Three-dimensional positioning method and device for pipeline, unmanned aerial vehicle and medium

Abstract

The invention discloses a three-dimensional positioning method and device for a pipeline, an unmanned aerial vehicle and a medium. The method comprises the steps that a construction site positioning file corresponding to a pipeline path of a target pipeline is read, an unmanned aerial vehicle is controlled to sequentially fly to positions corresponding to longitude and latitude coordinates in the file at a set flight height, the unmanned aerial vehicle is controlled to hover, laser dotting is conducted under the unmanned aerial vehicle, the pipeline path is restored in real time, and in each hover process, the unmanned aerial vehicle is controlled to fly to the position corresponding to each longitude and latitude coordinate in the file. According to the distance, measured in real time, of the unmanned aerial vehicle relative to the ground surface, the flight height and the relative elevation, measured in real time, of the sampling point at the current position relative to the elevation datum point, the current ground surface depth of the collection point at the current position is calculated, and laser of the current ground surface depth is projected to the ground surface under the hovering position. The unmanned aerial vehicle can automatically position the underground pipeline through the construction site positioning file, and the multi-laying-mode pipeline path and depth information is dynamically restored on site through real-time dotting and actual depth measurement, so that the pipeline positioning efficiency and reliability are improved.

Description

Technical Field

[0001] The present invention relates to the field of location-based management and tracking technology, and in particular to a three-dimensional positioning method, device, drone and medium for pipelines. Background Art

[0002] With the improvement of productivity, the number of cables and underground pipeline systems has increased and become increasingly complex. Due to the influence of external environment and construction, the location of pipelines is difficult to determine, resulting in low pipeline maintenance efficiency and prone to external force damage accidents, resulting in resource loss.

[0003] In the prior art, cable path detectors are often used to locate cables, but this method has large errors. Although pipeline channels are sometimes marked with longitude and latitude coordinates, the recovery of these marks usually requires staff to use total stations for on-site positioning analysis, which is not only inefficient but also contains errors. In addition, total stations can only determine the location of pipelines, cannot measure depth, and cannot intuitively display the overall picture of pipeline channels. Holographic scanning and positioning using AR imaging technology is intuitive, but has low operational convenience, low positioning efficiency, and low reliability of pipeline positioning. Summary of the invention

[0004] The present invention provides a three-dimensional positioning method, device, drone and medium for a pipeline to solve the problems of being unable to measure the pipeline depth, low pipeline positioning efficiency, high cost and poor reliability.

[0005] According to one aspect of an embodiment of the present invention, a three-dimensional positioning method for a pipeline path is provided, which is performed by a drone, and the method includes:

[0006] Read the construction site positioning file corresponding to the pipeline path of the target pipeline; wherein the construction site positioning file includes: after the construction of the target pipeline is completed, the latitude and longitude coordinates of multiple sampling points collected along the extension direction of the pipeline path, and the relative elevation of each sampling point relative to the elevation reference point; control the drone to fly to each position corresponding to the longitude and latitude coordinates in the construction site positioning file in sequence at a set flight altitude; when flying to each position, control the drone to hover and perform laser marking directly below the hovering position to restore the pipeline path in real time; during each hovering process, calculate the current surface depth of the collection point at the current position based on the real-time measured distance of the drone relative to the ground, the flight altitude and the relative elevation of the sampling point at the current position relative to the elevation reference point, and project the current surface depth laser to the surface directly below the hovering position.

[0007] According to another aspect of an embodiment of the present invention, a three-dimensional positioning device for a pipeline path is provided, which is configured in a drone and includes:

[0008] A positioning file reading module is used to read the construction site positioning file corresponding to the pipeline path of the target pipeline; wherein the construction site positioning file includes: after the construction of the target pipeline is completed, the latitude and longitude coordinates of multiple sampling points collected along the extension direction of the pipeline path, and the relative elevation of each sampling point relative to the elevation reference point; a UAV flight control module is used to control the UAV to fly to each position corresponding to the longitude and latitude coordinates in the construction site positioning file in sequence at a set flight altitude; a pipeline path restoration module is used to control the UAV to hover and perform laser marking directly below the hovering position when flying to each position to restore the pipeline path in real time; a surface depth calculation module is used to calculate the current surface depth of the collection point at the current position according to the real-time measured distance of the UAV relative to the surface, the flight altitude and the relative elevation of the sampling point at the current position relative to the elevation reference point during each hovering process, and project the current surface depth laser to the surface directly below the hovering position.

[0009] According to another aspect of an embodiment of the present invention, there is further provided an unmanned aerial vehicle, the unmanned aerial vehicle comprising:

[0010] The RTK positioning system is used to locate the longitude and latitude of the drone in real time, as well as the flight altitude; the ranging module is arranged below the drone, and is used to measure the distance of the drone relative to the ground in real time, wherein the measuring direction of the ranging module is vertically downward; the high-power laser module is arranged below the drone, and is used to use the first laser source to point the laser directly below, and project the current surface depth laser calculated in real time to the ground directly below through the second light source, wherein the laser source emission direction of the high-power laser module is vertically downward;

[0011] at least one processor; and

[0012] a memory communicatively connected to the at least one processor; wherein,

[0013] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the three-dimensional positioning method of the pipeline path described in any embodiment of the present invention.

