A high-precision underground pipeline obvious point positioning surveying and mapping device and method

Abstract

The present invention discloses a high-precision underground pipeline obvious point positioning and mapping device. It includes an image acquisition module, a GNSS positioning module, a main control module and an integrated mobile device; the image acquisition module, the GNSS positioning module and the main control module are all located on the integrated mobile device; the main control module includes a power module, a synchronization control module and a data storage module; the power module is respectively connected to the image acquisition module and the GNSS positioning module; the data storage module is respectively connected to the image acquisition module and the GNSS positioning module; the integrated mobile device includes a mobile mounting plate and a connecting support component; the image acquisition module is installed at the lower end of the connecting support component; the GNSS positioning module is installed on the connecting support component. The present invention has the advantages of being simple and fast, improving the efficiency of obvious point measurement, and reducing costs and safety risks. The present invention also discloses a positioning and mapping method for a high-precision underground pipeline obvious point positioning and mapping device.

Description

Technical Field

[0001] The present invention relates to the field of underground pipeline measurement technology, and in particular to a high-precision underground pipeline obvious point positioning surveying and mapping device. The present invention also relates to a positioning surveying and mapping method of the high-precision underground pipeline obvious point positioning surveying and mapping device. Background Art

[0002] Urban underground pipelines are an important part of urban infrastructure. They carry a variety of material flows, energy flows and information flows, and are one of the important material foundations for the survival and development of cities. As the scale of cities continues to expand, urban construction problems continue to emerge. For example, problems with urban comprehensive underground pipelines greatly affect the development and operation of cities and the quality of life of urban residents. In the process of urban construction, the management and detection of underground pipelines according to the urban environment will help ensure the smooth operation of underground pipelines, the normal operation of cities and the safety of people. Conducting underground pipeline detection, establishing an underground pipeline network information system, and serving urban planning, design, construction and management are urgent needs for the high-quality development of urban modernization, and are also important basic conditions for the sustainable and healthy development of cities.

[0003] Trenchless underground pipeline detection is carried out before trenchless construction. Its main task is to find out whether there are underground pipelines (including water supply and drainage, gas, heat, industry and other pipelines as well as power and telecommunications cables) laid at the construction site, find out the plane position, direction, buried depth, specifications, properties, materials, etc. of the underground pipelines, and compile underground pipeline maps. The positioning measurement of pipeline points is an important part of underground pipeline detection and mapping, and the positioning of obvious points such as ground inspection wells is the basis for pipeline positioning. At present, the positioning of obvious points of underground pipelines mainly adopts the method of field measurement of total station, which requires 3-4 people to cooperate with the operation, and requires continuous station transfer, rear view, on-site input of measurement point numbers and other operations. The operation is cumbersome and the work efficiency is low, and the conditions such as the need for front and back sight are easily affected by the busy traffic in the city. In addition, working on urban streets for a long time has a high risk of work safety. The existing patent CN102087753A discloses a method for rapid three-dimensional mapping of ground and underground pipeline networks, but does not provide a specific method for establishing a high-precision three-dimensional real scene model of the surface. The existing patent CN109341655A adopts ground three-dimensional laser scanning surveying to obtain a ground three-dimensional survey map, but this method has a large amount of data, complex data processing, and lacks high-definition ground texture information.

[0004] Therefore, it is necessary to develop a device and method for underground pipeline obvious point positioning and mapping that can improve the efficiency of obvious point measurement and reduce the safety risks of operations. Summary of the invention

[0005] The first purpose of the present invention is to provide a high-precision underground pipeline obvious point positioning and mapping device, which is a ground ultra-high resolution image acquisition and positioning equipment, which is simple and fast, improves the efficiency of obvious point measurement, reduces costs and safety risks; the technical problem to be solved is the low efficiency and high safety risk of the existing underground pipeline obvious point measurement.

[0006] The second purpose of the present invention is to provide a positioning and surveying method for the high-precision underground pipeline obvious point positioning and surveying device.

