Field operation inspection device based on laser point cloud real-time modeling technology

Abstract

The invention relates to the technical field of inspection devices, in particular to a field operation inspection device based on a laser point cloud real-time modeling technology, which comprises an inspection device body, an I-shaped track, a plurality of first cleaning assemblies, a plurality of second cleaning assemblies and an I-shaped track arranged on the inspection device body, the top of the inspection device body is provided with a plurality of driving rollers arranged in a rectangular array, the plurality of driving rollers are in rolling connection on the two opposite sides of the I-shaped track, and an auxiliary roller is arranged on the top wall of the inspection device body and located between the driving rollers at the front end and the rear end. Dust, on the inner side of the I-shaped rail, of a cleaning plate and a side plate is pushed into a concentric-square-shaped cover through a first cleaning assembly, then the dust enters a dust accumulation box and a quick disassembly box to be accumulated, and the dust on the I-shaped rail is automatically pushed into the dust accumulation box through the cleaning plate and the side plate by means of kinetic energy of the inspection device body; and the friction force of the driving roller on the I-shaped rail is prevented from being reduced, so that the car sliding accident is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of patrol inspection devices, in particular to a field operation patrol inspection device based on laser point cloud real-time modeling technology. Background Art

[0002] In the process of modern industrialization, electricity plays a vital role in all kinds of work today, that is to say, this society is completely inseparable from electricity. The current improvement of informatization has greatly promoted the advancement of digital technology. The work of safe production risk management and control is combined with modern information technology to obtain a safe production risk management and control system, which fundamentally improves the level and ability of safe production management of power grid enterprises.

[0003] In the research of operator behavior detection and illegal target detection in the complex background of substations, in order to ensure the safe operation of substations, substation illegal target detection based on artificial intelligence has been widely used in substations. In the research of on-site safety intelligent technology, the operation of various equipment in substations involves many dangerous areas, live areas and interval control, and the mistaken entry of personnel will cause serious accidents.

[0004] Existing mining inspection devices usually use a hanging form to inspect on the track. The running track is usually I-shaped and set on the top side wall of the mine. Then the inspection device is started to run on the track through the terminal. Due to environmental reasons in the substation, the shape of this track has parallel, uphill and downhill types. Therefore, the inspection device needs to walk uphill and downhill on this track to complete the inspection in the substation.

[0005] However, due to the harsh environment inside the substation, this I-shaped structure is prone to accumulate a lot of dust and dirt on the top and side walls of the mine tunnel. Over a long period of time, this dust and dirt will easily reduce the friction between the track and the inspection device when it encounters water vapor, causing the inspection device to slip during uphill and downhill operations, posing a safety hazard. Secondly, over a long period of time, dust and dirt will easily solidify into hard impurities when it encounters water vapor. If the hard substances are not cleaned in time, the inspection device will shake on the track, affecting the normal operation of the inspection device. Summary of the invention

[0006] In view of this, the purpose of the present invention is to provide a field operation inspection device based on laser point cloud real-time modeling technology. The structural design of the field operation inspection device based on laser point cloud real-time modeling technology can effectively solve the problems of excessive dust and hard impurities on the inner side of the track.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a field operation inspection device based on laser point cloud real-time modeling technology, comprising an inspection device body and a data processing unit;

[0008] The data processing unit includes:

[0009] Data acquisition module: The inspection device acquires point cloud data and image data. After acquiring data from two different sensors, the data is first fused and then a series of preprocessing is performed on the data. For the preprocessed data, morphological filtering is used to separate ground points and non-ground points. For ground points, interpolation calculations are performed, and for non-ground points, feature points are extracted after thinning. The corresponding matching points are searched for in the feature points of the two frames of data, and then registration is performed based on the corresponding matching points. After registration, the interpolated ground points and non-ground points are integrated together to render the scene and complete the modeling.