[0014] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the three-dimensional positioning method of the pipeline path described in any embodiment of the present invention when executed.

[0015] The technical solution of the embodiment of the present invention first reads the construction site positioning file corresponding to the pipeline path of the target pipeline, then controls the drone to fly to the position corresponding to each latitude and longitude coordinate in the construction site positioning file at a set flight altitude in sequence, and when flying to each position, controls the drone to hover and perform laser marking directly below the hovering position to restore the pipeline path in real time. During each hovering process, the current surface depth of the sampling point at the current position is calculated based on the real-time measured distance of the drone relative to the ground surface, the flight altitude, and the relative elevation of the sampling point at the current position relative to the elevation reference point, and the current surface depth laser is projected to the surface directly below the hovering position. The construction site positioning file is used to realize the automatic positioning of the underground pipeline by the drone, which reduces the time cost and labor cost of pipeline positioning, improves the efficiency of pipeline positioning, and dynamically displays the path and depth information of the pipeline channel on site by real-time marking and measuring the actual depth, thereby improving the convenience and reliability of pipeline positioning.

[0016] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 is a flow chart of a three-dimensional positioning method for a pipeline path provided according to Embodiment 1 of the present invention;

[0019] Figure 2 This is a schematic diagram of the position and relative elevation measurement of different pipeline laying methods along the entire path applicable to the second embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram of full-path elevation calculation and marking work applicable to the second embodiment of the present invention;

[0021] Figure 4 is a schematic structural diagram of a three-dimensional positioning device for a pipeline path provided according to a third embodiment of the present invention;

[0022] Figure 5 It is a schematic diagram of the structure of a drone for implementing the three-dimensional positioning method of a pipeline path according to an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] Embodiment 1

[0026] Figure 1 This is a flow chart of a pipeline path three-dimensional positioning method provided in the first embodiment of the present invention. This embodiment is applicable to the situation of real-time dynamic restoration of pipeline path position and measurement of pipeline depth. This method can be executed by a pipeline path three-dimensional positioning device, which can be implemented in the form of hardware and / or software and can generally be configured in a drone. Figure 1 As shown, the method includes:

[0027] S110, reading a construction site positioning file corresponding to the pipeline path of the target pipeline.

[0028] Among them, the construction site positioning file includes: after the construction of the target pipeline is completed, the latitude and longitude coordinates of multiple sampling points collected along the extension direction of the pipeline path, and the relative elevation of each sampling point relative to the elevation reference point.

[0029] In the embodiment of the present invention, the elevation reference point can be specifically understood as: a fixed point with a known elevation, which is usually used as a reference for measuring the elevation of other points, and is also the take-off point of the drone. The elevation of the elevation reference point is known and is considered to be stable over a period of time. For example, the elevation reference point can be selected at the following locations: a fixed part of a building, such as a corner or a base; a permanent sign on the side of a road or sidewalk, such as a milestone or a fixed marker post; in underground pipeline projects, an elevation reference point can be set on the manhole cover or wall of the pipeline inspection well, or, in an open area, a dedicated elevation reference pile or marker stone can be set and firmly buried.

[0030] In the embodiment of the present invention, the relative elevation can be specifically understood as: the height of the measured position of the pipeline relative to the elevation reference point. Among them, the measured position of the pipeline in the relative elevation depends on the laying method of the pipeline. The laying method of the pipeline refers to the method of arranging and installing the pipeline channel, which can be specifically: cable trench, buried pipe or jacking pipe and other laying methods. The cable trench is an underground structure used to accommodate cables, which is usually provided with a cover plate to facilitate the laying and maintenance of cables. Buried pipe laying is to bury the pipeline directly underground, which is usually suitable for situations where the number of cables is small or the underground space is limited. Jacking is a trenchless construction technology that uses a jack to push the pipeline into the ground by setting a working well on the ground. According to the laying method of the pipeline, the measurement position of the pipeline can be specifically set on the lower surface of the cable trench, the upper surface of the buried pipe or the upper surface of the jacking pipe to prevent the pipeline or cable trench from being damaged due to excessive excavation during construction.

[0031] In the embodiment of the present invention, the longitude and latitude coordinates can be specifically understood as: observing from a bird's-eye view perpendicular to the pipeline to calibrate the horizontal and vertical coordinate positions of the pipeline on the horizontal plane. The longitude and latitude coordinates or relative elevation of the pipeline can be specifically measured by geological radar, high-density electrical method, level, gyroscope or total station. Among them, the geological radar method uses high-frequency electromagnetic waves to detect underground structures. When electromagnetic waves encounter underground pipelines, reflected waves will be generated. By analyzing the waveforms of these reflected waves, the position and depth of the pipelines can be inferred; the high-density electrical method detects underground pipelines based on the difference in resistivity. By observing and analyzing the potential difference at different pole distances, the plane position and depth of the target body can be determined; the level instrument uses the provided horizontal line of sight to observe the level rod erected between the two points to measure the height difference between the two points, and then the elevation of the unknown point can be calculated from the elevation of the known point; the gyroscope determines its own rotation state by measuring angular velocity, and can provide accurate direction information to obtain the position and relative elevation of the pipeline; the total station accurately measures horizontal and vertical angles. By aiming at the target point, the horizontal angle measurement function of the total station can determine the plane position of the pipeline, while the vertical angle measurement can determine the height of the target point relative to the line of sight of the instrument, thereby calculating the relative elevation.

