Visual underground pipeline detection device and three-dimensional modeling method

Abstract

The invention relates to a visual underground pipeline detection device. The device comprises a vehicle body; the moving assembly is arranged below the vehicle body so as to move the vehicle body; the laser radar is located above the vehicle body and emits laser beams to detect terrain information on the ground; the detection system is arranged on the vehicle body and located below the plane where the laser radar is located so as to mark the absolute space position of the underground pipeline and detect related data information of the underground pipeline. The invention further provides a visual underground pipeline three-dimensional modeling method, three-dimensional visualization of the overground scene object and the underground pipeline can be achieved, real-time checking and reading of underground pipeline information can be achieved through a mobile phone or a computer personal terminal, management and maintenance of the underground pipeline are facilitated, and great practical value is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detectors, and in particular to a visual underground pipeline detection device and a three-dimensional modeling method. Background Art

[0002] Because urban underground pipelines are deeply buried, they are highly concealed. As the underground pipelines age, they are old, damaged, corroded and deformed, which are difficult to find. In addition, many old underground pipelines are old, lack management and maintenance, and have lost design drawings. When an underground pipeline accident occurs, it is often difficult to grasp the specific information of the underground pipeline, which brings great difficulties to the maintenance of underground pipelines. The maintenance takes a long time and brings great inconvenience to residents' lives. Therefore, designing a visual underground pipeline detection device and a three-dimensional modeling method is an urgent problem to be solved. Summary of the invention

[0003] The purpose of the present invention is to provide a visual underground pipeline detection device and a three-dimensional modeling method to achieve visual real-time maintenance of underground pipelines.

[0004] In order to achieve the above-mentioned purpose, the present invention provides a visual underground pipeline detection device, comprising: a vehicle body; a moving component, arranged under the vehicle body, to move the vehicle body; a laser radar, located above the vehicle body, emitting a laser beam to detect ground terrain information; a detection system, arranged on the vehicle body and located below the plane where the laser radar is located, to mark the absolute spatial position of the underground pipeline and detect relevant data information of the underground pipeline.

[0005] The laser radar is a flat cylindrical structure, on which are disposed a plurality of laser cameras and a signal receiver; and the laser cameras are evenly distributed and arranged around the horizontal side of the cylinder so that the laser beam can perform a 360° scan.

[0006] The detection system is internally integrated with a dynamic real-time measurement system and a pipeline detection system.

[0007] Preferably, the mobile assembly includes: a plurality of wheel brackets, which are arranged below the vehicle body and have one end connected to the vehicle body; a plurality of hub racks, one end of which is respectively connected to the other end of each of the wheel brackets in a one-to-one correspondence; and a plurality of wheels, which are respectively connected to the other end of each of the hub racks in a one-to-one correspondence.

[0008] Preferably, the visual underground pipeline detection device also includes a power system fixed on the vehicle body; wherein, a power storage device is provided in the power system, and the power system is respectively connected to the mobile component, the detection system and the laser radar circuit to provide operating power for the entire detection device.

[0009] Preferably, the visual underground pipeline detection device also includes a telescopic device, one end of which is fixed above the vehicle body and the other end is connected to the laser radar, and the height of the laser radar can be adjusted through telescopic control.

[0010] Preferably, the visual underground pipeline detection device also includes an external controller, which is communicatively connected to the signal receiver and the detection device in the laser radar respectively.

[0011] The present invention also provides a method for visualizing three-dimensional modeling of underground pipelines, comprising the following steps: S1, establishing a three-dimensional model of the aboveground terrain; S2, establishing a three-dimensional model of the underground pipeline; S3, performing 3D rendering processing on the three-dimensional model of the aboveground terrain in S1 and the three-dimensional model of the underground pipeline in S2 respectively;

[0012] S4. Embed the three-dimensional model of the ground terrain and the three-dimensional model of the underground pipeline rendered in S3 into the geographic information system, and match them with the geographical location information in the geographic information system to achieve spatial coordinate unification; S5. Access the geographic information system platform through a mobile terminal to view the established three-dimensional model of the ground terrain and the three-dimensional model of the underground pipeline in real time.

[0013] Preferably, the S1 includes the following steps: S11, acquiring ground terrain data information through the laser radar; S12, solving, bias correcting, clustering and extracting the ground terrain data information; S13, constructing a three-dimensional model of the ground terrain data processed in S12.

