An urban underground space intelligent surveying and mapping method, system, device and storage medium

Abstract

The application relates to an urban underground space intelligent surveying and mapping method, system and device and a storage medium, relates to the technical field of urban surveying and mapping, and comprises the following steps: acquiring pipeline information in a target region range, wherein the pipeline information comprises a pipe opening position and a pipeline route; according to the pipeline information in the target region range, analyzing and acquiring surveying and mapping routes for completing surveying and mapping of all pipeline routes and distances of different surveying and mapping routes; according to the distances of different surveying and mapping routes and a moving speed of a pipeline surveying and mapping device, analyzing and acquiring a surveying and mapping route with the shortest time consumption as a surveying and mapping route adopted by the pipeline surveying and mapping device this time; instructing the pipeline surveying and mapping device to survey along the surveying and mapping route adopted this time, and automatically retracting a cable after surveying is completed. The application has the effect of reducing the surveying and mapping time consumption of urban underground pipelines.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of urban surveying and mapping, in particular to an urban underground space intelligent surveying and mapping method, system, device and storage medium. BACKGROUND

[0002] With the development of urban construction, the types and quantities of urban underground pipelines are increasing, and the pipelines are applied to important infrastructures such as water supply, drainage, gas, heat, power, communication and industry, forming a complex pipeline network system in the city. When laying new pipelines, the staff needs to detect the old pipelines to reduce the impact on the original pipeline network system.

[0003] The existing pipeline surveying and mapping equipment includes a pipeline surveying and mapping robot, which can facilitate the staff to survey and map the pipeline that is difficult to enter. The pipeline surveying and mapping robot is usually connected to a cable car on the bottom surface by a cable for power supply, and the cable can transmit control data and surveying and mapping data. After the surveying and mapping of a single pipe opening is completed, the staff can transfer the pipeline surveying and mapping robot to other pipe openings for subsequent measurement.

[0004] In the surveying and mapping process, the pipeline surveying and mapping robot is controlled by the user to travel in the pipeline. Since the length of the cable is limited, the robot needs to return to the starting position according to the surveying and mapping route after completing a single surveying and mapping, and the staff needs to wait for the robot to return for subsequent surveying and mapping, which prolongs the surveying and mapping period and causes inconvenience. SUMMARY

[0005] In order to reduce the surveying and mapping time of urban underground pipelines, the present application provides an urban underground space intelligent surveying and mapping method, system, device and storage medium.

[0006] In the first aspect, the present application provides an urban underground space intelligent surveying and mapping method, which adopts the following technical scheme:

[0007] An urban underground space intelligent surveying and mapping method includes obtaining pipeline information in a target area range, the pipeline information including pipe opening positions and pipeline routes;

[0008] According to the pipeline information in the target area range, analyze and obtain the surveying and mapping route for completing all pipeline route surveying and mapping and the distances of different surveying and mapping routes;

[0009] According to the distances of different surveying and mapping routes and the moving speed of the pipeline surveying and mapping equipment, analyze and obtain the surveying and mapping route with the shortest time consumption as the surveying and mapping route adopted by the pipeline surveying and mapping equipment this time;

[0010] Indicate the pipeline surveying and mapping equipment to survey along the surveying and mapping route adopted this time, and automatically retract the cable after the surveying and mapping is completed.

[0011] By adopting the technical scheme, when mapping the pipelines in the target area, the known pipeline routes and pipe opening positions can be used to design mapping routes for collecting pipeline depth, pipeline slope and other data, and the mapping route with the shortest time consumption can be obtained by time consumption calculation of each mapping route, and the device itself can be retracted after mapping is completed, which reduces the time consumption of the device returning to collect the cable, thereby reducing the mapping time consumption of urban underground pipelines.

[0012] Optionally, the mapping route with the shortest time consumption is obtained as the mapping route used by the pipeline mapping device this time, including:

[0013] obtaining the road surface conditions of the road sections included in the mapping routes and the lengths of the road sections;

[0014] obtaining the time consumption of different mapping routes according to the corresponding relationship between the road surface conditions and the moving speed of the pipeline mapping device and the lengths of the road sections, and selecting the mapping route with the shortest time consumption as the mapping route used by the pipeline mapping device this time.

[0015] By adopting the technical scheme, since the pipelines are laid under the road surface at a certain depth, and in order to save costs, the depth of the pipelines is within a certain range, the pipeline slope along the road direction under the road surface can be predicted according to the slope of the road surface, and the moving speed of the device is different when the device moves upward or downward along the pipeline slope, thereby improving the accuracy of the time consumption calculation of the mapping route and more accurately selecting the route with the shortest time consumption.

[0016] Optionally, the mapping route with the shortest time consumption is obtained as the mapping route used by the pipeline mapping device this time, including:

[0017] obtaining the maximum moving distance of the pipeline mapping device;

[0018] determining whether the distance of the mapping route exists and is less than the maximum moving distance of the pipeline mapping device;

[0019] if yes, then the corresponding part of the mapping route with the shortest time consumption is obtained according to the distance of the corresponding part of the mapping route and the moving speed of the pipeline mapping device;

[0020] if no, then the maximum moving range of the pipeline mapping device on the remaining part of the mapping route and the pipe opening positions corresponding to the remaining part of the mapping route are obtained, and it is defined that there are multiple pipe openings.

[0021] the remaining part of the mapping route combination that meets the requirement of completing all pipeline route mapping is obtained according to the maximum moving range of the pipeline mapping device on the remaining part of the mapping route and the pipe opening positions corresponding to the remaining part of the mapping route.

[0022] According to the moving distance of the pipeline mapping device allocated by the remaining part mapping route combination at different pipe opening positions and the moving speed of the pipeline mapping device, the time consumption of the pipeline mapping device at different remaining part mapping routes is analyzed and obtained;

[0023] According to the preset user moving pipeline mapping device speed, the pipe opening position corresponding to the remaining part mapping route combination, the moving time consumption of the pipeline mapping device outside is analyzed and obtained;

[0024] According to the moving time consumption of the pipeline mapping device outside and the sum of the time consumption of the pipeline mapping device at different remaining part mapping routes, the effective time consumption of the pipeline mapping device at different remaining part mapping routes is analyzed and obtained;

[0025] According to the comparison result of the shortest time consumption of the corresponding part mapping route and the shortest effective time consumption of the pipeline mapping device at different remaining part mapping routes, the mapping route corresponding to the shortest time consumption is determined as the mapping route adopted by the pipeline mapping device this time.

