Contact type underground drainage pipe positioning and measuring device and measuring method

Abstract

The present invention discloses a contact type underground drainage pipeline positioning and measuring device and a measuring method. The device is applied inside an underground drainage pipeline and includes a detection component, a main machine, and a driving mechanism. Among them, the detection component is arranged inside the underground drainage pipeline and is in contact with the inner wall of the underground drainage pipeline; the main machine is connected to the detection component; the driving mechanism is connected to the main machine and is used to drive the main machine and drive the detection component to move from the measurement starting point of the underground drainage pipeline to the measurement ending point of the underground drainage pipeline; the detection component is used to detect the variable speed information of the inner wall of the underground drainage pipeline in contact therewith; the main machine is used to receive and store the variable speed information. The present invention can directly detect and record the change conditions of the inner wall of the underground drainage pipeline, and realize the precise positioning detection of the underground drainage pipeline.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering surveying, and particularly to a contact type underground drainage pipeline positioning and measuring device and a measuring method. Background Art

[0002] The main function of the underground drainage pipeline is to collect and transport rainwater or sewage and transfer it to corresponding treatment facilities such as sewage treatment plants. In urban and rural water affairs and environmental protection projects, the construction and renewal of underground drainage pipelines are often involved. It is necessary to position and measure the constructed pipelines or the pipelines to be repaired and renewed to form accurate two-dimensional plane coordinate data of the pipelines and three-dimensional coordinate data of the underground space, so as to provide a basic data base for construction and renewal projects, pipeline maintenance, urban and rural pipeline file management, digital twin construction, etc.

[0003] Currently, there are three common types of methods for positioning and measuring underground drainage pipelines: inertial navigation type, graphics type, and geophysical exploration type. Among them, the inertial navigation type means using a three-dimensional inertial navigation device to traverse in the pipeline. During the process, the spatio-temporal change data of the device is recorded as three-dimensional trajectory data, and then positioning and measuring data can be formed through processing in software. The advantage of the inertial navigation type method is that the three-dimensional trajectory can quickly form positioning and measuring data with only a small amount of processing such as impurity removal and fitting. The graphics type means using a pipeline crawler equipped with a camera or lidar to travel in the pipeline. The internal information of the pipeline during the process is recorded in the form of photos, videos, or three-dimensional point clouds, and then a three-dimensional model can be formed through processing in software, and then converted into measuring data. The advantage of the graphics type method is that the acquisition results are intuitive and visible, and the data is easy to obtain because it is widely used in the field of drainage pipelines. The geophysical exploration type means using geophysical exploration equipment such as ground penetrating radar or pipeline detectors to move on the ground surface to collect readings, and then the software processes and inversely calculates the two-dimensional positioning and measuring data of the underground pipeline and the pipeline burial depth. The advantage of the geophysical exploration type method is that there is no need to enter the well and the pipeline, saving a large amount of comprehensive costs for pipeline pretreatment.

[0004] However, due to the differences in working principles, application scopes, and working environments of existing various technologies, there are limitations in the application of a single technology. Specifically, the inertial navigation type method is limited in that the formed positioning and measuring data only records the three-dimensional trajectory of the device itself, and the data cannot reflect the changes in the inner wall of the pipeline. The graphics type method is limited in that it cannot directly record the positioning and measuring data inside the pipeline, and the time, personnel, and technical cost inputs for software post-processing are relatively large. The geophysical exploration type method is limited in that it has requirements for conditions such as pipeline burial depth, pipeline material, and surface complexity, and cannot record the internal data of the pipeline. Moreover, when multiple types of technologies are used in combination, they are often restricted by application costs, and occasionally there will be difficult-to-coordinate data conflict problems. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems in the related art to some extent. To this end, the first object of the present invention is to provide a contact type underground drainage pipe positioning and measuring device to directly detect and record the changes in the inner wall of the underground drainage pipe, so as to achieve precise positioning detection of the underground drainage pipe.

[0006] The second object of the present invention is to provide a contact type underground drainage pipe positioning and measuring method.

[0007] To achieve the above object, the present invention is realized through the following technical solutions:

[0008] A contact type underground drainage pipe positioning and measuring device, comprising:

[0009] A detection component 10, which is arranged in the underground drainage pipe and is in contact with the inner wall of the underground drainage pipe;

[0010] A host 20, the host 20 is connected to the detection component 10;

[0011] A driving mechanism, which is connected to the host 20 and is used to drive the host 20 and drive the detection component 10 to move from the measurement starting point of the underground drainage pipe to the measurement ending point of the underground drainage pipe;

[0012] The detection component 10 is used to detect the variable speed information of the pipe wall of the underground drainage pipe in contact with it; the host 20 is used to receive and store the variable speed information.