[0014] Among them, in the S11, the specific process of the laser radar obtaining the ground terrain data information is: first, the laser radar emits laser beams to the surroundings through the laser cameras arranged thereon; secondly, the signal receiver receives the reflected beams of each laser beam irradiated to each target point in the ground terrain and then reflected back, thereby obtaining the time required for the laser beam to irradiate each target point in the ground terrain and then reflect back; finally, the distance from the laser radar to each target point in the ground terrain is calculated by the laser light speed and the time required for the reflection back.

[0015] Preferably, the S2 includes the following steps: S21, calibrating the geographical location information of the underground pipeline through a dynamic real-time measurement system, and measuring the underground pipeline data information through a pipeline detection system; S22, determining the buried depth, size and direction of the underground pipeline according to the underground pipeline data information in S21, and constructing a three-dimensional model of the underground pipeline; S23, binding the absolute spatial position information of the underground pipeline calibrated in S21 to the three-dimensional model of the underground pipeline.

[0016] To sum up, compared with the prior art, the present invention provides a visualized underground pipeline detection device, which uses a laser radar to obtain the ground terrain data information of the location of the underground pipeline, and uses real-time dynamic measurement technology to record the absolute spatial position information of the underground pipeline. The detection device is used to obtain the buried depth, size, direction and other data information of the underground pipeline, so as to perform three-dimensional modeling and 3D rendering, and finally display the constructed three-dimensional model on a mobile terminal; the present invention provides a visualized underground pipeline three-dimensional modeling method, which realizes the three-dimensional visualization of ground scenes and underground pipelines, and can realize real-time viewing and reading of underground pipeline information through mobile phones or computer personal terminals, which facilitates the management and maintenance of underground pipelines and has great practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a front view of the detection device of the present invention;

[0018] Figure 2 is a side view of the detection device of the present invention;

[0019] Figure 3 A top view of the detection device of the present invention;

[0020] In the figure:

[0021] 1. Car body;

[0022] 2. Wheel bracket;

[0023] 3. Hub carrier;

[0024] 4. Wheels;

[0025] 5. Power system;

[0026] 6. Detection system;

[0027] 7. LiDAR;

[0028] 8. Telescopic device. DETAILED DESCRIPTION

[0029] The following is combined with Figures 1 to 3 , the present invention is further explained by describing a preferred specific embodiment in detail.

[0030] It should be noted that the drawings are in a very simplified form and use non-precise proportions. They are only used to conveniently and clearly assist in explaining the embodiments of the present invention, and are not used to limit the conditions for the implementation of the present invention. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical content disclosed by the present invention.

[0031] It should be noted that, in the present invention, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only the elements explicitly listed, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0032] like Figure 1 to Figure 3 As shown, the present invention provides a visual underground pipeline detection device, including: a vehicle body 1; a moving component, arranged below the vehicle body 1, for moving the vehicle body 1; a laser radar 7, located above the vehicle body 1, emitting a laser beam to detect ground terrain information; a detection system 6, arranged on the vehicle body 1 and below the plane where the laser radar 7 is located, for marking the absolute spatial position of the underground pipeline and detecting relevant data information of the underground pipeline; a telescopic device 8, one end of which is fixed above the vehicle body 1, and the other end is connected to the laser radar 7, and the height of the laser radar 7 is adjusted by telescopic control.

[0033] Furthermore, the mobile assembly includes: a plurality of wheel brackets 2, which are arranged below the vehicle body 1 and connected to the vehicle body 1 at one end; a plurality of wheel hub frames 3, one end of which is connected to the other end of each wheel bracket 2 in a one-to-one correspondence; and a plurality of wheels 4, which are connected to the other end of each wheel hub frame 3 in a one-to-one correspondence. It can be understood that the mobile assembly cooperates to control the movement of the vehicle body 1, thereby controlling the movement of the overall underground pipeline detection device, and then obtaining specific data information of the underground pipeline while obtaining the terrain data information on the ground.

[0034] Furthermore, the laser radar 7 is a flat cylindrical structure, on which a plurality of laser cameras 71 and a signal receiver 72 are provided.

[0035] The laser cameras 71 are evenly distributed and arranged around the horizontal side of the cylinder to enable the laser beam to scan a 360° range, and the laser radar 7 emits laser beams to the surroundings through each laser camera 71, and receives the reflected beams of each laser beam irradiated to each target point in the ground terrain and then reflected back through the signal receiver 72, so as to obtain the time required for the laser beam to irradiate each target point in the ground terrain and then reflect back, so as to calculate the distance from the laser radar 7 to each target point in the ground terrain. In a preferred embodiment of the present invention, the number of the laser cameras 71 is 4, which are evenly distributed and arranged around the horizontal side of the cylinder of the laser radar 7 at 90° intervals.