[0032] S120, controlling the UAV to fly to the position corresponding to each longitude and latitude coordinate in the construction site positioning file in sequence at the set flight altitude.

[0033] S130. When flying to each position, control the drone to hover and perform laser marking directly below the hovering position to restore the pipeline path in real time.

[0034] Specifically, after the construction of the target pipeline is completed, an elevation reference point is selected, and according to the specific laying method of the pipeline, the longitude and latitude coordinates of multiple sampling points (for example, the sampling points can be set at any interval between 5 meters and 10 meters) and the relative elevation of the lower surface of the cable trench, the upper surface of the buried pipe or the upper surface of the top pipe relative to the elevation reference point are collected along the extension direction of the pipeline path. The above information is imported into the drone in the form of a construction site positioning file. The drone reads the location information of the pipeline and flies to the position corresponding to each longitude and latitude coordinate in the construction site positioning file in the sampling order at a set flight altitude (relative to the height of the elevation reference point, which can generally be set to any value between 5 meters and 10 meters). At each corresponding position, the drone hovers and performs laser marking directly below to indicate the presence of a pipeline at the marking position, and the pipeline path is restored in real time as the drone flies sequentially and marks points each time it hovers.

[0035] S140. During each hovering process, the current surface depth of the collection point at the current position is calculated based on the real-time measured distance of the drone relative to the ground, the flight altitude, and the relative elevation of the sampling point at the current position relative to the elevation reference point, and the current surface depth laser is projected to the surface directly below the hovering position.

[0036] Specifically, in the process of the UAV flying to the position corresponding to each longitude and latitude coordinate in the construction site positioning file in accordance with the sampling order and hovering, in addition to real-time restoration of the pipeline path, the UAV also measures the distance to the surface (referring to the surface of the site situation, for example, the earthwork surface or the sidewalk surface) in real time, and performs parameter analysis in the UAV based on the preset flight altitude and the relative elevation of the sampling point at the current position recorded in the construction site positioning file relative to the elevation reference point, calculates the current surface depth of the collection point at the current position (for example, the current surface depth can be the sum of the flight altitude and the relative elevation minus the distance between the UAV and the surface), and projects the measured current surface depth by laser to the surface directly below the hovering position for display.

[0037] The technical solution of the embodiment of the present invention first reads the construction site positioning file corresponding to the pipeline path of the target pipeline, then controls the drone to fly to the position corresponding to each latitude and longitude coordinate in the construction site positioning file at a set flight altitude, and when flying to each position, controls the drone to hover and perform laser marking directly below the hovering position to restore the pipeline path in real time. During each hovering process, the current surface depth of the sampling point at the current position is calculated according to the real-time measured distance of the drone relative to the ground surface, the flight altitude, and the relative elevation of the sampling point at the current position relative to the elevation reference point, and the current surface depth laser is projected to the surface directly below the hovering position. Using the construction site positioning file, the drone can automatically and accurately locate the underground pipeline, reducing the time and labor cost required for pipeline positioning and improving the efficiency of positioning operations. The drone performs real-time position marking and depth measurement, dynamically displays the path and depth of the pipeline on site, and improves the convenience and reliability of pipeline positioning.

[0038] Furthermore, in an embodiment of the present invention, before controlling the drone to fly to the position corresponding to each longitude and latitude coordinate in the construction site positioning file in sequence at a set flight altitude, it also includes:

[0039] Controlling the UAV to take off at a fixed altitude at the elevation reference point;

[0040] During each hovering process, the current surface depth of the collection point at the current location is calculated based on the real-time measured distance of the drone relative to the ground surface, the flight altitude, and the relative elevation of the sampling point at the current location relative to the elevation reference point, including:

[0041] During each hovering process, the distance of the UAV relative to the ground is measured in real time by a ranging module arranged under the UAV, wherein the measuring direction of the ranging module is vertically downward; the current flight altitude of the UAV and the relative elevation of the sampling point at the current position relative to the elevation reference point are summed to obtain a sum result; the sum result is calculated by subtracting the distance of the UAV relative to the ground measured in real time, and the result is taken as the current surface depth of the collection point at the current position.

[0042] Specifically, the elevation reference point is also the take-off point for the drone to achieve fixed-altitude flight. The drone takes off from the elevation reference point and performs fixed-altitude flight at a preset height relative to the elevation reference point. A distance measurement module is provided directly below the drone, and the measurement direction of the distance measurement module is vertically downward. The distance measurement module is used to achieve real-time measurement of the distance relative to the ground surface (referring to the surface of the site, such as the earthwork surface or the sidewalk surface) by the drone during each hovering process, and perform parameter analysis in the drone. The current flight altitude of the drone is summed with the relative elevation of the sampling point at the current position relative to the elevation reference point, and the distance of the drone relative to the ground measured in real time is subtracted from the sum result to obtain the current surface depth of the collection point at the current position.