[0013] Optionally, the detection component 10 includes:

[0014] A plurality of probes 11, the probes 11 are in contact with the inner pipe wall of the underground drainage pipe and are circumferentially spaced along the inner pipe wall of the underground drainage pipe, and each probe 11 is used to detect the variable speed information of the corresponding set position;

[0015] An adjusting component 12;

[0016] A plurality of connecting rods 13, one end of each connecting rod 13 is connected to the corresponding probe 11, the other end of each connecting rod 13 is arranged on the adjusting component 12, the connecting rods 13 are circumferentially spaced along the adjusting component 12, and the adjusting component 12 is used to adjust the position of each connecting rod 13 according to the pipe diameter of the underground drainage pipe, and then adjust and fix each probe 11 so that each probe 11 is in contact with the pipe wall.

[0017] Optionally, a triaxial accelerometer is provided inside each of the probes 11. The triaxial accelerometer is used to detect the variable speed information at the corresponding positions on the wall of the underground drainage pipe. The outer shells of the probes 11 and the connecting rods 13 are made of ABS material. A waterproof layer is provided on the surface of the outer shell of the connecting rod 13. A cable is further provided inside each of the connecting rods 13. Each cable is used to connect the triaxial accelerometer to the host 20.

[0018] Optionally, the adjusting member 12 includes:

[0019] An adjustment actuator 121, connected to the connecting rod 13, for adjusting the set positions of the respective connecting rods 13;

[0020] A drive motor 122, connected to the adjustment actuator 121. The drive motor 122 is used to drive the adjustment actuator 121 according to the received set position adjustment instruction.

[0021] Optionally, the device further includes: a buffer section 30. One end of the buffer section 30 is connected to the detection assembly 10, and the other end is connected to the host 20;

[0022] The buffer section 30 includes a pull rod and a spring. The pull rod is provided on the adjusting member 12. One end of the spring is connected to the pull rod, and the other end of the spring is connected to the host 20. One end of each cable passes through the pull rod, the adjusting member 12 and the connecting rod 13 and is connected to the corresponding probe 11, and the other end is connected to the host 20.

[0023] Optionally, the host 20 includes:

[0024] A main board 21, respectively connected to the drive motor 122 and the probe 11. The main board 21 is used to send the set position adjustment instruction through the cable and receive the variable speed information fed back by the probe 11;

[0025] The main board 21 includes a memory and an external interface. The memory is used to store the variable speed information, and the external interface is used to connect to an external auxiliary detection device;

[0026] A power supply 22, used to supply power to the probe 11, the drive motor 122 and the main board 21 respectively.

[0027] Optionally, the external auxiliary detection device includes at least one of a pipeline crawler, a pipeline three-dimensional inertial navigation measuring instrument and a pipeline sonar.

[0028] Optionally, the outer shell of the probe 11 is in a semi-circular arc shape, and the surface of the outer shell is wrapped with a silicone sleeve; a waterproof cover made of silicone material is provided outside the buffer section 30.

[0029] To achieve the above object, a second aspect of the present invention provides a contact type underground drainage pipe positioning and measuring method, including:

[0030] Obtain the variable speed information of the corresponding setting positions of each probe, and perform data preprocessing on the variable speed information;

[0031] Perform weighted averaging on the variable speed information of the corresponding setting positions of each probe after data preprocessing to obtain the central variable speed process data of the contact type underground drainage pipe positioning and measuring device;

[0032] Obtain the average diameter of the underground drainage pipe and the movement speed of the driving mechanism, and determine the overall length of the underground drainage pipe and the central three-dimensional trajectory data of the device according to the central variable speed process data of the device, the average diameter of the underground drainage pipe, and the movement speed;

[0033] Determine the point position data of each probe according to the variable speed information, the movement speed, the overall length of the underground drainage pipe, and the central three-dimensional trajectory data of the device at the corresponding setting positions of each probe, and determine the three-dimensional trajectory data of the corresponding setting positions of each probe according to the point position data of each probe.

[0034] Optionally, when the contact type underground drainage pipe positioning and measuring device is externally connected to a pipeline crawler, the method further includes:

[0035] Obtain the image data collected by the pipeline crawler, perform three-dimensional image processing on the image data to obtain point cloud data, and form a point cloud;

[0036] Import the three-dimensional trajectory data of the corresponding setting positions of each probe into the point cloud for data processing to obtain a visualized three-dimensional pipeline model.

[0037] The present invention has at least the following technical effects:

[0038] (1) When the underground drainage pipe positioning and measuring device in the present invention is measuring, directly abut multiple probes in the detection component against different positions on the inner wall of the underground drainage pipe, can directly detect and record the change situation of the inner wall of the underground drainage pipe, and through multi-position detection, can achieve precise positioning detection of the underground drainage pipe, and by setting a buffer section, can slow down the jitter of the probe caused by the influence of foreign objects or deformation in the pipeline on the host side, so as to effectively improve the accuracy of the positioning detection of the underground drainage pipe.