[0007] In order to achieve the first object of the present invention, the technical solution of the present invention is: a high-precision underground pipeline obvious point positioning and mapping device, characterized in that it includes an image acquisition module, a GNSS positioning module, a main control module and an integrated mobile device;

[0008] The image acquisition module, GNSS positioning module and main control module are all located on the integrated mobile device;

[0009] The main control module includes a power module, a synchronization control module and a data storage module;

[0010] The power module is connected to the image acquisition module and the GNSS positioning module respectively; the power module supplies power to the first small pan-tilt head, the second small pan-tilt head and the high-definition camera of the image acquisition module and the GNSS receiving antenna of the GNSS positioning module;

[0011] The synchronization control module is connected to the image acquisition module and the GNSS positioning module respectively; the synchronization control module controls the camera to take pictures through instructions while recording GNSS RTK data and the photo timestamp. The GNSS RTK fixed solution can be directly used to calculate the position coordinates of the main point of the image when taking pictures, and when it is a non-fixed solution, the mobile station trajectory and photo timestamp calculated by post-differential processing can also be used to interpolate the main point position of the image when taking pictures;

[0012] The data storage module is connected to the image acquisition module and the GNSS positioning module respectively; the synchronization control module controls the camera to take pictures through instructions, and triggers the recording of instantaneous GNSS RTK data and photo timestamps, and the photo timestamps and other synchronization information are stored in the storage module;

[0013] The integrated mobile device comprises a mobile mounting plate and a connecting support component; the connecting support component is mounted on the mobile mounting plate;

[0014] The image acquisition module is installed at the lower end of the connecting support component; the GNSS positioning module is installed at the upper end of the connecting support component and is located directly above the image acquisition module, and the measurement center of the GNSS receiving antenna of the GNSS positioning module and the center of the camera are installed on the same plumb line;

[0015] The power module, the synchronous control module and the data storage module are all arranged on the connecting support component.

[0016] In the above technical solution, the connecting support component includes a supporting vertical rod, a supporting L-shaped rod and a supporting horizontal rod; the supporting vertical rod is installed on the mobile mounting plate; the supporting horizontal rod is installed on the supporting vertical rod through the supporting L-shaped rod; the image acquisition module is installed at the lower end of the supporting horizontal rod; the GNSS positioning module is installed at the upper end of the supporting horizontal rod and is located directly above the image acquisition module, and the measurement center of the GNSS receiving antenna of the GNSS positioning module is installed on the same plumb line as the camera center;

[0017] The crossbar is fixedly installed with an L-shaped rigid support; the horizontal bar supporting the L-shaped bar is vertically fixedly connected to the middle of the supporting crossbar; the first telescopic fixing buckle is installed on the horizontal bar supporting the L-shaped bar; the horizontal bar can be telescopically adjusted in length to meet the installation requirements of different mobile platforms;

[0018] The vertical rod supporting the L-shaped rod is connected to the supporting vertical rod and can be telescopically adjusted in height.

[0019] In the above technical solution, second telescopic fixing buckles are provided at both ends of the supporting crossbar;

[0020] The two ends of the supporting cross bar are respectively movably connected to the second telescopic fixing buckle, and the two ends of the supporting cross bar are telescopically connected through the second telescopic fixing buckle;

[0021] Scale lines are set on the supporting crossbar, and the telescopic lengths at both ends of the supporting crossbar can be obtained by reading the scales on the crossbar.

[0022] In the above technical solution, image acquisition modules are provided at both ends of the supporting crossbar; the distance between the image acquisition modules at both ends is controlled by adjusting the length of the crossbar;

[0023] The power module, synchronous control module and data storage module are all arranged at the upper middle end of the supporting crossbar, keeping the overall layout of the equipment reasonable, balanced and beautiful.

[0024] In the above technical solution, the image acquisition module uses a pan-tilt camera module (i.e. a high-definition camera with a pan-tilt); the camera body of the pan-tilt camera module can be installed with a memory card and has an independent storage function;

[0025] The camera is connected to the gimbal, which is a combination of a dual-axis gimbal that can rotate around the two horizontal axes of the camera to ensure the stability of the camera during shooting.