[0026] By adopting the above technical scheme, since the cable length of the mapping device is limited, for different mapping routes with route length greater than the cable length of the pipeline mapping device, the mapping route can be segmented and mapped. Since the segmented mapping requires the staff to move the above-ground device to the end point of the segmented mapping after each mapping for subsequent mapping, the total underground and above-ground moving time of each combination needs to be calculated to obtain the overall mapping time consumption. For different mapping routes with length less than the cable length of the pipeline mapping device, the moving time consumption of the device along the route can be calculated. By comparing the two kinds of mapping routes, the shortest mapping time consumption in different mapping routes is obtained, so that the mapping time consumption of the longer mapping route is calculated by comparing various mapping routes, and the time consumption calculation of different mapping routes is more in line with the actual situation, so as to improve the accuracy of the calculation of the shortest time consumption route selected, and obtain the shortest time consumption route in different routes to reduce the time consumption of the city underground space mapping.

[0027] Optionally, the time consumption of the pipeline mapping device at different remaining part mapping routes includes:

[0028] Obtain the road surface condition and the length of the road section contained in the remaining part mapping route;

[0029] According to the corresponding relationship between the road surface condition and the moving speed of the pipeline mapping device, and the length of the road section, the time consumption of different mapping routes is analyzed and obtained.

[0030] By adopting the technical scheme, when the segment mapping is performed, the pipeline slope along the road direction under the road surface can be predicted according to the road surface slope, and the time consumption of different mapping routes is calculated according to the different speeds of the equipment when moving upward or downward along different pipeline slopes, so that the time consumption calculation of the mapping route is more in line with the actual situation, and the route with the shortest time consumption can be more accurately selected.

[0031] Optionally, the time consumption of different mapping routes is analyzed and obtained by:

[0032] obtaining the wind information of different pipelines in a preset time range after the mapping starts, the wind information including the wind direction and the wind force;

[0033] obtaining the wind information of different pipelines in a preset time range after the mapping starts, the wind information including the wind direction and the wind force;

[0034] By adopting the technical scheme, in different wind weather, the wind direction and the wind force in the pipeline are different due to external influence, and the moving speed of the pipeline mapping equipment is affected by the wind force in the pipeline when the pipeline mapping equipment moves in the pipeline. When the moving direction of the equipment is the same as the wind direction in the pipeline, the moving speed of the equipment is accelerated, and when the moving direction of the equipment is opposite to the wind direction in the pipeline, the moving speed of the equipment is slowed down, so that the time consumption of mapping is affected. The moving time consumption of different mapping routes is calculated by calculating the influence of wind force to improve the accuracy of time consumption calculation, so that the route with the shortest time consumption can be more accurately selected when the wind force is different.

[0035] Optionally, the time consumption of the pipeline mapping equipment in different remaining part mapping routes is obtained by:

[0036] obtaining the water accumulation amount of different pipelines in a preset time range after the mapping starts;

[0037] analyzing whether there is a pipeline with water accumulation amount exceeding the preset water accumulation amount in the different remaining part mapping routes;

[0038] If yes, the pipeline with water accumulation amount exceeding the preset water accumulation amount is removed from the mapping route, the remaining part mapping route combination required for pipeline route mapping is planned, and the time consumption of the pipeline mapping equipment in different remaining part mapping routes is analyzed and obtained according to the moving distance of the pipeline mapping equipment at different pipe opening positions and the moving speed of the pipeline mapping equipment allocated by the remaining part mapping route combination.

[0039] If no, the time consumption of the pipeline mapping equipment in different remaining part mapping routes is analyzed and obtained according to the moving distance of the pipeline mapping equipment at different pipe opening positions and the moving speed of the pipeline mapping equipment allocated by the remaining part mapping route combination.

[0040] By adopting the technical scheme, since too much accumulated water in the pipeline may make the equipment difficult to move and prone to water ingress and failure when the pipeline surveying equipment moves in the pipeline, and the accumulated water in the pipeline is usually turbid, the shooting in the water is prone to be blocked, and it is difficult to normally collect surveying data, the pipeline with the accumulated water exceeding the preset value can be removed from the surveying route, so that the calculation of the surveying route and the surveying time consumption is more in line with the actual situation, the possibility of temporarily bypassing the pipeline due to too much accumulated water in the surveying process is reduced, and the shortest route selected according to the time consumption is more accurate.

[0041] Optionally, the time consumption of the different remaining part surveying routes of the pipeline surveying equipment is analyzed and obtained according to the accumulated water amount and the road surface condition of the different remaining part surveying routes.

[0042] According to the accumulated water amount and the road surface condition of the different remaining part surveying routes, the accumulated water depth of the different remaining part surveying routes is analyzed and obtained.

[0043] According to the influence degree of the accumulated water depth of the different remaining part surveying routes on the moving speed of the pipeline surveying equipment and the moving speed of the pipeline surveying equipment and the length of the road section, the time consumption of the different remaining part surveying routes is analyzed and obtained.

[0044] By adopting the technical scheme, for the pipeline with the accumulated water amount less than or equal to the preset value, the moving speed of the equipment in the corresponding pipeline is affected by the accumulated water, and by analyzing the influence of the accumulated water depth on the moving speed of the equipment, the accuracy of the time consumption calculation can be improved. The deeper the accumulated water depth, the greater the resistance to the equipment during the moving process, and the slower the moving speed of the equipment, so that the shortest surveying route selected according to the time consumption is more accurate and in line with the actual situation.

[0045] In a second aspect, the present application provides an intelligent surveying and mapping system for urban underground space, which adopts the following technical scheme:

[0046] An intelligent surveying and mapping system for urban underground space, comprising:

[0047] An acquisition module for acquiring pipeline information in a target area range;

[0048] A storage for storing programs of any one of the intelligent surveying and mapping methods for urban underground space in the first aspect;

[0049] A processor, and the programs in the storage can be loaded and executed by the processor to implement the control method of any one of the intelligent surveying and mapping for urban underground space in the first aspect.

