of the track trolley (121).

3. The pipe gallery positioning and navigation system according to claim 2, characterized in that: The positioning sensing module includes: The magnetic field acquisition unit (22) is used to acquire three-dimensional magnetic field data in the environment of the pipe gallery (100) in real time, as the raw data to be matched with the magnetic field fingerprint database acquired by the magnetic field detection unit (122); The visual acquisition unit (23) is used to match the structural feature data of the inner wall of the pipe gallery (100) acquired by the environmental scanning unit (123); Structured light projection unit (24) is used to project optical markers within the tube gallery (100) as the basis for acquisition by visual acquisition unit (23).

4. The pipe gallery positioning and navigation system according to claim 2, characterized in that: The long slide rail (11) includes several slide rail segments (111) spliced ​​together in sequence. One end of the slide rail segment (111) is provided with a positioning pin (112), and the other end of the slide rail segment (111) is provided with several positioning holes (113) for the positioning pins (112) on adjacent slide rail segments (111) to be inserted.

5. A pipe gallery positioning and navigation system according to claim 2, characterized in that: The magnetic field detection unit (122) is installed on the bottom or side of the track trolley (121), and a rubber elastic support is provided between the magnetic field detection unit (122) and the track trolley (121).

6. The pipe gallery positioning and navigation system according to claim 3, characterized in that: The magnetic field detection unit (122) adopts a high-precision triaxial magnetometer; the magnetic field acquisition unit (22) adopts a miniature triaxial magnetometer.

7. A pipe gallery positioning and navigation system according to claim 2, characterized in that: The environmental scanning unit (123) uses a line lidar and is installed at the front or rear of the track trolley (121). The scanning plane of the line lidar is parallel to the axis of the pipe gallery (100).

8. A pipe gallery positioning and navigation system according to claim 4, characterized in that: The positioning feedback unit (124) adopts a magnetic grating ruler positioning system. The magnetic grating ruler is pasted on the side of the long slide rail (11), and the length of each magnetic grating ruler segment is consistent with that of the slide rail segment (111). The side of the track trolley (121) is also provided with a reading head.

9. A pipe gallery positioning and navigation system according to claim 3, characterized in that: The structured light projection unit (24) includes a semiconductor laser, which is fixed to the wearable device (21) by an adjustable angle bracket for projecting a sinusoidal stripe pattern into the tube gallery (100).

10. A pipe gallery positioning and navigation system according to claim 3, characterized in that: The visual acquisition unit (23) includes a binocular camera and a supplementary lighting component. The binocular camera is installed on the wearable device (21) and is used to acquire structured light stripe images and natural structural features. The supplementary lighting component is an infrared LED light that forms uniform illumination through a diffuse reflection lens.

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