[0043] Optionally, in an embodiment of the present invention, the relative elevation of each sampling point relative to the elevation reference point in the construction site positioning file is obtained by summing the elevation values ​​of each sampling point relative to the ground surface and the elevation value of the elevation reference point relative to the ground surface collected by at least one device including a total station, a level and a gyroscope at the construction site.

[0044] Specifically, according to the type of pipeline laying method, the measurement scheme of the elevation value of each sampling point of the pipeline relative to the ground surface may include: using a total station or a level to measure the pipeline laid in a cable trench or buried pipe, and using a gyroscope to measure the pipeline laid in a jacking pipe. Among them, the elevation value of each sampling point relative to the ground surface refers to the distance of each sampling point relative to the ground surface at the elevation reference point, rather than the actual site surface (for example, the upper surface of the earthwork or the sidewalk surface). The relative elevation of each sampling point can be obtained by summing the elevation value of each sampling point relative to the ground surface collected by at least one device among the total station, the level and the gyroscope and the elevation value of the elevation reference point relative to the ground surface, and saving the relative elevation value to the construction site positioning file for the three-dimensional positioning of the pipeline by the drone.

[0045] Optionally, in an embodiment of the present invention, when determining each sampling point in the construction site positioning file by means of a preset data collection frequency, the data collection frequency at the joints, branches or turning positions in the pipeline path is higher than the data collection frequency at other path positions.

[0046] Specifically, the joints, branches or turning positions in the pipeline path (such as the transition points of the cable inspection well and the laying method of the pipeline) are the key nodes connecting different pipelines, and are also potential fault points or high-risk areas for external force damage. By increasing the frequency of coordinate data acquisition, it is possible to ensure that the precise location information of these key points can be updated in real time, which helps to achieve three-dimensional visualization of underground cable channels, so that these important nodes can be quickly and accurately located during cable maintenance, troubleshooting or urban planning, and improve the monitoring accuracy and management efficiency of pipelines. Among them, for linear cable trenches or cable channels, coordinate data acquisition can be carried out at a lower frequency. For example, the setting interval of the sampling points can be any value between 5 meters and 10 meters; for joints, branches or turning positions in the pipeline path, the coordinate data acquisition frequency can be increased. For example, the setting interval of the sampling points can be any value between 1 meter and 3 meters. The acquisition frequency can be determined according to the actual situation on site, and the embodiments of the present invention do not make specific limitations.

[0047] Optionally, in an embodiment of the present invention, controlling the drone to fly to the position corresponding to each longitude and latitude coordinate in the construction site positioning file in sequence at a set flight altitude includes:

[0048] Through the real-time dynamic carrier phase differential RTK positioning system set in the drone, the drone is controlled to fly to the position corresponding to each longitude and latitude coordinate in the construction site positioning file at a set flight altitude.

[0049] In an embodiment of the present invention, the real-time dynamic carrier phase differential RTK (Real-Time Kinematic) positioning system can be specifically understood as: a high-precision positioning technology based on a global navigation satellite system, such as GPS (Global Positioning System) and Beidou, combined with data communication technology. It uses carrier phase observations to perform real-time dynamic positioning through the collaborative work of the base station and the mobile station, and can achieve centimeter-level positioning accuracy. The base station is fixed at a position with known coordinates (for example, it can be set at an elevation reference point whose elevation is known and is considered to be stable and unchanged for a period of time, that is, the take-off point of the drone), receives satellite signals and calculates error information, and then sends these error information to the mobile station (referring to the drone) in real time through the data link. After the mobile station receives the error information from the base station, it combines the satellite signals received by itself to obtain higher-precision position information through differential calculation.

[0050] Specifically, the drone is equipped with an RTK positioning system. During the fixed-altitude flight, the base station (elevation benchmark point) receives GPS satellite signals and calculates the precise position, and then sends the observation data and error information to the mobile station (drone) in real time through the data link. The mobile station receiver on the drone uses these differential data to calculate its own position, and flies to the target coordinate points in the order of collection according to the latitude and longitude coordinates recorded in the construction site positioning file through the flight control system.

[0051] Optionally, in the embodiment of the present invention, performing laser marking directly below the hovering position includes:

[0052] The first laser source in the high-power laser module arranged below the UAV is used to perform laser marking directly below the hovering position, wherein the laser source of the high-power laser module is emitted in a vertically downward direction;

[0053] Projects the current surface depth laser onto the surface directly below the hovering position, including:

[0054] The current surface depth laser is projected to the surface just below the hovering position through the second laser source in the high-power laser module arranged under the UAV.