[0050] By adopting the technical scheme, the pipe information in the target area range is acquired by the acquisition module and is transmitted to the processor, the program of the city underground space intelligent mapping method of the first aspect is stored by the storage, the pipe information in the target area range is processed by the processor through the method in the first aspect, and a mapping route with shorter time consumption is obtained, so that the mapping time consumption of the city underground pipeline is reduced.

[0051] In a third aspect, the application provides a pipe mapping device, which adopts the following technical scheme:

[0052] A pipe mapping device includes a storage and a processor, and the storage stores a computer program capable of being loaded and executed by the processor to perform any method in the first aspect.

[0053] By adopting the technical scheme, the program of the city underground space intelligent mapping method of the first aspect is stored by the storage, the city underground space intelligent mapping method of the first aspect is loaded by the processor, and the pipe information in the target area range is processed by the method in the first aspect, so that a mapping route with the shortest time consumption is obtained, and the mapping time consumption of the city underground pipeline is reduced.

[0054] In a fourth aspect, the application provides a computer storage medium capable of storing a corresponding program, which has the characteristics of facilitating the reduction of the mapping time consumption of the city underground pipeline, and adopts the following technical scheme:

[0055] A computer storage medium stores a computer program capable of being loaded and executed by a processor to perform any city underground space intelligent mapping method in the first aspect.

[0056] By adopting the technical scheme, the computer storage medium stores the city underground space intelligent mapping method in the first aspect, so that when mapping is needed, a pipe mapping path with shorter time consumption is obtained by the city underground space intelligent mapping method to reduce the mapping time consumption.

[0057] In summary, the application has the following at least one beneficial technical effect:

[0058] 1. The pipe positions in the target area are formed into a pipe mapping route, the device can be retrieved after the mapping is completed without needing to return along the original path, the pipe slope is simulated according to the road slope, the moving time consumption of the device in the pipe is calculated to obtain a pipe mapping route with the shortest time consumption, and the mapping time consumption of the city underground pipeline can be reduced relative to the original way of manually controlling on the ground according to the experience of workers and needing the device to return along the original path.

[0059] 2. When the pipe mapping route in the target area is long, the mapping time consumption of the underground movement and the moving time consumption of the external device are taken as the overall time consumption of the route, so that the mapping path with the shortest time consumption is more accurately selected.

[0060] 3. In the calculation of time-consuming, the influence of wind, wind direction and water accumulation is considered to make the time-consuming calculation more realistic, so as to select the mapping route with shorter time-consuming according to different weather conditions. BRIEF DESCRIPTION OF DRAWINGS

[0061] Figure 1 is a flowchart of the city underground space intelligent mapping method of the embodiment of the present application.

[0062] Figure 2 is a flowchart of the embodiment of the present application for analyzing and obtaining the mapping route with the shortest time-consuming as the mapping route of the pipeline mapping device this time.

[0063] Figure 3 is a flowchart of the embodiment of the present application for analyzing and obtaining the mapping route with the shortest time-consuming as the mapping route of the pipeline mapping device this time.

[0064] Figure 4 is a flowchart of the embodiment of the present application for obtaining the time-consuming of the pipeline mapping device in different remaining mapping routes.

[0065] Figure 5 is a flowchart of the embodiment of the present application for analyzing and obtaining the time-consuming of different mapping routes.

[0066] Figure 6 is a flowchart of the embodiment of the present application for obtaining the time-consuming of the pipeline mapping device in different remaining mapping routes.

[0067] Figure 7 is a flowchart of the embodiment of the present application for obtaining the time-consuming of the pipeline mapping device in different remaining mapping routes.

[0068] Figure 8 is a system block diagram of the city underground space intelligent mapping system of the embodiment of the present application.

[0069] Legend: 1, obtaining module; 2, route construction module; 3, analysis processing module; 4, execution module. DETAILED DESCRIPTION

[0070] In order to make the purpose, technical scheme and advantages of the present application more clear and obvious, the following will combine the drawings with the embodiments to further describe the present application. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application. Figures 1-8 The specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0071] The embodiment of the present application discloses a city underground space intelligent mapping method. Referring to Figure 1 , the city underground space intelligent mapping method comprises:

[0072] In step S100, pipeline information in a target area range is acquired, the pipeline information including a pipe opening position and a pipeline route.

[0073] The target area range refers to an area in a city that needs to be surveyed and mapped, which is mainly divided by road construction planning, and can be a certain community or block range. The pipe opening position refers to the position of the pipeline well, and the pipeline route refers to the starting position, end position and extension direction of the known pipeline route. The pipeline well is connected to the pipeline route for placing the equipment into the pipeline route.

[0074] Specifically, the pipe opening position and the pipeline route can correspond to a specific pipeline type, such as a drainage pipeline, a communication pipeline, etc., or can be the sum of all pipelines in the area. The pipe opening position and the pipeline route can be obtained from the historical road construction records of the target area. Since the pipeline well is connected to the ground surface, the pipe opening position can also be obtained by positioning the satellite image of the target area. Some metal pipelines can also be roughly detected by a metal detector on the ground surface.

[0075] The target of the surveying and mapping can be to survey and map the existing pipelines in the area that needs to be constructed before construction, to survey and map the existing pipeline depth and pipeline slope, etc. to reduce the possibility of over-excavation and damage to existing pipelines during subsequent excavation construction, etc. It can also be to survey and map newly buried pipelines to further check whether the newly constructed pipelines meet the construction requirements of depth, slope, etc.

[0076] In step S200, according to the pipeline information in the target area range, a surveying and mapping route for completing all pipeline route surveys and the distances of different surveying and mapping routes are analyzed and obtained.