[0026] The power module uses lithium battery;

[0027] The synchronization control module uses a time synchronization control module;

[0028] The GNSS positioning module uses a GNSS receiving antenna; the sampling frequency of the GNSS receiving antenna is above 20Hz; the GNSS receiving antenna is a light and small board, and has both real-time dynamic differential measurement (RTK) and dynamic post-processing differential measurement (PPK) functions. It can perform real-time RTK positioning collection while continuously recording GNSS sampling data, with a sampling frequency of above Hz, to ensure that real-time positioning data can be obtained when the communication signal with the base station is good. When the communication signal with the base station is not good, centimeter-level positioning accuracy can also be achieved through post-differential processing and solution with the base station.

[0029] The synchronous control module can set a timer or a fixed distance to automatically take photos.

[0030] In the above technical solution, two groups of gimbal camera modules are respectively fixed at the two ends of the support crossbar, and the distance between the two end gimbal camera modules is controlled by adjusting the length of the support crossbar. A GNSS receiving antenna is fixedly installed just above the gimbal camera modules at both ends of the support crossbar, and the measurement center of the GNSS receiving antenna is located on the same plumb line as the camera center of the gimbal camera module.

[0031] In the above technical solution, the gimbal camera module includes a bow-shaped connecting rod, a first small gimbal, a supporting frame, a second small gimbal and a high-definition camera; the first small gimbal is fixed to the lower end of the supporting crossbar through the bow-shaped connecting rod;

[0032] The lower part of the bow-shaped connecting rod is connected to the camera supporting frame through a first small pan-tilt head; and the high-definition camera is connected to the camera supporting frame through a second small pan-tilt head.

[0033] In the above technical solution, the connecting support component further includes a first telescopic fixing buckle; the first telescopic fixing buckle is installed on the horizontal rod supporting the L-shaped rod;

[0034] A plurality of fixed mounting holes are arranged on the mobile mounting plate. The lower end of the vertical rod can be connected to the horizontal mounting plate by screws, and the outer periphery of the mounting plate has a fixed mounting hole for fixedly mounting the integrated mobile device of the present invention on the mobile platform. The integrated mobile device of the present invention can be installed on a mobile car or a bicycle through the fixed mounting hole or by manual mobile shooting, which can be flexibly selected according to different shooting scenes and conditions.

[0035] In order to achieve the second purpose of the present invention, the technical solution of the present invention is: the positioning and mapping method of the high-precision underground pipeline obvious point positioning and mapping device is characterized by comprising the following steps:

[0036] Step 1: Image acquisition;

[0037] Using the above-mentioned ground high-definition image acquisition equipment, move along the ground in a serpentine route to collect images; ensure that the photos overlap regularly;

[0038] Step 2: After the image acquisition is completed, the images are sorted according to the shooting area, and the image principal point coordinates are solved. Based on the high-definition images and the image principal point coordinates, a high-precision three-dimensional model of the surface is reconstructed;

[0039] The RTK and PPK fusion solutions are performed using the base station GNSS observation data and the mobile terminal GNSS sampling data to solve the accurate coordinate values ​​of the image principal points at the time of shooting, which are used as the initial values ​​for the image aerial triangulation calculation. Image matching and regional network adjustment are performed according to the partitioning project. Based on the results of the aerial triangulation calculation, dense point cloud matching, three-dimensional TIN grid construction, white body three-dimensional model creation, automatic texture mapping and three-dimensional scene construction are performed. The above processing is the step of producing a high-precision real-life three-dimensional model of the surface from the captured high-definition images, which is used for the next step of collecting the coordinates and elevations of the obvious points of the pipeline network;

[0040] Step 3: In a survey area unit, select a pre-deployed basic control point in the middle of the model as the calibration base point to calibrate the absolute positioning accuracy of the model; after calibration, select basic control points in other areas as inspection points, and locate the obvious points of the pipeline after the inspection accuracy meets the requirements of relevant specifications; based on the calibrated ground three-dimensional model, use the three-dimensional mapping system to directly obtain the three-dimensional coordinates of the ground mark of the pipeline point, and then you can get the plane position and elevation of the ground mark of the pipeline point.