[0055] Specifically, a high-power laser module is installed under the drone, and the high-power laser module can be equipped with two laser sources, including a first laser source and a second laser source, and the emission direction of the two laser sources is vertically downward. When the drone flies to the position corresponding to the longitude and latitude coordinates in the construction site positioning file in sequence, the first laser source is used to emit laser vertically downward to mark points directly below the hovering position, indicating that there is a pipeline at the dotted position, and as the drone flies in sequence and hovers each time to mark points; while laser marking is performed directly below the hovering position, the second laser source is used to emit laser vertically downward to project the current surface depth laser measured to the surface directly below the hovering position for display, which can simultaneously realize the real-time restoration of the pipeline path and the display of the measured actual depth of the pipeline.

[0056] Furthermore, in an embodiment of the present invention, a three-dimensional positioning method of a pipeline path further includes:

[0057] Whenever a flight speed or hovering time adjustment instruction is received from a ground marking person, the current flight speed of the drone or the hovering time at each location to be flown is adjusted.

[0058] Specifically, when the drone flies to the location corresponding to the longitude and latitude coordinates in the construction site positioning file and uses a high-power laser module to perform laser marking and project the surface depth, the ground marking personnel need to record the specific longitude and latitude of the pipeline and the actual depth of the pipeline. The ground marking personnel can send flight speed or hovering time adjustment instructions to adjust the current flight speed of the drone or the hovering time at each location to be flown in real time, which is convenient for the ground marking personnel to record and improve the efficiency of three-dimensional positioning of the pipeline path.

[0059] Embodiment 2

[0060] Figure 2 This is a schematic diagram of the position and relative elevation measurement of different pipeline laying methods for the entire path applicable to the second embodiment of the present invention. Figure 2 As shown, the relative elevation measurement method for pipelines laid in jacking, buried pipe and cable trench is shown respectively. After locating the longitude and latitude coordinates of the pipeline, a total station or a level is used to measure the pipeline laid in cable trench or buried pipe, and the distance h1 or h2 from the lower surface of the cable trench and the upper surface of the buried pipe cable to the ground surface at the elevation reference point is obtained respectively, and then combined with the known distance h from the elevation reference point to the ground surface, the respective relative elevation z is calculated by z=h1+h or z=h2+h, that is, the distance from the lower surface of the cable trench or the upper surface of the buried pipe cable to the elevation reference point. After locating the longitude and latitude coordinates of the pipeline, a gyroscope is used to measure the pipeline laid in jacking, and the distance h3 from the upper surface of the jacking pipe to the ground surface at the elevation reference point is obtained, and then combined with the known distance h from the elevation reference point to the ground surface, the relative elevation z is calculated by z=h3+h, that is, the distance from the upper surface of the jacking pipe to the elevation reference point.

[0061] Figure 3 This is a schematic diagram of a full path elevation calculation and marking work applicable to the second embodiment of the present invention. Figure 3As shown, the pipeline marking points and elevation calculation and display methods for jacking, buried pipe and cable trench laying are respectively shown. When the RTK-equipped drone takes off from the elevation reference point at a preset take-off height hw and flies at a fixed altitude, it automatically flies to the top of the target pipeline in sequence according to the latitude and longitude coordinates of multiple sampling points recorded in the imported construction site positioning file and hovers. During the hovering process, the distance between the drone and the ground surface below is measured by the distance measuring device, such as measuring the distance d1 from the drone to the ground surface of the cable trench pipeline, measuring the distance d2 from the drone to the ground surface of the buried pipeline, or measuring the distance d3 from the drone to the ground surface of the jacking pipeline. According to the relative elevation z corresponding to the sampling point recorded in the construction site positioning file and the known take-off height hw, the actual depth of the cable trench, buried pipe or top pipe from the ground surface can be calculated by z+hw-d1, z+hw-d2 or z+hw-d3 respectively, and the actual depth from the ground surface and the actual position of the pipeline can be projected onto the ground surface at the same time through the laser transmitter installed on the drone. With the drone's sequential flight, laser marking and projection of the actual depth measurement results, the real-time restoration of the entire pipeline path and the measurement of the actual depth are achieved. Among them, the flight speed and hovering time of the drone can be adjusted according to the actual work needs on site, which is convenient for on-site staff to record. The marking spacing of the drone can also be adjusted to ensure that the sampling distance is shortened at key nodes such as inspection wells, transition points of laying methods, and cables may have joints, branches or turns, so as to increase the sampling frequency and improve the monitoring accuracy and management efficiency of underground cable channels.

[0062] In this application scenario, a pipeline three-dimensional positioning system and device are provided, which consists of a drone and RTK positioning system, a ranging module, a high-power laser module, and a latitude and longitude and parameter analysis system. The drone containing the RTK positioning system is equipped with a vertically downward ranging module to achieve real-time measurement of the distance between the drone and the actual objects such as buildings, earth piles or roads below. Among them, the high-power laser module vertically illuminates the actual surface of the earth pile or road surface below, and presents the illuminated bright spots and corresponding depth content on the surface for path restoration and depth marking.