[0077] The surveying and mapping route for completing all pipeline route surveys refers to a route that can connect all pipeline routes in the target area range that need to be surveyed and mapped. Since there are many ways to connect all pipeline routes, there can be many selectable surveying and mapping routes. For example, the surveying and mapping route can be arranged in a way that one pipeline is the main route and other pipelines are branch routes, or in a way that multiple S-shaped pipelines are the main route and other pipelines are branch routes. The distance of different surveying and mapping routes refers to the total length along different surveying and mapping routes, which can be calculated by positioning the length of each route on a satellite map and adding up.

[0078] In step S300, according to the distances of different surveying and mapping routes and the moving speed of the pipeline surveying and mapping equipment, the shortest time-consuming surveying and mapping route is analyzed and obtained as the surveying and mapping route to be used by the pipeline surveying and mapping equipment this time.

[0079] The pipeline mapping device mainly moves in the pipeline through the mapping trolley, and sends the image and GPS position information in the pipeline to the ground control device through the communication cable during the movement. The moving speed of the pipeline mapping device is jointly determined by the image transmission speed and the upper limit of the moving speed of the trolley. The moving speed of the trolley can be obtained from the database storing the moving speed information of the trolley.

[0080] The mapping time of different mapping routes can be obtained by calculating the quotient of the distance of different mapping routes and the moving speed of the pipeline mapping device. The mapping route with the shortest mapping time is taken as the mapping route adopted by the pipeline mapping device this time, so that the mapping route has a shorter mapping time while covering the required pipeline route, and the overall mapping route has a lower repetition rate.

[0081] Step S400: instructing the pipeline mapping device to map along the mapping route adopted this time, and automatically recovering the cable after mapping is completed.

[0082] The pipeline mapping device connects the ground control device and the pipeline mapping trolley through the cable. The cable can transmit the control signal of the ground control device, the position of the pipeline mapping trolley, and the mapping image, so that the pipeline mapping trolley maps along the mapping route. After mapping is completed, the cable is distributed in the mapped pipeline route, and needs to be recovered. Recovering the cable through the trolley can reduce the time consumption of the trolley returning along the original path. If the starting point and the ending point of the mapping route are different, the worker can move to the ending point to recover the trolley and map other areas during the recovery of the cable.

[0083] The implementation principle of the embodiment is as follows: by planning the mapping route of the pipeline route in the target area, and selecting the route with shorter time consumption in the mapping route, the mapping distance of the pipeline mapping device can be reduced, and the cable can be automatically recovered by the pipeline mapping device after mapping is completed, thereby reducing the time consumption of the equipment turnaround, and achieving the effect of reducing the pipeline mapping time consumption.

[0084] In Figure 1 In step S300 of the embodiment shown in the figure, in order to further ensure the accuracy of the selection of the mapping route with the shortest time consumption, the time consumption of the mapping route needs to be further analyzed. Specifically, the embodiment shown in the figure is described in detail. Figure 2

[0085] Referring to Figure 2 , the steps of analyzing and obtaining the mapping route with the shortest time consumption as the mapping route adopted by the pipeline mapping device this time include the following steps:

[0086] Step S310: obtaining the road surface conditions and the length of the road section contained in the mapping route.

[0087] ​The road surface condition refers to a road surface slope corresponding to the surveying route, and the road section length refers to a length corresponding to a road section of different slopes. The road surface slope and the road section length can be obtained from a database in which road surface slopes and road section lengths of a city are stored.

[0088] In step S320, the time consumption of different surveying routes is analyzed and obtained according to the correspondence between the road surface condition and the moving speed of the pipeline surveying device and the road section length, and a surveying route with the shortest time consumption is selected as the surveying route to be used by the pipeline surveying device this time.

[0089] The pipeline is simulated by the road surface slope because the angle of the pipeline during pipeline construction is affected by the road surface slope. For example, when the inclination angle of the road surface is large, the inclination angle of the pipeline is large, and thus the pipeline can be simulated by the inclination angle of the road surface. The correspondence between the slope and the moving speed of the pipeline surveying device can be obtained by querying a database in which the correspondence between the slope and the moving speed of the pipeline surveying device is stored. Different slopes correspond to different moving speeds of the pipeline surveying device.

[0090] The implementation principle of the embodiment is as follows: for a region with a slope, because the inclination of the pipeline is affected by the road surface slope, the moving speed of the pipeline surveying device is different when the pipeline surveying device moves up or down the inclined pipeline. The total time consumption of the pipeline surveying device on different slope pipelines needs to be calculated, which makes the time consumption calculation of different surveying routes more in line with the actual situation, so that the selection of the surveying route with the shortest time consumption is more accurate.

[0091] In step S300 of the embodiment shown in Figure 1 , in order to further ensure the accuracy of the selection of the surveying route with the shortest time consumption, the time consumption of the surveying route needs to be further analyzed. Specifically, the time consumption of the surveying route is analyzed and obtained by the embodiment shown in Figure 3 .

[0092] Referring to Figure 3 , the surveying route with the shortest time consumption is analyzed and obtained as the surveying route to be used by the pipeline surveying device this time, including the following steps:

[0093] In step S3A0, the maximum moving distance of the pipeline surveying device is obtained.

[0094] The maximum moving distance of the pipeline surveying device refers to the length of the cable between the ground control device and the pipeline surveying trolley. The length of the cable can be obtained by reading a database in which pipeline surveying device information is stored or by measuring the length of the cable. Generally, the length of the cable can reach two kilometers.

[0095] In step S3B0, it is determined whether the distance of the surveying route is less than the maximum moving distance of the pipeline surveying device. If yes, step S3C0 is performed; if no, step S3D0 is performed.

[0096] The judgment of whether the distance of the mapping route exists and is less than the maximum moving distance of the pipeline mapping device is to compare the total length of the mapping route with the total length of the cable of the pipeline mapping device.

[0097] In step S3C0, the corresponding partial mapping route with the shortest time consumption is analyzed and obtained according to the distance of the corresponding partial mapping route and the moving speed of the pipeline mapping device.

[0098] If the total length of the cable of the pipeline mapping device is greater than the total length of the mapping route, the pipeline mapping device can complete the mapping of the entire mapping route in a single mapping, and the total time consumption of the pipeline mapping can be obtained by calculating the ratio of the total length of the mapping route and the moving speed of the pipeline mapping trolley.