[0010] Data preprocessing module: In the modeling process, after completing the environmental data collection phase, the collected 3D laser point cloud data and radar data are first preprocessed. The preprocessed fused point cloud data is used for subsequent feature extraction and feature matching processes in the modeling experiment;

[0011] Feature extraction module: based on the feature points extracted from the normal vector and the curvature feature points extracted from the curvature, the two feature points are extracted separately, compared, and the appropriate points are selected for subsequent registration;

[0012] Matching modeling algorithm module: Whenever a frame of data is collected from the environment, the newly collected data is transformed into a coordinate system and matched with the previously collected data. When establishing a baseline map model, a satellite positioning system is used to obtain multiple control points for posture settlement, and the collected color point cloud data is given location information. The point cloud data registration algorithm uses the normal distribution transformation algorithm and the iterative nearest neighbor algorithm.

[0013] Preferably, the preprocessing of the data preprocessing module includes: conversion of the point cloud data coordinate system, fusion of the point cloud and color image data, establishment of spatial index of fused data, elimination of gross errors of the point cloud, morphological filtering and thinning of the point cloud data.

[0014] Preferably, it further comprises an I-shaped track, the inspection device body is mounted on the I-shaped track, a plurality of driving rollers in a rectangular array are mounted on the top of the inspection device body, and the plurality of driving rollers are rollingly connected on opposite sides of the I-shaped track, an auxiliary roller is mounted on the top wall of the inspection device body and between the driving rollers at the front and rear ends, and the auxiliary roller is rollingly connected on the bottom wall of the I-shaped track;

[0015] A plurality of first cleaning assemblies, which are arranged on the left and right ends of the inspection device body and are used to clean the dust inside the I-shaped track during the uphill or downhill process;

[0016] A plurality of second cleaning components are arranged on the front and rear ends of the inspection device body and are used for cleaning the dust after it solidifies into a hard substance.

[0017] Preferably, the first cleaning assembly includes a rotating part arranged at the left and right ends of the inspection device body, a fixing rod is installed on the side of the rotating part away from the I-shaped track, a connecting plate is installed on the side of the fixing rod away from the rotating part, the top of the connecting plate is rotatably connected to a dust box, a quick-detachable box is provided at the bottom of the dust box, a circular cover is installed at the end of the dust box close to the I-shaped track, the dust box and the circular cover are communicated, a U-shaped connecting block is installed on the side of the circular cover close to the inspection device body, a cleaning plate is installed at the end of the U-shaped connecting block away from the circular cover, a side plate is installed at the end of the cleaning plate away from the circular cover, and the cleaning plate and the side plate are both slidably connected on the inner side of the I-shaped track.

[0018] Preferably, the cleaning plate is located on the side opposite to the inspection device body and is inclined, and the cleaning plate is located on the side opposite to the I-shaped track and is slightly inclined outward, and the side plate is located on the side opposite to the inspection device body and is inclined.

[0019] Preferably, the circular cover is arranged in an inclined manner, and one end of the cleaning plate protrudes from the outside of the I-shaped track and extends into the inside of the circular cover.

[0020] Preferably, the dust box and the quick-release box are connected by a snap-fit ​​connection, a transversely arranged wedge is installed on the outer side of the quick-release box facing away from the I-shaped rail, a pair of rotating plates are installed on the outer side of the dust box facing away from the I-shaped rail, and a snap-fit ​​block is installed on the end of the rotating plate away from the dust box, and the snap-fit ​​block is abutted against the bottom of the wedge.

[0021] Preferably, ear seats are installed at the left and right ends of the inspection device body and on one side of the corresponding rotating member, and the ear seat and the rotating member are rotatably connected via a rotating shaft, the end of the rotating member away from the ear seat is rotatably connected to a support roller, and the support roller is rollingly connected to the bottom of the I-shaped track, and the top wall of the inspection device body is installed with spring plates in a rectangular array, the spring plates and the rotating member are arranged to correspond to each other, and a reset spring is connected between the spring plates and the rotating member.

[0022] Preferably, a first compression spring is installed at the bottom of the cleaning plate, a slider is installed at the bottom end of the first compression spring, a ball bearing is installed on the side of the slider close to the I-shaped rail, grooves are provided at the bottom of the front and rear ends of the I-shaped rail, and the ball bearings are rolled and connected inside the grooves.