[0039] (2) By setting the adjusting component, the present invention can adjust the static position of the connecting rod, so that the device can adapt to pipelines with different diameters and can play a role in gathering the cable.

[0040] (3) The usage of the underground drainage pipe positioning and measuring device in the present invention is simple and flexible. It can work alone by traction / propulsion. Additionally, it can be connected to external auxiliary detection devices, such as pipe crawlers, three-dimensional inertial navigation measuring instruments for pipes, and pipe sonars, to realize the combined use of external auxiliary detection devices, facilitating the visualization processing of variable speed information through external auxiliary detection devices.

[0041] (4) The underground drainage pipe positioning and measuring device in the present invention adopts contact measurement. Compared with the prior art, the corresponding measurement method has a simple data post-processing process, and the data processing effect and accuracy are more controllable. Moreover, the device is small, easy to install and disassemble, and its processing is relatively simple, having good economic practicality.

[0042] (5) By setting a semi-circular probe housing in the present invention, the probe is not easily stuck by rigid objects, thus ensuring that the device can travel smoothly in drainage pipes with various defects such as foreign objects or deformed and misaligned pipe joints.

[0043] (6) By setting an ABS housing, a waterproof layer, and a waterproof cover in the present invention, the device has waterproof performance and is convenient for use in various working conditions such as anhydrous, water-bearing, and full-water pipes.

[0044] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a schematic structural diagram of a contact-type underground drainage pipe positioning and measuring device provided by an embodiment of the present invention;

[0046] Figure 2 is a structural block diagram of an adjustment component provided by an embodiment of the present invention;

[0047] Figure 3 A structural block diagram of a host provided by an embodiment of the present invention;

[0048] Figure 4 is a flowchart of a contact-type underground drainage pipe positioning and measuring method provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0049] The following details the embodiments. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0050] The contact type underground drainage pipe positioning and measuring device and measuring method of this embodiment will be described below with reference to the accompanying drawings.

[0051] Figure 1 The structure diagram of the contact type underground drainage pipe positioning and measuring device provided by an embodiment of the present invention is shown. It should be noted that this device is applied inside the underground drainage pipe, and has no harsh requirements on conditions such as the pipe burial depth, pipe material, and surface complexity, and can directly record the internal data of the pipe.

[0052] As Figure 1 shown, the device includes: a detection component 10, a main unit 20, and a driving mechanism. Among them, the detection component 10 is arranged inside the underground drainage pipe and is in contact with the inner wall of the underground drainage pipe. The detection component 10 is used to detect the variable speed information of the inner wall of the underground drainage pipe in contact with it; the main unit 20 is connected to the detection component 10, and the main unit 20 is used to receive and store the variable speed information; the driving mechanism is connected to the main unit 20 and is used to drive the main unit 20 and drive the detection component 10 to move from the measurement starting point of the underground drainage pipe to the measurement ending point of the underground drainage pipe.

[0053] Specifically, during measurement, the positioning and measurement of the pipeline to be measured can be realized by the traction or propulsion method of the driving mechanism according to the routing length of the pipeline to be measured. For example, when the routing length of the pipeline to be measured is short, the propulsion method can be used for measurement. Among them, the driving mechanism can be a thruster. In this embodiment, the contact type underground drainage pipe positioning and measuring device can be placed in the pipe so that the detection component 10 is in contact with the inner wall of the underground drainage pipe, and then the thruster is started to push the device uniformly from one side of the main unit 20 to drive the detection component 10 to move from the measurement starting point of the underground drainage pipe to the measurement ending point of the underground drainage pipe, and obtain the variable speed information of the inner wall of the underground drainage pipe, and then transmit the variable speed information to the main unit 20 for subsequent data processing.

[0054] When the routing length of the pipeline to be measured is long, the traction method can be used for measurement. Among them, the driving mechanism can be a tractor. In this embodiment, the contact type underground drainage pipe positioning and measuring device can be placed in the pipe so that the detection component 10 is in contact with the inner wall of the underground drainage pipe, and then the main unit 20 is connected to the tractor through a traction line. After that, the tractor is started, and the tractor is used to uniformly traction the device to drive the detection component 10 to move from the measurement starting point of the underground drainage pipe to the measurement ending point of the underground drainage pipe, and obtain the variable speed information of the inner wall of the underground drainage pipe, and then transmit the variable speed information to the main unit 20 for subsequent data processing.

[0055] Please continue to refer to Figure 1, the detection component 10 includes: a plurality of probes 11, an adjustment component 12, and a plurality of connecting rods 13. Among them, the probes 11 are in contact with the inner wall of the underground drainage pipe and are circumferentially spaced along the inner wall of the underground drainage pipe. Each probe 11 is used to detect the variable speed information at the corresponding set position; one end of each connecting rod 13 is connected to the corresponding probe 11, and the other end of each connecting rod 13 is arranged on the adjustment component 12. The connecting rods 13 are circumferentially spaced along the adjustment component 12. The adjustment component 12 is used to adjust the position of each connecting rod 13 according to the diameter of the underground drainage pipe, and then adjust and fix each probe 11 so that each probe 11 remains in contact with the pipe wall.