[0099] In step S3D0, the maximum moving range of the pipeline mapping device on the remaining partial mapping route and the pipe opening position corresponding to the remaining partial mapping route are obtained, and it is defined that there are multiple pipe openings.

[0100] If the total length of the cable of the pipeline mapping device is less than the total length of the mapping route, the pipeline mapping device needs to divide the mapping route into multiple segments for mapping to complete the mapping of the entire mapping route, and the total time consumption of the pipeline mapping includes the moving time consumption of the pipeline mapping trolley and the moving time consumption of the staff moving the ground control device to the subsequent pipeline mapping segment.

[0101] Specifically, the maximum moving range of the pipeline mapping device on the remaining partial mapping route refers to the farthest moving range that the pipeline mapping trolley can reach along the mapping route in the remaining mapping route, and the farthest moving range is obtained by extending the cable length of the pipeline mapping device along the remaining mapping route.

[0102] The pipe opening position corresponding to the remaining partial mapping route refers to the position of the pipe well directly connected by the pipeline in the remaining partial mapping route, which can be obtained by matching the position of the remaining partial mapping route and the pipe opening position. Since the specification of the pipe well of the municipal road stipulates that the pipe well is arranged at the position of the pipe turning and every certain interval in the straight pipe, and the maximum interval is within the range of 75m-200m according to the pipe diameter, which is less than the cable length of the general pipeline mapping trolley, it can be considered that there are multiple pipe openings in the maximum moving range.

[0103] In step S3E0, the combined maximum moving range is obtained according to the maximum moving range of the pipeline mapping device on the remaining partial mapping route, the pipe opening position corresponding to the remaining partial mapping route, and the remaining partial mapping route combination that meets the requirement of completing all pipeline route mapping.

[0104] The remaining survey route combinations satisfy the following conditions: the length of each remaining survey route segment does not exceed the maximum movement range of the pipeline surveying equipment in a single survey, and the maximum movement range of the combined remaining survey route segments can completely cover the remaining survey route. The starting and ending points of each remaining survey route segment are located at the pipe opening, facilitating the use of the pipeline surveying trolley for wiring and other operations. Therefore, the minimum movement range of each remaining survey route segment is the pipeline route between two adjacent pipe opening locations. The remaining survey route combinations, under the above conditions, involve dividing the remaining survey route into various pipeline segments and arranging them in combinations with different lengths.

[0105] Step S3F0: Based on the moving distance of the pipeline surveying equipment at different pipe opening positions and the moving speed of the pipeline surveying equipment allocated by the remaining surveying route combination, analyze and obtain the time consumed by the pipeline surveying equipment on different remaining surveying routes.

[0106] The time taken by the pipeline surveying equipment to survey different remaining parts of the route refers to the time taken for the pipeline surveying trolley to move along the remaining part of the route, which is obtained by calculating the ratio of the total length of the different remaining parts of the route to the moving speed of the pipeline surveying equipment.

[0107] Step S3G0: Based on the preset user-moved pipeline mapping equipment speed and the pipe opening position corresponding to the remaining mapping route combination, analyze and obtain the external movement time of the pipeline mapping equipment.

[0108] The user-moved pipeline mapping equipment speed refers to the speed at which the user pushes or otherwise moves the ground control equipment within the pipeline mapping equipment. The preset user-moved pipeline mapping equipment speed is retrieved from a database storing these speeds. The pipe outlet positions corresponding to the remaining mapping route combinations refer to the starting and ending pipe outlet positions for each segment of the remaining mapping route. These positions are obtained by matching the remaining mapping route positions with the pipe outlet positions within the target area.

[0109] The time taken to move the pipeline surveying equipment externally is the sum of the time taken by the user to move the ground control equipment externally. The speed at which the user moves the pipeline surveying equipment may vary depending on the road conditions. The external moving time can be obtained by calculating the sum of the ratios of the speed of the user moving the pipeline surveying equipment to the speed of each component segment between the starting and ending pipe outlets of the remaining surveying route.

[0110] Step S3H0: Based on the sum of the time spent by the pipeline surveying equipment on external movement and the time spent by the pipeline surveying equipment on different remaining parts of the survey route, analyze and obtain the effective time spent by the pipeline surveying equipment on different remaining parts of the survey route.

[0111] The effective time consumption of the pipeline mapping device in mapping the route of the different remaining parts is the sum of the time consumption of the movement of the pipeline mapping device outside and the time consumption of the pipeline mapping device in mapping the route of the different remaining parts.

[0112] In step S3I0, the shortest time consumption corresponding mapping route is determined as the mapping route used by the pipeline mapping device this time according to the comparison result of the shortest time consumption of the corresponding part mapping route and the shortest effective time consumption of the pipeline mapping device in mapping the route of the different remaining parts.

[0113] The pipeline mapping device in the target area can adopt various mapping routes, the time consumption of different length mapping routes is different, and the time consumption of the shortest mapping route is not necessarily the shortest. The shortest time consumption route with a route length less than the cable length is obtained through the shortest time consumption of the corresponding part mapping route, and the shortest time consumption route with a route length greater than the cable length is obtained through the shortest effective time consumption of the different remaining part mapping route.

[0114] The shortest time consumption corresponding mapping route refers to the shortest time consumption route of the shortest time consumption route with a route length less than the cable length and the shortest time consumption route with a route length greater than the cable length, so as to obtain the shortest time consumption mapping route.

[0115] The implementation principle of the embodiment is as follows: since the cable length is limited, the length of single mapping of the pipeline mapping trolley in the pipeline is limited. For the mapping route with a mapping length less than or greater than the cable length, the shortest route is calculated respectively and compared to obtain the shortest time consumption mapping route. The route length less than the cable length is the ratio of the route length and the moving speed of the mapping trolley, and the route length greater than the cable length includes the moving time consumption of the pipeline mapping trolley in the pipeline and the time consumption of the user moving the mapping control device outside.

[0116] In Figure 3 In step S3F0 of the embodiment shown in the figure, in order to further ensure the accuracy of the time consumption calculation of the pipeline mapping device in mapping the route of the different remaining parts, the time consumption of the pipeline mapping device in mapping the route of the different remaining parts needs to be further analyzed, and the specific analysis is as follows: Figure 4 The embodiment shown in the figure is described in detail.