[0063] Before locating the pipeline through the pipeline three-dimensional positioning system and device, data collection is first performed on pipelines such as cable trenches, jacking pipes or buried pipes. Including x and y coordinates (equivalent to the latitude and longitude coordinates mentioned above) and relative elevation. The relative elevation can be selected from a elevation point, which has almost no elevation change and is selected as a reference point for elevation measurement. The relative elevation of the buried pipe is measured from the position of the buried cable (referring to the upper surface of the buried pipe), the cable trench is measured from the trench surface (referring to the lower surface of the cable trench), and the jacking pipe is measured and converted from the position of the pipe (referring to the upper surface of the jacking pipe).

[0064] During the flight and hovering process of the drone, the high-power laser module works in real time and reads the relative elevation measured in the early stage in real time. Combined with the results of the on-site vertical ranging module, it converts the distance between the cable and the surface at the corresponding position, that is, the actual depth, so that the real-time map of the cable channel position and actual depth is vividly and intuitively displayed on the surface of the ground where the cable pipeline is located (referring to the actual surface of the site, such as the upper surface of the earthwork or the surface of the sidewalk). Among them, in order to facilitate conversion, the take-off point of the drone is set at the same elevation as the elevation benchmark point during the early pipeline measurement, and its straight-line flight speed and hovering time are adjustable, and the specific setting value can be determined according to the actual situation on site.

[0065] In this application scenario, the specific technical solution can be:

[0066] S1: After the construction of the pipeline path channel is completed, the elevation reference point is first selected. The elevation reference point is selected at a point near the pipeline channel where the elevation does not change. Then, positioning devices such as total stations and levels can be used to select points at a certain distance to generate the x and y coordinates and relative elevation of the cable trench and buried pipes. The x and y coordinates and relative elevation of the jacking channel are determined by gyroscope data.

[0067] S2: When it is necessary to locate the pipeline on site, the x and y coordinates and relative elevation files collected in the early stage of the pipeline are first input into the UAV system, and then read through the data reading system. The UAV and RTK device fly in sequence according to the x and y coordinates, the set altitude and the set speed.

[0068] S3: After flying to the target coordinate point, it hovers and emits high-power dots through the vertical laser transmitter. The dotted point is the cable pipeline path. At the same time, the vertical rangefinder measures the distance between the drone and the ground surface (referring to the actual surface of the site, such as the surface of the soil pile after the pipeline channel is covered) in real time. Combined with the previous relative elevation, the depth of the pipeline from the current ground surface can be obtained by conversion and calculation. The transmitter system marks the path in real time and images the depth value on the ground surface for the staff to mark and record on site. Restore the position and depth of the pipeline.

[0069] S4: To facilitate conversion, the take-off point of the UAV is set at the elevation reference point during the previous pipeline measurement, that is, the UAV takes off from the elevation reference point for fixed-altitude flight.

[0070] The present invention provides a pipeline three-dimensional positioning system and device. The system and device can form a full-path overall file through early pipeline positioning and relative elevation recording after the external environment of pipelines with various different laying methods changes. Based on an unmanned aerial vehicle RTK device, combined with a data reading system, a vertical rangefinder and a laser transmitter, real-time marking, measurement and on-site dynamic restoration of the pipeline path and depth of the entire line in multiple laying methods can be achieved, which is convenient for operation and maintenance personnel to mark in real time, and solves the problem that only marking and path restoration can be performed through instruments such as total stations, but the pipeline depth cannot be obtained. On the basis of relatively low cost, the work efficiency and the reliability of pipeline positioning are improved, and contributions are made to the operation and maintenance of pipelines and the prevention of external damage.

[0071] Embodiment 3

[0072] Figure 4 This is a schematic diagram of the structure of a three-dimensional positioning device for a pipeline path provided in the third embodiment of the present invention. Figure 3 As shown, the device is configured in a drone, and includes: a positioning file reading module 410, a drone flight control module 420, a pipeline path restoration module 430 and a surface depth calculation module 440.

[0073] The positioning file reading module 410 is used to read the construction site positioning file corresponding to the pipeline path of the target pipeline; wherein the construction site positioning file includes: after the construction of the target pipeline is completed, the longitude and latitude coordinates of multiple sampling points collected along the extension direction of the pipeline path, and the relative elevation of each sampling point relative to the elevation reference point.

[0074] The UAV flight control module 420 is used to control the UAV to fly to the position corresponding to each longitude and latitude coordinate in the construction site positioning file at a set flight altitude.

[0075] The pipeline path restoration module 430 is used to control the drone to hover and perform laser marking directly below the hovering position when flying to each position, so as to restore the pipeline path in real time.

[0076] The surface depth calculation module 440 is used to calculate the current surface depth of the collection point at the current position during each hovering process based on the real-time measured distance of the drone relative to the surface, the flight altitude and the relative elevation of the sampling point at the current position relative to the elevation reference point, and project the current surface depth laser to the surface directly below the hovering position.