[0041] In the above technical solution, in step 1, image acquisition ensures that the image overlap along the direction of movement is greater than or equal to 80%, and the lateral overlap between adjacent routes is greater than or equal to 60%; ensuring the accuracy of the reconstruction of the three-dimensional model of the surface;

[0042] According to the camera parameters and the shooting height, the shooting distance L1 along the moving direction and the distance L2 between the shooting routes can be calculated;

[0043]

[0044]

[0045] In the above formula: μ is the pixel width of the camera imaging element, H is the height of the camera from the ground when shooting, f is the focal length of the camera, and Width and Height are the pixel width and height of the camera. According to the length of the spacing L2, the telescopic length of both sides of the crossbar can be adjusted to ensure the lateral overlap when taking pictures.

[0046] The beneficial effects of the present invention compared with the conventional method are:

[0047] (1) Improve the efficiency of measuring obvious pipeline points, reduce the complex manpower and high equipment costs of traditional field measurement, and reduce the safety risks of operators;

[0048] (2) A high-precision real-life 3D model of the surface is obtained, which allows the distribution and status of the pipeline network to be checked at any time, facilitating review and inspection;

[0049] (3) The high-precision real-scene three-dimensional model of the surface can be incorporated into the underground three-dimensional pipe network information management system. The present invention can provide basic data for the integrated three-dimensional information system above ground and underground.

[0050] The present invention uses the high precision of the surface three-dimensional model to achieve the high-precision underground pipeline obvious point positioning surveying and mapping of the present invention, and the high precision of the surface three-dimensional model is mainly guaranteed by the ordered high-definition images of the ground with mm-level high resolution. The image acquisition has high clarity and resolution, and the coordinate accuracy of the image exposure point is high; after final verification, the coordinates and elevations of the obvious points of the pipeline network measured by the method of the present invention meet the requirements of relevant specifications; it overcomes the existing conventional methods that mainly use total stations to measure the coordinates of pipeline points, cannot generate high-precision three-dimensional models of the surface, and have low efficiency and high cost in underground pipeline obvious point positioning surveying and mapping, and the measurement results are relatively single. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a schematic diagram of the structure of the present invention.

[0052] Figure 2 Schematic diagram of the gimbal camera module in the present invention.

[0053] Figure 3 This is a screenshot of the three-dimensional model of the ground pipeline point in an embodiment of the present invention.

[0054] Figure 1 1-mobile mounting plate, 2-fixed mounting hole, 3-support vertical rod, 4-support L-shaped rod, 5-telescopic fixing buckle, 6 support cross bar, 7-power module, 8-synchronous control module, 9-storage module, 10-telescopic fixing buckle, 11-GNSS antenna, 12-gimbal camera module, 13-bow connecting rod, 14-first small gimbal, 15-support frame, 16-second small gimbal, 17-high-definition camera. DETAILED DESCRIPTION

[0055] The following is a detailed description of the implementation of the present invention in conjunction with the accompanying drawings, but they do not constitute a limitation of the present invention and are only given as examples. At the same time, the advantages of the present invention are made clearer and easier to understand through the description.

[0056] The high-precision underground pipeline obvious point positioning measurement method proposed by the present invention is an integrated high-definition image acquisition device. The present invention obtains ordered images of urban roads with millimeter resolution, combines the high-precision positioning information of the images to perform real-scene three-dimensional modeling, and performs plane coordinates and elevation measurement of ground marks of pipeline points based on the calibrated three-dimensional model. The device described in the present invention is an integration of high-precision underground pipeline obvious point positioning surveying and mapping devices; the present invention applies mm-level high-definition image modeling to the surveying and mapping of pipeline obvious points; based on the device described in the present invention, the surface mm-level ordered high-definition images are collected, and the surface high-precision real-scene three-dimensional model is reconstructed and calibrated based on the collected images, and the pipeline network points are quickly measured based on the real-scene three-dimensional model; compared with the traditional total station single-point measurement method, the present invention reduces the intensity and manpower consumption of field measurement work, and improves the efficiency of field data collection; the present invention obtains a high-precision real-scene three-dimensional model of the surface, and the distribution and status of the pipeline network can be checked at any time, which is convenient for review and inspection, and the results formed by the traditional method of obtaining a single coordinate are richer.