[0117] Referring to Figure 4 , the time consumption of the pipeline mapping device in mapping the route of the different remaining parts includes the following steps:

[0118] In step S3F1, the road surface conditions and the road section length of the road section contained in the remaining part mapping route are obtained.

[0119] The road surface condition refers to the road surface slope corresponding to the surveying route, and the road section length refers to the length corresponding to different slope road sections. The road surface condition, the road surface slope and the road section length can be obtained from a database storing the city road surface slope and the road section length.

[0120] In step S3F2, the time consumption of different surveying routes is analyzed and obtained according to the corresponding relationship between the road surface condition and the moving speed of the pipeline surveying device and the road section length.

[0121] In the formula, since the angle of the pipeline laying in the pipeline construction process is affected by the road surface slope, if the inclination angle of the pipeline is smaller, the pipeline needs to be buried deeper, which increases the excavation cost and the pipeline maintenance cost. Generally, when the inclination angle of the road surface is larger, the inclination angle of the pipeline is larger. Therefore, the slope of the pipeline can be simulated by the slope of the road surface.

[0122] The corresponding relationship between the slope and the moving speed of the pipeline surveying device can be obtained by querying a database storing the corresponding relationship between the slope and the moving speed of the pipeline surveying device. Different slopes correspond to different moving speeds of the pipeline surveying device. Specifically, when the pipeline surveying trolley moves upward along the slope, the greater the slope, the slower the corresponding moving speed of the pipeline surveying trolley. When the pipeline surveying trolley moves downward along the slope, the smaller the slope, the faster the corresponding moving speed of the pipeline surveying trolley.

[0123] The implementation principle of the embodiment is as follows:

[0124] For the area with the slope, since the pipeline inclination is affected by the road surface slope, the moving speed of the pipeline surveying device is different when moving upward or downward along the inclined pipeline on different slopes. The time consumption of different surveying routes needs to calculate the sum of the moving time consumption of the pipeline surveying device on different slope pipelines. This can make the time consumption calculation of different surveying routes more in line with the actual situation, so as to make the selection of the surveying route with the shortest time consumption more accurate.

[0125] In the step S3F2 of the embodiment shown in Figure 4 In order to further ensure the accuracy of the time consumption calculation of different surveying routes, the moving time consumption of the pipeline surveying device in different surveying routes needs to be further analyzed. Specifically, the embodiment shown in Figure 5 is described in detail.

[0126] Referring to Figure 5 , the analysis and obtaining of the time consumption of different surveying routes includes the following steps:

[0127] In step S3F21, the wind force information of different pipelines in a preset time range after the surveying starts is obtained. The wind force information includes the wind direction and the wind force.

[0128] The preset time range after the mapping starts refers to the time set by the user to perform the mapping. The preset time range can be one day or one week, etc. The user can set to complete the mapping in one day, or can be divided into multiple days to perform the mapping.

[0129] The wind force is decomposed along the pipeline direction by external wind force, the wind direction is the wind force direction along the pipeline direction, and the external wind force is obtained from a database storing target area prediction weather information.

[0130] In step S3F22, the time consumption of different mapping routes is analyzed according to the influence degree of wind force information on the moving speed of the pipeline mapping device, the corresponding relationship between the road surface condition and the moving speed of the pipeline mapping device, and the length of the road section.

[0131] The influence degree of wind force information on the moving speed of the pipeline mapping device is obtained from a database storing the influence degree of wind force information on the moving speed of the pipeline mapping device. Different wind force sizes correspond to different influence degrees. The wind force is a vector, and the pipeline mapping device is also a vector.

[0132] Specifically, if the wind direction is the same as the direction of the moving speed of the pipeline mapping device, the speed of the pipeline mapping device under the action of the wind force is increased, and if the directions are opposite, the speed of the pipeline mapping device is slowed down. For example, the positive direction is defined as the direction to one end of the pipeline, the speed of the pipeline mapping device is 1 m / s, the wind force is -10 N, and the corresponding influence degree is 10%. After being affected by the wind force, the speed of the pipeline mapping device is 0.9 m / s.

[0133] According to the wind force information, the moving speed of the pipeline mapping device corresponding to the pipeline condition is obtained, and the ratio of the length of the route to the moving speed in different mapping routes is calculated to obtain the time consumption of the pipeline mapping under different weather conditions.

[0134] The implementation principle of the embodiment is as follows: the condition in the pipeline is affected by the wind force in a period of mapping time. Under the influence of different wind forces, the pipeline mapping trolley is affected by different wind forces, and the mapping speed is different. The moving time consumption of different mapping routes is calculated according to the speed of the pipeline mapping trolley after being affected by the wind force, so that the pipeline mapping time consumption calculation is more accurate, and the shortest time consumption mapping route selected is more in line with the actual situation.

[0135] In Figure 3 In step S3F0 of the embodiment shown in the figure, in order to further ensure the accuracy of the time consumption calculation of the pipeline mapping device in different remaining part mapping routes, the time consumption of the pipeline mapping device in different remaining part mapping routes needs to be further analyzed. Specifically, the embodiment shown in the figure is described in detail. Figure 6

[0136] Referring to Figure 6 ​, the time consumption of the pipe mapping device in different remaining mapping routes is obtained by analyzing the moving distance of the pipe mapping device in different pipe opening positions allocated by the remaining mapping route combination and the moving speed of the pipe mapping device.

[0137] In step SA00, the waterlogging amount of different pipes in a preset time range after the mapping starts is obtained.

[0138] The preset time range is set by the user and can be one day or one week, etc., which is determined by the user's planned mapping time. The waterlogging amount is obtained from the monitoring device arranged in the pipe well.

[0139] In step SB00, it is analyzed whether there is a pipe in the different remaining mapping routes whose waterlogging amount exceeds the preset waterlogging amount. If yes, SC00 is executed; if no, SD00 is executed.