[0056] In this embodiment, the number of probes 11 can be set to 8 for example, and then they are respectively abutted against the 8 positions of directly above, upper right, directly right, lower right, directly below, lower left, directly left, and upper left on the inner wall of the pipe to collect the variable speed data at the corresponding set positions. When there are 8 probes 11, the number of connecting rods 13 is also 8, and they are connected to each other one by one. The connection method is a fixed connection, such as using a snap connection method for connection. It should be noted that this fixed connection method can also be other methods, and no specific limitation is made here.

[0057] In an embodiment of the present invention, a triaxial accelerometer is fixedly arranged inside each probe 11, and each probe 11 detects the variable speed information at the corresponding position of the inner wall of the underground drainage pipe through the triaxial accelerometer. In addition, the outer shell shape of the probe 11 in this embodiment is a semi-circular arc, that is, the probe 11 is a semi-circular arc body, and the surface of its outer shell is wrapped with a silicone sleeve to improve the insulation performance of the probe 11.

[0058] It should be noted that the outer shells of the probes 11 and the connecting rods 13 in this embodiment are both made of ABS (Acrylonitrile Butadiene Styrene) material. The probes 11 and the connecting rods 13 made of ABS material have stronger hardness and better toughness.

[0059] In this embodiment, a waterproof layer is also provided on the outer surface of the connecting rod 13, and a cable is provided inside each connecting rod 13. The cable includes a communication cable and a power supply cable. For example, after the triaxial accelerometer collects data, the data can be transmitted through the communication cable and transmitted back to the host 20 for storage. By providing a waterproof layer on the outer surface of the connecting rod 13 in this embodiment, it can prevent the accumulated water in the pipe from seeping into the internal cable through the connecting rod 13 and causing a line failure. Thus, the connecting rod 13 in this embodiment has the functions of line protection and waterproofing.

[0060] As Figure 2As shown in the figure, the adjusting component 12 includes an adjusting actuator 121 and a driving motor 122. Among them, the adjusting actuator 121 is connected to each connecting rod 13 arranged at intervals along the circumferential direction of the adjusting component 12, and is used to adjust the setting position of each connecting rod 13. The driving motor 122 is connected to the adjusting actuator 121, and the driving motor 122 is used to drive the adjusting actuator 121 according to the received setting position adjustment instruction, so as to drive the corresponding connecting rod 13 to be adjusted to perform the corresponding setting position adjustment, so as to adapt to various shapes inside the pipe wall, etc.

[0061] Specifically, the adjusting component 12 in this embodiment has an octahedron structure, each of its faces is connected to the corresponding connecting rod 13, and each connecting rod 13 is specifically connected to the adjusting actuator 121 inside the adjusting component 12. In this embodiment, the exterior of the adjusting component 12 is a light steel material shell with an anti-rust coating, and its interior also includes communication cables and power supply cables, and the adjusting actuator 121 and the driving motor 122 are hinged. The adjusting component 12 is used to fix the direction of the probe 11, and by adjusting the static position of the connecting rod 13, the device can adapt to pipes with different diameters. Since the communication cables and power supply cables are arranged inside the adjusting component 12, the adjusting component 12 can also play a role in bundling the cables.

[0062] As an example, after the driving motor 122 receives the control instruction of a certain connecting rod 13, it drives the adjusting actuator 121 to perform the corresponding adjustment action to adjust the setting position of the connecting rod 13. After the position of the connecting rod 13 changes, the position and setting direction of the corresponding probe 11 connected thereto change. When at least one probe 11 is controlled, the device can adapt to pipes with different diameters.

[0063] In this embodiment, the connecting rods 13 are arranged at intervals along the circumferential direction of the adjusting component 12, and the adjusting component 12 can adjust the static position of each connecting rod 13 according to the diameter of the underground drainage pipe, so as to ensure that each probe 11 can abut against the inner pipe wall of the pipe, so that the device can be applicable to pipes with different diameters, and further the device has good universality.

[0064] Please continue to refer to Figure 1 , the device further includes a buffer section 30. One end of the buffer section 30 is connected to the detection component 10, and the other end is connected to the host 20. The buffer section 30 includes a pull rod and a spring. The pull rod is arranged on the adjusting component 12. The pull rod is a light steel pull rod. One end of the spring is connected to the pull rod, and the other end of the spring is semi-fixedly hinged to the host 20. A cable is arranged inside the buffer section 30. One end of the cable passes through the pull rod, the adjusting component 12 and the connecting rod 13 and is connected to the corresponding probe 11, and the other end is connected to the host 20.