[0057] Example

[0058] The present invention is now described in detail by taking the application of the present invention to the ground marking measurement of pipeline points in a certain city underground pipeline project as an example, and the present invention can also be used as a guide for the positioning and mapping of obvious points in other city underground pipeline projects.

[0059] The survey area is a city trunk road with complex distribution of pipeline network connections and many pipeline points. The traditional total station measurement method is used, which has high operation complexity, involves a large number of field personnel, and has low measurement efficiency. In addition, it can only obtain the coordinates of a single pipeline point, and cannot perform a real-life view of the current status of the pipeline point, making it inconvenient to review and check the data.

[0060] In this embodiment, the pipeline point ground mark adopts the simple and fast high-precision underground pipeline obvious point positioning and mapping device described in the present invention, which is specifically a ground ultra-high resolution image acquisition and positioning equipment, including an image acquisition module, a GNSS positioning module, a time synchronization control module, a data storage module, a power supply module and an integrated mobile device.

[0061] The mobile integrated device is composed of a mobile mounting plate 1, fixed mounting holes 2 at four corners of the mobile mounting plate 1, and a connecting support component. The support vertical rod 3 is fixedly installed in the middle of the mobile mounting plate 1 with connecting screws, and is made of high-strength carbon fiber material. The support L-shaped rod 4 is composed of two L-shaped horizontal and vertical parts. The lower end of the vertical part is connected to the support vertical rod 3, which can be telescopically adjusted in height. The horizontal part is provided with a telescopic adjustment fixing buckle 5, which can adjust and fix the horizontal telescopic distance. The upper end is rigidly connected to the middle of the support crossbar 6 at a right angle. The main control module is set just above the middle of the support crossbar 6. The main control module includes a power module 7, a synchronization control module 8 and a storage module 9. The power module 7 uses a lithium battery, which is mainly used to power the camera, the gimbal, the GNSS and the synchronization control module 8. The synchronization control module 8 controls the camera to take pictures through instructions while triggering the recording of instantaneous GNSS RTK data and the photo timestamp. The synchronization information such as the photo timestamp is stored in the storage module 9. The two ends of the support crossbar 6 are provided with a second telescopic adjustment buckle 10, which can adjust and fix the telescopic distance of the two ends. The length scale is set on the support crossbar 6. The horizontal distance between the left and right telescopic arms of the support crossbar 6 and the center point can be directly read through the position of the second telescopic adjustment buckle 10. A GNSS receiving antenna 11 is fixedly installed on the upper part of the two ends of the support crossbar 6. The GNSS receiving antenna is a light and small board card, and has the functions of real-time dynamic differential measurement (RTK) and dynamic post-processing differential measurement (PPK). It can perform RTK positioning and acquisition in real time while continuously recording GNSS sampling data. The sampling frequency is above 20Hz, ensuring that the positioning data can be obtained in real time when the communication signal with the base station is good. When the communication signal with the base station is not good, the post-differential processing and solution of the mobile station GNSS sampling data and the base station data can also achieve centimeter-level positioning accuracy. An image acquisition module 12 is fixedly installed on the lower part of the two ends of the support crossbar 6. The image acquisition module is a high-definition camera with a pan-tilt. The pan-tilt camera is connected to the support crossbar 6 through a bow-shaped connecting rod 13. The lower part of the bow-shaped connecting rod 13 is connected to the camera support frame 15 through the first small pan-tilt 14, and the support frame 15 can rotate around the horizontal axis through the adjustment of the first small pan-tilt 14. The high-definition camera 17 is connected to the camera support frame 15 through the second small pan-tilt 16. Through the adjustment of the second small pan-tilt 16, the high-definition camera 17 can rotate around the horizontal axis to adjust the downward shooting angle. The high-definition camera 17 is a high-definition light and small lens with a pixel better than 20 million. The body of the high-definition camera 17 can be installed with a memory card, has an independent storage function, and directly stores the captured images, and the camera center and the measurement center of the GNSS receiving antenna are located on the same plumb line.