[0140] The preset waterlogging amount refers to the waterlogging amount in the pipe that may affect the mapping of the pipe mapping car, and the movement or mapping effect of the car is affected after exceeding the preset waterlogging amount. The preset waterlogging amount is obtained from the database storing the preset waterlogging amount.

[0141] In step SC00, the pipes whose waterlogging amount exceeds the preset waterlogging amount are removed from the mapping route, the remaining mapping route combination required for the pipe route mapping is planned, and the time consumption of the pipe mapping device in different remaining mapping routes is obtained by analyzing the moving distance of the pipe mapping device in different pipe opening positions allocated by the remaining mapping route combination and the moving speed of the pipe mapping device.

[0142] The planning of the remaining mapping route combination required for the pipe route mapping refers to re-planning the remaining mapping pipes in the target area, removing the pipes whose waterlogging amount exceeds the preset waterlogging amount, so that the new pipe mapping route meets the requirement of covering the remaining pipes. The mapping time consumption is obtained by calculating the ratio of the length of the new mapping route and the moving speed of the device.

[0143] In step SD00, the time consumption of the pipe mapping device in different remaining mapping routes is obtained by analyzing the moving distance of the pipe mapping device in different pipe opening positions allocated by the remaining mapping route combination and the moving speed of the pipe mapping device.

[0144] If the waterlogging amount does not exceed the preset waterlogging amount, the mapping time consumption is directly obtained by calculating the ratio of the length of the mapping route and the moving speed of the device.

[0145] The implementation principle of the embodiment is as follows: in the case that the waterlogging amount is too large to affect the mapping device, the pipe route with excessive waterlogging amount is removed, the route is re-planned for mapping, so that the calculated mapping time consumption is more in line with the actual situation.

[0146] In Figure 6In step SC00 of the illustrated embodiment, in order to further ensure the accuracy of the time consumed by the pipeline mapping device in mapping the remaining part of the route in different remaining part mapping routes, the moving speed of the pipeline mapping device in mapping the remaining part of the route needs to be further analyzed, specifically by Figure 7 The illustrated embodiment is described in detail.

[0147] Referring to Figure 7 , the analysis of the time consumed by the pipeline mapping device in different remaining part mapping routes includes:

[0148] In step SC10, the water depth of different remaining part mapping routes is analyzed and obtained according to the water accumulation amount and the road surface condition of different remaining part mapping routes.

[0149] Among them, the corresponding slope of the pipeline can be predicted according to the height and slope of the road surface, the water depth in the pipeline well can be calculated through the water accumulation amount of the pipeline well, and the coverage range and depth of the water in the pipeline can be obtained according to the water depth in the pipeline well and the slope of the pipeline.

[0150] In step SC20, the time consumed by different remaining part mapping routes is analyzed and obtained according to the influence degree of water depth on the moving speed of the pipeline mapping device and the moving speed of the pipeline mapping device and the length of the road section.

[0151] Among them, the water depth will affect the moving speed of the trolley. Specifically, the deeper the water depth, the greater the resistance to the movement of the trolley, and the slower the moving speed of the pipeline mapping trolley. For example, if the road surface moving speed of the trolley is 1 m / s and the influence degree of water depth is 10%, the moving speed of the trolley in the water is 0.9 m / s. Finally, the cumulative value of the ratio of the length of the road section to the moving speed of the mapping device under different water depths is calculated, and the cumulative value is the time consumed by different remaining part mapping routes.

[0152] The implementation principle of the embodiment is as follows: when there is water in the pipeline and the pipeline mapping device needs to pass through the water pipeline, the influence degree of the water on the pipeline mapping device needs to be calculated, and the moving speed of the pipeline mapping device affected by the water is calculated to obtain the actual mapping time, so that the time calculation is more accurate.

[0153] Referring to Figure 8 , based on the same inventive concept, the embodiment of the present application provides a kind of urban underground space intelligent mapping system, comprising:

[0154] The acquisition module 1 is used to acquire the pipeline information in the target area range.

[0155] The route construction module 2 is used to analyze and obtain the mapping route for completing all pipeline route mapping and the distance of different mapping routes according to the pipeline information in the target area range.

[0156] Analysis and processing module 3 is used to analyze and obtain the shortest surveying route based on the distance of different surveying routes and the moving speed of the pipeline surveying equipment, which will be used as the surveying route for this pipeline surveying equipment.

[0157] Execution module 4 is used to instruct the pipeline surveying equipment to survey along the surveying route adopted in this study and to automatically retract the cable after the surveying is completed.

[0158] The implementation principle of this embodiment is as follows: the acquisition module 1 is used to acquire pipeline information within the target area. The route construction module 2 analyzes and acquires the mapping routes that have completed the mapping of all pipeline routes and the distance of different mapping routes based on the pipeline information within the target area. Then, the analysis and processing module 3 analyzes and acquires the mapping route with the shortest time based on the distance of different mapping routes and the moving speed of the pipeline mapping equipment, which is used as the mapping route adopted by the pipeline mapping equipment this time. Finally, the execution module 4 instructs the pipeline mapping equipment to map along the mapping route adopted this time and automatically retracts the cable after the mapping is completed, so that the pipeline mapping time of the pipeline mapping equipment is shorter.

[0159] Based on the same inventive concept, embodiments of the present invention provide a pipeline mapping device, including a memory and a processor, wherein the memory stores data that can be loaded and executed by the processor, such as... Figures 1 to 7 A computer program for any one of the intelligent mapping methods for urban underground space.

[0160] The implementation principle of this embodiment is as follows: By storing information such as... in the memory... Figures 1 to 7 The computer program for any intelligent urban underground space mapping method is then loaded and executed by the processor, thereby reducing the time required for pipeline mapping within the target area and improving the user's pipeline mapping efficiency.

[0161] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0162] This invention provides a computer storage medium storing data that can be loaded and executed by a processor, such as... Figures 1 to 7 A computer program for any intelligent mapping method of urban underground space.

[0163] The computer storage medium includes, for example, a variety of media that can store program codes such as a USB, a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

[0164] The above are only preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in the specification (including the abstract and drawings) can be replaced by other equivalent or similar features, unless specifically stated otherwise. That is, each feature is only an example of a series of equivalent or similar features, unless specifically stated otherwise.