[0065] Specifically, since the host 20 or its mounted device side may be jolted and vibrated due to the presence of foreign objects in the pipeline or pipeline deformation, which may cause the detection component 10 to vibrate, resulting in inaccurate positioning measurement results. Therefore, in this embodiment, a buffer section 30 is provided, and specifically, a pull rod and a spring are provided to reduce vibration. For example, when the host 20 or its mounted device side is jolted due to factors such as the presence of foreign objects in the pipeline or pipeline deformation, the stress impact generated by the jolt can be reduced by the spring, thereby reducing the vibration of the detection component 10. Furthermore, it is possible to ensure as much as possible that the variable-speed data collected by the multiple probes 11 comes from the positions of the probes 11 themselves, thereby improving the accuracy of positioning measurement. In addition, when the device needs to be used in combination with other devices, the attitude of the buffer section 30 can also be adjusted to achieve good device fitting and buffering effects.

[0066] Furthermore, a cable is also provided in the buffer section 30, such as a communication cable and a power supply cable. In this embodiment, a waterproof cover made of silica gel is also provided outside the buffer section 30 for waterproof protection of the cable.

[0067] Such as Figure 3 As shown, the host 20 includes: a main board 21 and a power supply 22. Among them, the main board 21 is respectively connected to the drive motor 122 and the probe 11. The main board 21 is used to send a set position adjustment instruction through the cable and receive the variable-speed information fed back by the probe 11. The main board 21 includes a memory and an external interface. The memory is used to store the variable-speed information, and the external interface is used to connect to an external auxiliary detection device. The external auxiliary detection device includes at least one of a pipeline crawler, a pipeline three-dimensional inertial navigation measuring instrument, and a pipeline sonar. In this embodiment, the power supply 22 is respectively used to supply power to the probe 11, the drive motor 122, and the main board 21.

[0068] Specifically, the exterior of the host 20 is an ABS shell, and its interior includes a main board 21 and a power supply 22. As described above, communication cables and power supply cables are provided in the above-mentioned connecting rod 13, adjustment component 12, and buffer section 30. Therefore, the power supply 22 can supply power to the above-mentioned components through the power supply cable to meet their respective power supply requirements. In this embodiment, the host 20 can control the drive motor 122 through the communication cable and receive the data collected by the probe 11 through the communication cable for subsequent storage and processing.

[0069] The main board 21 further includes a memory, an external interface port, and a switch. The memory is used to store the variable-speed information transmitted by the probe 11. The external interface port is used to connect to external auxiliary detection devices, such as pipeline crawlers, pipeline three-dimensional inertial navigation measuring instruments, and pipeline sonars. The switch may include a power-on switch for the main board 21 and a cut-off switch for the external interface port. For example, when there is an external connection requirement, the external interface port is switched to a connectable state to connect the external auxiliary detection device to the main board 21 for combined use. When there is no external connection requirement, the external interface port can be switched to a locked state to cut off the external connection link.

[0070] Specifically, when the device is working, the data collected by the probe 11 can be written into the memory, such as a memory card, through a card reader. If the device needs to be combined with other devices such as pipeline crawlers, pipeline three-dimensional inertial navigation measuring instruments, and pipeline sonars, it can be connected to other external devices through the external interface to realize the real-time transmission of the data collected by the probe 11.

[0071] Next, the usage method of the contact type underground drainage pipeline positioning and measuring device will be described. The contact type underground drainage pipeline positioning and measuring device in this embodiment can be measured by the traction / pushing single device method, or can be measured by connecting to other external auxiliary detection devices.

[0072] First, the device can work independently through traction to achieve rapid positioning and measurement of the drainage pipeline. Specifically, before working, basic information such as the pipe material, pipe diameter, measurement starting well, and ending well position of the drainage pipeline to be measured can be investigated and determined. If it is necessary to convert the measurement results into other coordinate systems, such as the urban coordinate system, methods such as GNSS-RTK (satellite positioning method) can be used to convert the measurement results into the starting and ending coordinates of the work, and then according to the basic pipe diameter information, the adjustment components are adjusted so that all 8 probes are closely attached to the inner wall of the pipeline.

[0073] In this example, when the length of the pipeline to be measured is short, the pushing method can be used.

[0074] Specifically, first enter the measurement starting well, put the device into the pipeline from the probe side, keep the device horizontal, start the device, and then use the pusher to push the device evenly from the host side until the device passes through the pipeline to be measured to the ending well, and then turn off the device. To reduce the accidental error of the data, the same section of the pipeline should be measured 3 times.

[0075] When the length of the pipeline to be measured is long, the traction method can be used. First, lead the traction line from the measurement ending well to the starting well, then connect the host side of the device to the traction line, put the device into the pipeline from the host side, keep the device horizontal, start the device, and use the tractor to evenly traction the device until the device passes through the pipeline to be measured to the ending well, and then turn off the device. To reduce the accidental error of the data, the same section of the pipeline should be measured 3 times.