[0077] The technical solution of the embodiment of the present invention first reads the construction site positioning file corresponding to the pipeline path of the target pipeline, then controls the drone to fly to the position corresponding to each latitude and longitude coordinate in the construction site positioning file at a set flight altitude, and when flying to each position, controls the drone to hover and perform laser marking directly below the hovering position to restore the pipeline path in real time. During each hovering process, the current surface depth of the sampling point at the current position is calculated according to the real-time measured distance of the drone relative to the ground surface, the flight altitude, and the relative elevation of the sampling point at the current position relative to the elevation reference point, and the current surface depth laser is projected to the surface directly below the hovering position. Using the construction site positioning file, the drone can automatically and accurately locate the underground pipeline, reducing the time and labor cost required for pipeline positioning and improving the efficiency of positioning operations. The drone performs real-time position marking and depth measurement, dynamically displays the path and depth of the pipeline on site, and improves the convenience and reliability of pipeline positioning.

[0078] In the embodiment of the present invention, the UAV flight control module 420 is specifically used for:

[0079] The UAV is controlled to take off at a fixed altitude at the elevation reference point.

[0080] In the embodiment of the present invention, the surface depth calculation module 440 is specifically used to:

[0081] During each hovering process, the distance of the UAV relative to the ground is measured in real time by a ranging module arranged under the UAV, wherein the measuring direction of the ranging module is vertically downward; the current flight altitude of the UAV and the relative elevation of the sampling point at the current position relative to the elevation reference point are summed to obtain a sum result; the sum result is calculated by subtracting the distance of the UAV relative to the ground measured in real time, and the result is taken as the current surface depth of the collection point at the current position.

[0082] In an embodiment of the present invention, the relative elevation of each sampling point relative to the elevation reference point in the construction site positioning file is obtained by summing the elevation values ​​of each sampling point relative to the ground surface and the elevation value of the elevation reference point relative to the ground surface collected by at least one device including a total station, a level and a gyroscope at the construction site.

[0083] In an embodiment of the present invention, when determining each sampling point in the construction site positioning file by a preset data collection frequency method, the data collection frequency at the joints, branches or turning positions in the pipeline path is higher than the data collection frequency at other path positions.

[0084] In the embodiment of the present invention, the UAV flight control module 420 is further specifically used for:

[0085] Through the real-time dynamic carrier phase differential RTK positioning system set in the drone, the drone is controlled to fly to the position corresponding to each longitude and latitude coordinate in the construction site positioning file at a set flight altitude.

[0086] In the embodiment of the present invention, the pipeline path restoration module 430 is specifically used to:

[0087] The first laser source in the high-power laser module arranged below the UAV is used to perform laser marking directly below the hovering position, wherein the laser source of the high-power laser module emits in a vertically downward direction.

[0088] In the embodiment of the present invention, the surface depth calculation module 440 is further specifically used for:

[0089] The current surface depth laser is projected to the surface just below the hovering position through the second laser source in the high-power laser module arranged under the UAV.

[0090] In an embodiment of the present invention, an instruction adjustment module is also included, which is used to adjust the current flight speed of the drone or the hovering time at each location to be flown whenever a flight speed or hovering time adjustment instruction is received from a ground marking person.

[0091] The three-dimensional positioning device for a pipeline path provided in an embodiment of the present invention can execute the three-dimensional positioning method for a pipeline path provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0092] In the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0093] Embodiment 4

[0094] Figure 5 A schematic diagram of the structure of a drone 10 that can be used to implement an embodiment of the present invention is shown. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0095] like Figure 5As shown, the UAV 10 includes at least one RTK positioning system 20 for real-time positioning of the longitude and latitude of the UAV and the flight altitude; includes at least one ranging module 21, which is arranged below the UAV, and is used for real-time measurement of the distance of the UAV relative to the ground surface, wherein the measuring direction of the ranging module 21 is vertically downward; includes at least one high-power laser module 22, which is arranged below the UAV, and is used to use a first laser source to laser-point directly below, and project the current surface depth laser calculated in real time to the ground surface directly below through a second light source, wherein the laser source emission direction of the high-power laser module 22 is vertically downward.

[0096] The drone 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the drone 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0097] A number of components in the drone 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the drone 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0098] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The processor 11 executes the various methods and processes described above, such as the three-dimensional positioning method of the pipeline path, that is:

[0099] Read the construction site positioning file corresponding to the pipeline path of the target pipeline; wherein the construction site positioning file includes: after the construction of the target pipeline is completed, the longitude and latitude coordinates of multiple sampling points collected along the extension direction of the pipeline path, and the relative elevation of each sampling point relative to the elevation reference point;

[0100] Control the drone to fly to the location corresponding to each longitude and latitude coordinate in the construction site location file at the set flight altitude;

[0101] When flying to each location, the drone is controlled to hover and a laser is placed directly below the hovering position to restore the pipeline path in real time;

[0102] During each hovering process, the current surface depth of the collection point at the current position is calculated based on the real-time measured distance of the drone relative to the ground, the flight altitude, and the relative elevation of the sampling point at the current position relative to the elevation reference point, and the current surface depth laser is projected to the surface directly below the hovering position.

[0103] In some embodiments, the three-dimensional positioning method of the pipeline path can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the drone 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the three-dimensional positioning method of the pipeline path described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the three-dimensional positioning method of the pipeline path by any other appropriate means (for example, by means of firmware).