Claims

1. An intelligent mapping method for urban underground space, characterized in that, The method comprises the following steps: acquiring pipeline information in a target area, the pipeline information comprising pipe opening positions and pipeline routes; analyzing and acquiring mapping routes and distances of different mapping routes for completing mapping of all pipeline routes according to the pipeline information in the target area; analyzing and acquiring a mapping route with the shortest time consumption as a mapping route to be adopted by the pipeline mapping device according to the distances of different mapping routes and a moving speed of the pipeline mapping device; indicating the pipeline mapping device to map along the mapping route to be adopted, and automatically retracting the cable after mapping is completed; wherein the analyzing and acquiring of the mapping route with the shortest time consumption as the mapping route to be adopted by the pipeline mapping device comprises: acquiring a maximum moving distance of the pipeline mapping device; determining whether there is a mapping route with a distance less than the maximum moving distance of the pipeline mapping device; if yes, analyzing and acquiring a corresponding part of the mapping route with the shortest time consumption according to the distance of the corresponding part of the mapping route and the moving speed of the pipeline mapping device; if no, acquiring a maximum moving range of the pipeline mapping device in a remaining part of the mapping route and pipe opening positions corresponding to the remaining part of the mapping route, and defining that there are multiple pipe openings; analyzing and acquiring a combination of the remaining part of the mapping route, which satisfies a requirement of completing mapping of all pipeline routes, according to the maximum moving range of the pipeline mapping device in the remaining part of the mapping route and the pipe opening positions corresponding to the remaining part of the mapping route; analyzing and acquiring time consumptions of the pipeline mapping device in different remaining parts of the mapping route according to moving distances of the pipeline mapping device in different pipe opening positions allocated by the combination of the remaining part of the mapping route and the moving speed of the pipeline mapping device; analyzing and acquiring a moving time consumption of the pipeline mapping device outside according to a preset user moving speed of the pipeline mapping device and the pipe opening positions corresponding to the combination of the remaining part of the mapping route; analyzing and acquiring effective time consumptions of the pipeline mapping device in different remaining parts of the mapping route according to a sum of the moving time consumption of the pipeline mapping device outside and the time consumptions of the pipeline mapping device in different remaining parts of the mapping route; determining a mapping route corresponding to the shortest time consumption as the mapping route to be adopted by the pipeline mapping device according to a comparison result of the shortest time consumption of the corresponding part of the mapping route and the shortest effective time consumptions of the pipeline mapping device in different remaining parts of the mapping route.

2. The intelligent mapping method for urban underground space according to claim 1, characterized in that, The analyzing and acquiring of the mapping route with the shortest time consumption as the mapping route to be adopted by the pipeline mapping device comprises: acquiring road surface conditions and lengths of road segments included in the mapping routes; analyzing and acquiring time consumptions of different mapping routes according to corresponding relationships between the road surface conditions and the moving speed of the pipeline mapping device and the lengths of the road segments, and selecting a mapping route with the shortest time consumption as the mapping route to be adopted by the pipeline mapping device. 3.The intelligent mapping method of urban underground space according to claim 1, characterized in that, The acquiring of the time consumptions of the pipeline mapping device in different remaining parts of the mapping route comprises: acquiring road surface conditions and lengths of road segments included in the remaining parts of the mapping route; analyzing and acquiring time consumptions of different mapping routes as the time consumptions of the pipeline mapping device in different remaining parts of the mapping route according to corresponding relationships between the road surface conditions and the moving speed of the pipeline mapping device and the lengths of the road segments.

4. The intelligent mapping method for urban underground space according to claim 3, characterized in that, The analyzing and acquiring of the time consumptions of different mapping routes comprises: Obtain wind information of different pipes within a preset time range after the start of surveying, the wind information including wind direction and wind force; According to the influence degree of the wind information on the moving speed of the pipe surveying device, the corresponding relationship between the road surface condition and the moving speed of the pipe surveying device, and the length of the road section, analyze and obtain the time consumption of different surveying routes.

5. The intelligent mapping method of urban underground space according to claim 1, characterized in that, The pipe surveying device obtains the time consumption of different remaining part surveying routes, including: Obtain the water accumulation amount of different pipes within a preset time range after the start of surveying; Analyze whether there is a pipe with a water accumulation amount exceeding a preset water accumulation amount in different remaining part surveying routes; If yes, remove the pipe with a water accumulation amount exceeding the preset water accumulation amount from the surveying route, plan a remaining part surveying route combination required for pipe route surveying, and according to the moving distance of the pipe surveying device at different pipe opening positions allocated by the remaining part surveying route combination and the moving speed of the pipe surveying device, analyze and obtain the time consumption of the pipe surveying device at different remaining part surveying routes; If no, according to the moving distance of the pipe surveying device at different pipe opening positions allocated by the remaining part surveying route combination and the moving speed of the pipe surveying device, analyze and obtain the time consumption of the pipe surveying device at different remaining part surveying routes.

6. The intelligent mapping method of urban underground space according to claim 5, characterized in that, The analysis and obtaining of the time consumption of the pipe surveying device at different remaining part surveying routes includes: According to the water accumulation amount and the road surface condition of different remaining part surveying routes, analyze and obtain the water depth of different remaining part surveying routes; According to the influence degree of the water depth of different remaining part surveying routes on the moving speed of the pipe surveying device, the moving speed of the pipe surveying device, and the length of the road section, analyze and obtain the time consumption of different remaining part surveying routes.

7. An intelligent mapping system for urban underground space, characterized in that, It includes: An acquisition module for obtaining pipe information within a target area range; A memory for storing a program of the urban underground space intelligent surveying method according to any one of claims 1 to 6; A processor, the program in the memory can be loaded and executed by the processor, and the control method of the urban underground space intelligent surveying according to any one of claims 1 to 6 is implemented.

8. A pipe mapping device, characterized by A memory and a processor, the memory has a computer program which can be loaded and executed by the processor to implement any one of the methods of claims 1 to 6.

9. A computer storage medium, characterized in that A computer program which can be loaded and executed by the processor to implement any one of the methods of claims 1 to 6.

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