[0062] This embodiment adopts the positioning surveying and mapping method of the present invention, which specifically includes the following steps:

[0063] Step 1: Install the mobile integrated device on a mobile car, bicycle or use manual mobile shooting, and flexibly choose according to different shooting scenes and conditions. If the main purpose is to collect data on the auxiliary road, it is preferred to use a mobile bicycle or directly use manual shooting. Before the operation, set up a GNSS base station at a known point near the survey area. While the base station continues to transmit signals, set the base station to synchronously collect static GNSS data, and the sampling interval is set to 1 second. Before shooting, calculate the shooting parameters, set the image acquisition strategy and design the shooting route according to the survey area conditions and equipment characteristics. Using this mobile integrated device, a serpentine route is used to move and collect images along the ground. Image acquisition ensures that the image overlap along the direction of movement is 80% and the lateral overlap between adjacent routes is 60%. According to the camera parameters and shooting height, the shooting spacing L1 along the direction of movement and the spacing L2 between adjacent shooting routes can be calculated.

[0064]

[0065]

[0066] In the above formula: μ is the pixel width of the camera imaging element, H is the height of the camera from the ground during shooting, f is the focal length of the camera, α is the side angle of view of the camera (vertically downward is 0), and Width and Height are the pixel width and height of the camera. According to the length of the spacing L2, the telescopic length of both sides of the crossbar can be adjusted to ensure the lateral overlap when taking pictures. For example, in this embodiment, the pixel width of the camera imaging element is 0.0024mm, the design shooting height is 3m, the camera focal length is 8mm, the side angle of view of the camera is set to 30°, and the pixel width and height of the camera are 4000 and 6000 respectively. Based on this, it can be calculated that the shooting spacing L1 along the direction of movement is 1.2m, and the spacing L2 between adjacent shooting routes is 1.7m. Use the management APP to set the camera to shoot at a fixed distance, with a shooting spacing of 1.2m. When moving along the shooting route, the camera automatically shoots according to the interval. After shooting a route, move to the side about 1.7m to shoot the next route until the shooting range covers all areas to be measured.

[0067] Step 2: After the image acquisition is completed, the images are sorted according to the shooting area, and the coordinates of the principal points are solved. The base station GNSS observation data and the mobile terminal GNSS sampling data are used for RTK and PPK fusion solution to solve the accurate coordinate value of the principal point at the time of shooting as the initial value of the image triangulation calculation. According to the partition establishment project, image matching, regional network adjustment and other processing are carried out. Based on the results of the triangulation calculation, dense point cloud matching, three-dimensional TIN grid construction, white body three-dimensional model creation, automatic texture mapping and three-dimensional scene construction are carried out to obtain a high-resolution real-scene three-dimensional model of the ground of the pipeline measurement area.

[0068] Step 3: In a survey area unit, select a pre-arranged topological control point in the middle of the model as the calibration base point to calibrate the absolute positioning accuracy of the model. After calibration, select topological control points in other areas of the survey area for inspection. After the inspection accuracy meets the requirements of relevant specifications, the obvious pipeline points can be located. Based on the calibrated ground three-dimensional model, the three-dimensional coordinates of the ground mark of the pipeline point can be directly obtained using the three-dimensional mapping system to obtain its plane position and elevation.

[0069] In this embodiment, the average ground image resolution GSD can be calculated by the following formula:

[0070]

[0071] From the above formula, it can be obtained that the average resolution of the image is 1.1mm, which is a very high resolution. The error in the matching of the existing image matching algorithm can easily reach the sub-pixel accuracy. According to the statistical experience of 3D modeling, the relative accuracy of the general 3D model is about three times the image resolution, that is, in this embodiment, the relative accuracy of the 3D model is about 3.3mm. After the absolute accuracy correction of the known basic points in the survey area, the positioning accuracy of the 3D model points can fully meet the accuracy requirements of the error in the measurement of pipeline feature points (the measurement accuracy of underground pipeline points: the error in the plane position relative to the adjacent control point shall not be greater than ±5cm, and the error in the elevation measurement relative to the adjacent control point shall not be greater than ±3cm).