[0076] Of course, the device can also be used with external auxiliary detection equipment such as a pipeline crawler connected to the device through an external pipeline to achieve rapid visual positioning measurement of the drainage pipeline.

[0077] Specifically, before operation, basic information such as the pipe material, pipe diameter, starting well position, and ending well position of the drainage pipeline to be measured is investigated and determined. When it is necessary to convert the measurement results into other coordinate systems such as the urban coordinate system, methods such as GNSS-RTK can be used to measure and convert them into the starting and ending coordinates of the work.

[0078] Furthermore, the host is connected and fixed to the pipeline crawler through the external port, and then according to the basic pipe diameter information, the adjusting component is adjusted so that the 8 probes of the device are kept on the same pipeline cross-section, so that the probes can all be closely attached to the inner wall of the pipeline.

[0079] In this example, when the length of the pipeline to be measured is short, the propulsion method can be used.

[0080] Specifically, first enter the starting well for measurement, put the pipeline crawler in, keep the device horizontal, start the device, and then start and control the pipeline crawler to move forward at a constant speed. During this process, turn on the timed photo-taking function of the camera of the pipeline crawler until the pipeline crawler crosses the pipeline to be measured and reaches the ending well, and then turn off the pipeline crawler and the device.

[0081] Furthermore, as Figure 4 shown, the present invention also provides a contact type underground drainage pipeline positioning measurement method, including:

[0082] Step S1: Obtain the variable speed information of the corresponding setting positions of each probe, and perform data preprocessing on the variable speed information.

[0083] Specifically, the memory card such as a memory card can be taken out, and the CSV format files of multiple measurements such as 3 times are exported to a dedicated calculation software or other spreadsheet calculation software, and then the 3 measurement data are compared, and data preprocessing operations such as data alignment, deviation elimination, and fitting are performed in sequence.

[0084] Step S2: Perform weighted averaging on the variable speed information of the corresponding setting positions of each probe after data preprocessing to obtain the center variable speed process data of the contact type underground drainage pipeline positioning measurement device.

[0085] Step S3: Obtain the average value of the underground drainage pipeline diameter and the movement speed of the driving mechanism, and determine the overall length of the underground drainage pipeline and the center three-dimensional trajectory data of the device according to the center variable speed process data of the device, the average value of the underground drainage pipeline diameter, and the movement speed.

[0086] Step S4: Determine the point position data of each probe according to the variable speed information, movement speed, overall length of the underground drainage pipeline, and three-dimensional trajectory data of the device center corresponding to the set positions of each probe, and determine the three-dimensional trajectory data of the set positions corresponding to each probe according to the point position data of each probe.

[0087] Specifically, perform weighted averaging on the variable speed information such as the three-axis data of the corresponding set positions collected by 8 probes to calculate the variable speed process data of the device center. Then, according to the average pipe diameter and the movement speed of the driving mechanism such as the propulsion / traction speed parameter data, use the double integral method to solve for the overall length of the underground drainage pipeline and the three-dimensional trajectory data of the device center. Next, according to the variable speed information collected by a single probe, combined with the propulsion / traction speed, the overall length of the underground drainage pipeline, and the three-dimensional trajectory data of the device center, use the double integral method to determine the point position data of the single probe. After completing the data processing of 8 probes in sequence, the three-dimensional trajectory data of 8 pipe walls can be formed.

[0088] As a specific example, the CSV format file in step S1 can be obtained. This CSV format file contains 4 columns of parameters, denoted as x, y, z, and t. Among them, the first three items correspond to the three axial accelerations of the triaxial accelerometer, and t is a constant set sampling time interval. In this example, when the device travels in the pipeline, the direction recorded by x is always the same as the pipeline routing direction, and the directions recorded by y and z are always the horizontal direction and the vertical direction respectively. After the variable speed information recorded in the CSV format file undergoes preprocessing in step S1 and the operations in step S2, the variable speed process data of the device center, that is, the x, y, z, and t of the device center position, can be obtained.

[0089] Furthermore, the average diameter of the underground drainage pipeline and the movement speed of the driving mechanism can be obtained, and then the overall length of the underground drainage pipeline and the three-dimensional trajectory data of the device center are determined according to the variable speed process data of the device center, the average diameter of the underground drainage pipeline, and the movement speed. Among them, the average diameter of the underground drainage pipeline is determined by the investigation and manual measurement before work, and the movement speed of the driving mechanism is read from the operation parameters of auxiliary equipment such as a thruster or a tractor or an externally connected pipeline crawler. In this example, the double integral calculation of each acceleration x recorded by the device along the forward direction within the range of t can be combined with the average diameter of the underground drainage pipeline and the movement speed of the driving mechanism to obtain the displacement list Sx. Among them, each S value represents the pipeline routing displacement of the probe within the sampling time t of this section. Similarly, the horizontal displacement Sy and the vertical displacement Sz are calculated for y and z, and then all Sx values are accumulated to obtain the overall length of the underground drainage pipeline.