[0036] It is understandable that, as the car is constantly moving, each laser camera 71 will acquire millions of ground terrain data information during the rapid and repeated detection process. Based on the cloud collection of the ground terrain data information, a complex "map" of the ground terrain space surface being measured, i.e., a point cloud map, can be constructed. After joint solution, deviation correction, clustering, extraction and other processing, a digital three-dimensional space model that is easy for human vision to distinguish can be constructed, and 3D graphics rendering can be performed at the same time to further improve the aesthetics of the graphics.

[0037] Furthermore, the detection system 6 is internally integrated with a dynamic real-time kinematic (RTK) system 61 and a pipeline detection system 62. The RTK system 61 is used to mark the absolute spatial position of the underground pipeline, and the pipeline detection system 62 is used to measure the buried depth, size, direction and other data information of the underground pipeline.

[0038] Furthermore, the telescopic device 8 has a telescopic function, and can control the height of the laser radar 7 by telescoping to achieve operation in different spaces.

[0039] Furthermore, the visual underground pipeline detection device also includes a power system 5, which is fixed above the vehicle body 1; wherein a power storage device is provided in the power system 5, and the power system 5 is respectively connected to the mobile component, the detection system 6 and the laser radar 7 circuit to provide operating power for the entire detection device.

[0040] Furthermore, the visual underground pipeline detection device also includes an external controller (not shown in the figure), which is communicatively connected to the signal receiver 72 in the laser radar 7 to receive ground terrain data information scanned by the laser radar 7; and the external controller is communicatively connected to the detection system 6 to receive underground pipeline-related data information detected by the pipeline detection system 62 and absolute spatial position information of the underground pipeline recorded by the RTK system 61.

[0041] The present invention also provides a method for visualizing three-dimensional modeling of underground pipelines, which specifically comprises the following steps:

[0042] S1. Establishing a three-dimensional model of the ground terrain;

[0043] S2. Establish a three-dimensional model of underground pipelines;

[0044] S3, performing 3D rendering processing on the three-dimensional model of the above-ground terrain in S1 and the three-dimensional model of the underground pipeline in S2 respectively;

[0045] S4, embedding the above-ground terrain three-dimensional model and the underground pipeline three-dimensional model rendered in S3 into a geographic information system, and matching them with the geographic location information in the geographic information system to achieve spatial coordinate unification;

[0046] S5. Access the geographic information system through a mobile terminal to view the established three-dimensional model of the ground terrain and the three-dimensional model of the underground pipeline in real time.

[0047] Furthermore, the S1 specifically includes the following steps:

[0048] S11, obtaining ground terrain data information through the laser radar 7;

[0049] S12, performing calculation, deviation correction, clustering and extraction processing on the ground terrain data information;

[0050] S13, constructing a three-dimensional model of the ground terrain data processed in S12.

[0051] Among them, in the S11, the specific process of the laser radar 7 acquiring the ground terrain data information is as follows: first, the laser radar 7 emits laser beams to the surroundings through the laser cameras 71 arranged thereon; secondly, the signal receiver 72 receives the reflected beams of each laser beam irradiated to each target point in the ground terrain and then reflected back, thereby obtaining the time required for the laser beam to irradiate each target point in the ground terrain and then reflect back; finally, the distance from the laser radar 7 to each target point in the ground terrain is calculated by the laser light speed and the time required for the reflection back.

[0052] Furthermore, the S2 specifically includes the following steps:

[0053] S21, calibrating the absolute spatial position information of the underground pipeline through the dynamic real-time measurement system 61, and measuring the data information of the underground pipeline through the pipeline detection system 62;

[0054] S22, determining the buried depth, size and direction of the underground pipeline according to the underground pipeline data information in S21, and constructing a three-dimensional model of the underground pipeline;

[0055] S23, binding the absolute spatial position information of the underground pipeline calibrated in S21 to the three-dimensional model of the underground pipeline.