[0072] Figure 3 This is a screenshot of a high-precision real-scene three-dimensional model of a ground pipeline point obtained by positioning and mapping using the method of the present invention. The existing conventional method mainly uses a total station to measure the coordinates of the pipeline point, which cannot generate a high-precision three-dimensional model of the ground surface. Figure 3 It can be seen that the present invention can obtain a high-precision real-life three-dimensional model of ground pipeline points and perform measurements on it; the method of the present invention is used for positioning and mapping, the model resolution is high, and the pipeline point markings are clearly identifiable. In this embodiment, the device and method of the present invention are used to collect high-definition images of the surface, and one person can complete the high-definition image collection of an urban road with a length of about 1 kilometer in one day, while the traditional total station measurement method requires about four people and two days to complete the field data collection of pipeline points on this section of road. The method of the present invention greatly reduces the complexity and intensity of field work, improves the efficiency of data collection, and reduces the cost of field equipment and personnel as well as safety risks.

[0073] The present invention has been described in detail above in conjunction with specific implementation methods. For those skilled in the art, they can still modify the aforementioned technical solutions, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the design ideas and principles of the present invention should be included in the protection scope of the present invention.

[0074] Other parts not described belong to the prior art.

Claims

1. A positioning and mapping method for a high-precision underground pipeline obvious point positioning and mapping device, characterized in that: The high-precision underground pipeline obvious point positioning and mapping device includes an image acquisition module, a GNSS positioning module, a main control module and an integrated mobile device; The image acquisition module, GNSS positioning module and main control module are all located on the integrated mobile device; The main control module comprises a power supply module (7), a synchronization control module (8) and a data storage module (9); The power module (7) is connected to the image acquisition module and the GNSS positioning module respectively; The synchronization control module (8) is connected to the image acquisition module and the GNSS positioning module respectively; The data storage module (9) is connected to the image acquisition module and the GNSS positioning module respectively; The integrated mobile device comprises a mobile mounting plate (1) and a connecting support component; The connecting support component is mounted on the movable mounting plate (1); The image acquisition module is installed at the lower end of the connecting support component; the GNSS positioning module is installed at the upper end of the connecting support component and is located directly above the image acquisition module; The power module (7), the synchronous control module (8) and the data storage module (9) are all arranged on the connecting support component; Second telescopic fixing buckles (10) are provided at both ends of the supporting crossbar (6); Both ends of the supporting cross bar (6) are movably connected to the second telescopic fixing buckle (10) respectively; Image acquisition modules are arranged at both ends of the supporting crossbar (6); Two groups of pan-tilt camera modules (12) are respectively fixed at two ends of the supporting crossbar (6); a GNSS receiving antenna (11) is fixedly installed directly above the pan-tilt camera module (12); and a GNSS measurement center of the GNSS receiving antenna (11) and a camera center of the pan-tilt camera module (12) are located on the same plumb line; The positioning and mapping method comprises the following steps: Step 1: Image acquisition; Use ground-based high-definition image acquisition equipment to collect images by moving along the ground in a serpentine route; Step 2: Arrange the images according to the shooting area, calculate the coordinates of the principal points of the images, and reconstruct a high-precision 3D model of the surface; Utilize the GNSS observation data from the base station and the GNSS sampling data from the mobile terminal to perform RTK and PPK fusion solutions, and solve the accurate coordinate values ​​of the image principal points at the time of shooting as the initial values ​​for the image triangulation calculation; perform image matching and regional network adjustment processing according to the partition establishment project, and perform dense point cloud matching, 3D TIN grid construction, white body 3D model creation, automatic texture mapping, and 3D scene construction processing based on the results of the triangulation calculation; Step 3: Perform absolute calibration of the 3D model and measurement of pipeline point coordinates and elevation; In a survey area unit, select a pre-arranged topological control point in the middle of the model as the calibration base point to calibrate the absolute positioning accuracy of the model; After correction, the basic control points in other areas are selected for inspection. After the inspection accuracy meets the requirements of relevant specifications, the obvious points of the pipeline can be located. Based on the corrected ground three-dimensional model, the three-dimensional mapping system is used to directly obtain the three-dimensional coordinates of the ground markers of the pipeline points, and the plane position and elevation of the ground markers of the pipeline points are obtained.