[0090] Further, the spatial position of the device at the sampling time t can be determined to obtain the three-dimensional trajectory data of the device center. In this example, the three-dimensional trajectory data of the device center is point cloud data, that is, each point in the point cloud represents the spatial position of the device during the time period t. Specifically, the three-dimensional coordinates of each point are set as (Xn, Yn, Zn), where Xn = Sx t1 + Sx t2 + …… + Sx tn , Yn = Sy t1 + Sy t2 + …… + Sy tn , Zn = Sz t1 + Sz t2 + …… + Sz tn , where tn is the sampling time, and Sx tn , Sy tn , Sz tn are the displacement amounts in the corresponding directions during the time period tn. It can be understood that all points can be connected in sequence with straight lines to obtain a trajectory line, and this trajectory line can represent the center line of the measured pipeline.

[0091] Further, the position data of each probe can be determined, and based on the position data of each probe, the three-dimensional trajectory data of the corresponding installation positions of each probe can be determined. This three-dimensional trajectory data can be used to reflect the changes in the pipe wall at the positions of each probe, and can be used to accurately detect and locate pipeline defects such as pipe wall breakage, foreign objects in the pipeline, or misalignment and deformation of pipe joints.

[0092] When the contact type underground drainage pipeline positioning and measuring device is externally connected to a pipeline crawler, the method further includes: acquiring the image data collected by the pipeline crawler, performing three-dimensional image processing on the image data to obtain point cloud data, and forming a point cloud; importing the three-dimensional trajectory data of the corresponding installation positions of each probe into the point cloud for data processing to obtain a visualized three-dimensional pipeline model.

[0093] Specifically, the photos collected by the pipeline crawler camera can be imported into three-dimensional reconstruction software for three-dimensional image processing, processed to form point cloud data in CSV format, and form a point cloud. Then, the three-dimensional trajectory data is imported into this point cloud for filtering, fitting processing, and further meshing and texturing to obtain a visualized three-dimensional pipeline model.

[0094] In summary, when the underground drainage pipe positioning and measuring device of the present invention is in measurement, multiple probes in the detection component are directly abutted against different positions on the inner wall of the underground drainage pipe, which can directly detect and record the changes on the inner wall of the underground drainage pipe. And through multi-position detection, accurate positioning detection of the underground drainage pipe can be realized. In addition, by setting a buffer section, the jitter of the probe caused by the influence of foreign objects or deformation in the pipe on the host side can be reduced, so as to effectively improve the accuracy of the positioning detection of the underground drainage pipe. The underground drainage pipe positioning and measuring device of the present invention can adjust the static position of the connecting rod by setting an adjusting component, so that the device can adapt to pipes with different diameters and can play a role in bundling cables. In addition, the underground drainage pipe positioning and measuring device of the present invention has a simple and flexible usage mode. It can work with a single device by traction / pushing. And an external connection port is also provided on the host. It is connected to external auxiliary detection devices through the external connection port, such as a pipeline crawler, a pipeline three-dimensional inertial navigation measuring instrument, and a pipeline sonar, to realize the combined use of external auxiliary detection devices, so as to facilitate the visualization processing of variable speed information through the external auxiliary detection devices. Moreover, the underground drainage pipe positioning and measuring device of the present invention adopts contact measurement. Compared with the prior art, the data post-processing process of its corresponding measurement method is simple, and the data processing effect and accuracy are more controllable. And the device is small, easy to install and disassemble, and its processing is relatively simple, with good economic practicability. And, by setting a semi-circular probe housing, the probe is not easily stuck by rigid objects, so as to ensure that the device can travel smoothly in a drainage pipe with various defects such as foreign objects or misalignment of pipe joints. And the present invention has waterproof performance by setting an ABS housing, a waterproof layer and a waterproof cover, and is convenient for the use of the pipeline under various working conditions such as anhydrous, with water and full of water.

[0095] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0096] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be recognized that the above description should not be construed as a limitation of the present invention. After those skilled in the art have read the above content, various modifications and alternatives to the present invention will be obvious. Therefore, the protection scope of the present invention shall be defined by the appended claims.