[0056] To sum up, the present invention provides a visualized underground pipeline detection device, which uses a laser radar to obtain the ground terrain data information of the location of the underground pipeline, and uses real-time dynamic measurement technology to record the absolute spatial position information of the underground pipeline. The detection device is used to obtain the buried depth, size, direction and other data information of the underground pipeline, so as to perform three-dimensional modeling and 3D rendering, and finally display the constructed three-dimensional model on a mobile terminal; the present invention provides a visualized underground pipeline three-dimensional modeling method, which realizes three-dimensional visualization of ground scenes and underground pipelines, and can realize real-time viewing and reading of underground pipeline information through mobile phones or computer personal terminals, which facilitates the management and maintenance of underground pipelines and has great practical value.

[0057] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

Claims

1. A visual underground pipeline detection device, characterized in that: include: Vehicle body; A moving assembly is arranged below the vehicle body to move the vehicle body; A laser radar, located above the vehicle body, emitting a laser beam to detect terrain information on the ground; A detection system, arranged on the vehicle body and below the plane where the laser radar is located, to mark the absolute spatial position of the underground pipeline and detect relevant data information of the underground pipeline; The laser radar is a flat cylindrical structure, on which a plurality of laser cameras and a signal receiver are arranged; and the laser cameras are evenly distributed and arranged around the horizontal side of the cylinder so that the laser beam can scan in a 360° range; The detection system is internally integrated with a dynamic real-time measurement system and a pipeline detection system.

2. The visual underground pipeline detection device according to claim 1, characterized in that: The mobile component comprises: A plurality of wheel brackets are arranged below the vehicle body and one end of the wheel brackets is connected to the vehicle body; A plurality of wheel hub frames, one end of which is connected to the other end of each wheel bracket in a one-to-one correspondence; A plurality of wheels are connected to the other end of each of the wheel hub racks in a one-to-one correspondence.

3. The visual underground pipeline detection device according to claim 1, characterized in that: It also includes a power system fixed on the vehicle body; Among them, the power system is provided with a power storage device, and the power system is respectively connected to the mobile component, the detection system and the laser radar circuit to provide operating power for the entire detection device.

4. The visual underground pipeline detection device according to claim 1, characterized in that: It also includes a telescopic device, one end of which is fixed above the vehicle body and the other end is connected to the laser radar, and the height of the laser radar can be adjusted through telescopic control.

5. The visual underground pipeline detection device according to claim 1, characterized in that: It also includes an external controller, which is communicatively connected to the signal receiver and the detection system in the laser radar respectively.

6. A method for visualizing three-dimensional modeling of underground pipelines, implemented by using the visual underground pipeline detection device according to any one of claims 1 to 5, characterized in that: The following steps are involved: S1. Establishing a three-dimensional model of the ground terrain; S2. Establish a three-dimensional model of underground pipelines; S3, performing 3D rendering processing on the three-dimensional model of the above-ground terrain in S1 and the three-dimensional model of the underground pipeline in S2 respectively; S4, embedding the above-ground terrain three-dimensional model and the underground pipeline three-dimensional model rendered in S3 into a geographic information system, and matching them with the geographic location information in the geographic information system to achieve spatial coordinate unification; S5. Access the geographic information system platform through a mobile terminal to view the established three-dimensional model of the ground terrain and the three-dimensional model of the underground pipeline in real time.

7. The visual underground pipeline detection device according to claim 6, characterized in that: The S1 includes the following steps: S11, obtaining ground terrain data information through the laser radar; S12, performing calculation, deviation correction, clustering and extraction processing on the ground terrain data information; S13, constructing a three-dimensional model of the ground terrain data processed in S12.

8. The visual underground pipeline detection device according to claim 7, characterized in that: In the above S11, the specific process of the laser radar acquiring the ground terrain data information is as follows: First, the laser radar emits laser beams to the surroundings through the laser cameras arranged thereon; Secondly, the signal receiver receives the reflected light beams from each laser beam irradiating each target point on the ground and then reflecting back, thereby obtaining the time required for the laser beam to irradiate each target point on the ground and then reflect back; Finally, the distance from the laser radar to each target point on the ground terrain is calculated by using the laser light speed and the time required for the reflection to return.

9. The visual underground pipeline detection device according to claim 6, characterized in that: The S2 comprises the following steps: S21, calibrating the geographical location information of the underground pipeline through the dynamic real-time measurement system, and measuring the data information of the underground pipeline through the pipeline detection system; S22, determining the buried depth, size and direction of the underground pipeline according to the underground pipeline data information in S21, and constructing a three-dimensional model of the underground pipeline; S23, binding the absolute spatial position information of the underground pipeline calibrated in S21 to the three-dimensional model of the underground pipeline.

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