[0104] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0105] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0106] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0107] To provide interaction with a user, the systems and techniques described herein may be implemented on a drone having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the drone. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0108] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0109] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0110] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0111] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A three-dimensional positioning method for pipeline paths, It is characterized in that Executed by a drone, the method comprises: Read the construction site positioning file corresponding to the pipeline path of the target pipeline; wherein the construction site positioning file includes: after the construction of the target pipeline is completed, the longitude and latitude coordinates of multiple sampling points collected along the extension direction of the pipeline path, and the relative elevation of each sampling point relative to the elevation reference point; Control the drone to fly to the location corresponding to each longitude and latitude coordinate in the construction site location file at the set flight altitude; When flying to each location, the drone is controlled to hover and a laser is placed directly below the hovering position to restore the pipeline path in real time; During each hovering process, the current surface depth of the collection point at the current position is calculated based on the real-time measured distance of the drone relative to the ground, the flight altitude, and the relative elevation of the sampling point at the current position relative to the elevation reference point, and the current surface depth laser is projected to the surface directly below the hovering position.

2. The method according to claim 1, It is characterized in that Before controlling the drone to fly to each location corresponding to the latitude and longitude coordinates in the construction site location file at the set flight altitude, the following steps are also included: Controlling the UAV to take off at a fixed altitude at the elevation reference point; During each hovering process, the current surface depth of the collection point at the current location is calculated based on the real-time measured distance of the drone relative to the ground surface, the flight altitude, and the relative elevation of the sampling point at the current location relative to the elevation reference point, including: During each hovering process, the distance of the drone relative to the ground is measured in real time by a distance measurement module disposed below the drone, wherein the measurement direction of the distance measurement module is vertically downward; The current flight altitude of the UAV and the relative altitude of the sampling point at the current position relative to the elevation reference point are summed to obtain the sum result; The result obtained by subtracting the distance of the drone relative to the ground measured in real time from the summed result is used as the current ground depth of the collection point at the current position.

3. The method according to claim 1, It is characterized in that The relative elevation of each sampling point relative to the elevation reference point in the construction site positioning file is obtained by summing the elevation values ​​of each sampling point relative to the ground surface collected by at least one device including a total station, a level and a gyroscope at the construction site and the elevation value of the elevation reference point relative to the ground surface.

4. The method according to claim 1, It is characterized in that When the sampling points in the construction site positioning file are determined by a preset data collection frequency method, the data collection frequency at the joints, branches or turning positions in the pipeline path is higher than the data collection frequency at other path positions.

5. The method according to claim 1, It is characterized in that Control the drone to fly to the locations corresponding to each latitude and longitude coordinate in the construction site location file at the set flight altitude, including: Through the real-time dynamic carrier phase differential RTK positioning system set in the drone, the drone is controlled to fly to the position corresponding to each longitude and latitude coordinate in the construction site positioning file at a set flight altitude.

6. The method according to claim 1, It is characterized in that Laser marking is performed directly below the hovering position, including: The first laser source in the high-power laser module arranged below the UAV is used to perform laser marking directly below the hovering position, wherein the laser source of the high-power laser module is emitted in a vertically downward direction; Projects the current surface depth laser onto the surface directly below the hovering position, including: The current surface depth laser is projected to the surface just below the hovering position through the second laser source in the high-power laser module arranged under the UAV.

7. The method according to claim 1, It is characterized in that The method further comprises: Whenever a flight speed or hovering time adjustment instruction is received from a ground marking person, the current flight speed of the drone or the hovering time at each location to be flown is adjusted.

8. A three-dimensional positioning device for pipeline paths, It is characterized in that Configured in the drone, including: The positioning file reading module is used to read the construction site positioning file corresponding to the pipeline path of the target pipeline; wherein the construction site positioning file includes: after the construction of the target pipeline is completed, the longitude and latitude coordinates of multiple sampling points collected along the extension direction of the pipeline path, and the relative elevation of each sampling point relative to the elevation reference point; The UAV flight control module is used to control the UAV to fly to the position corresponding to each latitude and longitude coordinate in the construction site positioning file at a set flight altitude in sequence; The pipeline path restoration module is used to control the drone to hover at each location and perform laser marking directly below the hovering position to restore the pipeline path in real time; The surface depth calculation module is used to calculate the current surface depth of the collection point at the current position during each hovering process based on the real-time measured distance of the drone relative to the surface, the flight altitude, and the relative elevation of the sampling point at the current position relative to the elevation reference point, and project the current surface depth laser to the surface directly below the hovering position.

9. A drone, It is characterized in that The drone comprises: RTK positioning system, used to locate the latitude and longitude of the drone’s location, as well as its flight altitude in real time; The ranging module is arranged below the UAV and is used to measure the distance of the UAV relative to the ground in real time, wherein the measuring direction of the ranging module is vertically downward; The high-power laser module is arranged below the UAV, and is used to mark the laser point directly below through the first laser source, and project the current surface depth laser calculated in real time to the surface directly below through the second light source, wherein the laser source of the high-power laser module emits in a vertically downward direction; at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the three-dimensional positioning method of the pipeline path according to any one of claims 1-7.

10. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the three-dimensional positioning method of a pipeline path according to any one of claims 1-7 when executed.

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