Claims

1. A contact type underground drainage pipe positioning and measuring device, which is applied inside an underground drainage pipe. It is characterized in that it includes: A detection component (10), which is arranged inside the underground drainage pipe and is in contact with the inner wall of the underground drainage pipe; A main unit (20), the main unit (20) is connected to the detection component (10); A driving mechanism, which is connected to the main unit (20) and is used to drive the main unit (20) and drive the detection component (10) to move from the measurement starting point of the underground drainage pipe to the measurement ending point of the underground drainage pipe; The detection component (10) is used to detect the variable speed information of the wall of the underground drainage pipe in contact with it; The main unit (20) is used to receive and store the variable speed information; The detection component (10) includes: A plurality of probes (11), the probes (11) are in contact with the inner wall of the underground drainage pipe and are circumferentially spaced along the inner wall of the underground drainage pipe. Each probe (11) is used to detect the variable speed information at the corresponding set position; An adjusting component (12); A plurality of connecting rods (13), one end of each connecting rod (13) is connected to the corresponding probe (11), and the other end of each connecting rod (13) is arranged on the adjusting component (12). The connecting rods (13) are circumferentially spaced along the adjusting component (12). The adjusting component (12) is used to adjust the position of each connecting rod (13) according to the diameter of the underground drainage pipe, and then adjust and fix each probe (11) so that each probe (11) remains in contact with the pipe wall. Inside each probe (11), there is a three-axis accelerometer, and the three-axis accelerometer is used to detect the variable speed information at the corresponding position of the wall of the underground drainage pipe; the outer shells of the probes (11) and the connecting rods (13) are made of ABS material, and the surface of the outer shell of the connecting rod (13) is provided with a waterproof layer. Inside each connecting rod (13), there is also a cable, and each cable is used to connect the three-axis accelerometer to the main unit (20). The adjusting component (12) includes: An adjusting actuator (121), which is connected to the connecting rod (13) and is used to adjust the set positions of the respective connecting rods (13); A driving motor (122), which is connected to the adjusting actuator (121), and the driving motor (122) is used to drive the adjusting actuator (121) according to the received set position adjustment instruction.

2. The contact type underground drainage pipe positioning and measuring device according to claim 1, it is characterized in that it further includes: A buffer section (30), one end of the buffer section (30) is connected to the detection component (10), and the other end is connected to the main unit (20); The buffer section (30) includes a pull rod and a spring. The pull rod is arranged on the adjusting member (12). One end of the spring is connected to the pull rod, and the other end of the spring is connected to the main machine (20). One end of each cable penetrates through the pull rod, the adjusting member (12) and the connecting rod (13) to be connected to the corresponding probe (11), and the other end thereof is connected to the main machine (20).

3. The contact type underground drainage pipe positioning and measuring device according to claim 2, characterized in that the main machine (20) includes: a main board (21), which is respectively connected to the driving motor (122) and the probe (11). The main board (21) is used to send the setting position adjustment instruction through the cable and receive the speed change information fed back by the probe (11); the main board (21) includes a memory and an external interface. The memory is used to store the speed change information, and the external interface is used to connect an external auxiliary detection device; a power supply (22), which is used to supply power to the probe (11), the driving motor (122) and the main board (21) respectively.

4. The contact type underground drainage pipe positioning and measuring device according to claim 3, characterized in that the external auxiliary detection device includes at least one of a pipeline crawler, a pipeline three-dimensional inertial navigation measuring instrument and a pipeline sonar.

5. The contact type underground drainage pipe positioning and measuring device according to claim 2, characterized in that the outer shell of the probe (11) is in a semi-circular arc shape, and the surface of the outer shell is wrapped with a silica gel sleeve; a waterproof cover made of silica gel is arranged outside the buffer section (30).

6. The contact type underground drainage pipe positioning and measuring method based on the contact type underground drainage pipe positioning and measuring device according to any one of claims 2-5, characterized in that it includes: acquiring the speed change information of the corresponding setting positions of each probe, and performing data preprocessing on the speed change information; performing weighted averaging on the speed change information of the corresponding setting positions of each probe after data preprocessing to obtain the center speed change process data of the contact type underground drainage pipe positioning and measuring device; acquiring the average value of the underground drainage pipe diameter and the movement speed of the driving mechanism, and determining the overall length of the underground drainage pipe and the center three-dimensional trajectory data of the device according to the center speed change process data of the device, the average value of the underground drainage pipe diameter and the movement speed, wherein the average value of the underground drainage pipe diameter is determined by the investigation and manual measurement before work; determining the point position data of each probe according to the speed change information, the movement speed, the overall length of the underground drainage pipe and the center three-dimensional trajectory data of the device corresponding to the setting positions of each probe, and determining the three-dimensional trajectory data of the corresponding setting positions of each probe according to the point position data of each probe.

7. The contact type underground drainage pipe positioning and measuring method according to claim 6, characterized in that when the contact type underground drainage pipe positioning and measuring device is externally connected to a pipeline crawler, the method further includes: acquiring the image data collected by the pipeline crawler, performing three-dimensional image processing on the image data to obtain point cloud data, and forming a point cloud; Import the three-dimensional trajectory data at the corresponding set positions of each probe into the point cloud for data processing to obtain a visualized three-dimensional pipeline model.

Images