2. The positioning and mapping method of the high-precision underground pipeline obvious point positioning and mapping device according to claim 1 is characterized in that: The connecting support component comprises a supporting vertical rod (3), a supporting L-shaped rod (4) and a supporting cross rod (6); the supporting vertical rod (3) is mounted on the movable mounting plate (1); the supporting cross rod (6) is mounted on the supporting vertical rod (3) via the supporting L-shaped rod (4); the image acquisition module is mounted on the lower end of the supporting cross rod (6); and the GNSS positioning module is mounted on the upper end of the supporting cross rod (6) and is located directly above the image acquisition module; The horizontal rod supporting the L-shaped rod (4) is vertically fixedly connected to the middle of the supporting cross rod (6); The vertical rod supporting the L-shaped rod (4) is connected to the supporting vertical rod (3).

3. The positioning and mapping method of the high-precision underground pipeline obvious point positioning and mapping device according to claim 1 or 2, characterized in that: The supporting cross bar (6) is provided with scale lines.

4. The positioning and mapping method of the high-precision underground pipeline obvious point positioning and mapping device according to claim 3 is characterized by: The power supply module (7), the synchronous control module (8) and the data storage module (9) are all arranged at the upper middle end of the supporting crossbar (6).

5. The positioning and mapping method of the high-precision underground pipeline obvious point positioning and mapping device according to claim 4 is characterized in that: The image acquisition module uses a pan-tilt camera module (12); a memory card is installed in the camera body of the pan-tilt camera module (12) and has an independent storage function; The camera is connected to the gimbal; The power module (7) uses a lithium battery; The synchronization control module (8) selects a time synchronization control module; The GNSS positioning module uses a GNSS receiving antenna (11); the sampling frequency of the GNSS receiving antenna (11) is above 20 Hz; The synchronous control module (8) sets a timing or a fixed distance to automatically take photos.

6. The positioning and mapping method of the high-precision underground pipeline obvious point positioning and mapping device according to claim 1 is characterized by: The pan-tilt camera module (12) comprises a bow-shaped connecting rod (13), a first small pan-tilt (14), a supporting frame (15), a second small pan-tilt (16) and a high-definition camera (17); the first small pan-tilt (14) is fixed to the lower end of the supporting crossbar (6) via the bow-shaped connecting rod (13); The lower part of the bow-shaped connecting rod (13) is connected to the camera support frame (15) via a first small pan head (14); and the high-definition camera (17) is connected to the camera support frame (15) via a second small pan head (16).

7. The positioning and mapping method of the high-precision underground pipeline obvious point positioning and mapping device according to claim 6 is characterized by: The connecting support component also includes a first telescopic fixing buckle (5); the first telescopic fixing buckle (5) is installed on the horizontal rod supporting the L-shaped rod (4); A plurality of fixed installation holes (2) are arranged on the movable installation plate (1).

8. The positioning and mapping method of the high-precision underground pipeline obvious point positioning and mapping device according to claim 1 is characterized by: In step 1, the image acquisition ensures that the image overlap along the direction of movement is greater than or equal to 80%, and the lateral overlap between adjacent routes is greater than or equal to 60%; According to the parameters of the high-definition camera (17) and the photographing height, the photographing interval L1 along the moving direction and the interval L2 between the photographing routes can be calculated; In the above formula: μ is the pixel width of the camera imaging element, H is the height of the camera from the ground when shooting, f is the focal length of the camera, Width and Height are the pixel width and height of the camera.

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