[0023] Preferably, the second cleaning assembly includes a fixed plate installed at the front and rear ends of the inspection device body, the left and right ends of the fixed plate are rotatably connected to the limit rod through bearings, and one end of the limit rod is rotated through the fixed plate and fixedly connected to the rotating shaft on the inner side of the driving roller, the end of the limit rod close to the fixed plate is rotatably connected to the buffer rotating plate through the first bearing, the buffer rotating plate located between the left and right ends is rotatably connected to the connecting balance plate, an inclined second compression spring is connected between the two ends of the connecting balance plate and the buffer rotating plate, a driving gear is provided at the end of the limit rod close to the buffer rotating plate, an inner disk gear rod is installed on the inner ring of the driving gear, and the inner disk gear rod is connected to the buffer rotating plate The first bearing inside is rotatably connected, and the end of the buffer rotating plate away from the inspection device body is rotatably connected to a passive gear meshing with the active gear through a second bearing. A blower is installed after the rotating shaft in the passive gear rotates through the buffer rotating plate, and a blower rod is installed at the end of the blower facing away from the buffer rotating plate, and a jet nozzle is installed in a circular array on the outer wall of the blower rod. An electric heating plate is installed on the side of the blower close to the blower rod, and a heating wire wound around the outer side of the blower rod is installed on the side of the electric heating plate facing away from the blower. A brush cylinder is arranged on the outer side of the blower rod, and an air jet nozzle in a circular array is opened on the outer wall of the brush cylinder, and the air jet nozzle is located between the brushes on the brush cylinder.

[0024] Preferably, a control rod is rotatably connected to the middle part of the connecting balance plate, an artificial twisting cap is installed at the end of the control rod away from the inspection device body, a pair of limiting arc parts are installed in the middle part of the connecting balance plate, a pair of limiting control parts are installed on the side of the artificial twisting cap close to the connecting balance plate, and the pair of limiting control parts are just passed through the pair of limiting arc parts.

[0025] Preferably, an outer wall of the limiting rod is provided with an avoidance groove on one side relative to the inner disc gear rod, the blowing rod and the brush cylinder are fixedly connected by a torsion rod, and a rubber pad is installed on one side of the blower close to the brush cylinder.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. The present invention pushes the dust on the inner side of the I-shaped track of the cleaning plate and the side plate into the circular cover through the first cleaning component, and then the dust enters the dust collection box and the quick disassembly box for accumulation. The present invention utilizes the kinetic energy of the inspection device body to enable the cleaning plate and the side plate to automatically push the dust on the I-shaped track into the dust collection box to prevent the friction of the driving roller on the I-shaped track from being reduced, thereby preventing the accident of the vehicle slipping.

[0028] 2. The present invention can drive the rotation of the limit rod through the kinetic energy of the driving roller through the second cleaning component, and then drive the active gear and the passive gear to move synchronously, so that the brush barrel can rotate on the I-shaped track, which is convenient for the brush on the brush barrel to automatically clean on the I-shaped track. The present invention is also provided with an electric heating plate and a heating wire, so that the residual dust after cleaning can be blown dry by hot air, and the dried dust is convenient for cleaning again at a later time, thereby improving the cleaning effect of hard impurities and some dust.

[0029] 3. The cleaning plate provided in the present invention is located on the side opposite to the inspection device body and is inclined, which is conducive to quickly cleaning the dust on the bottom surface of the I-shaped track, so that the dust flows in through the top surface of the cleaning plate. At the same time, the cleaning plate provided in the present invention is located on the side opposite to the I-shaped track and is slightly inclined outward, which is conducive to the dust on the top surface of the cleaning plate. Under the pressure of movement, the dust can be quickly thrown out from the cleaning plate toward the inner side of the circular cover to prevent the dust from falling on the I-shaped track during the movement of the inspection device body, and can also accumulate the dust.

[0030] 4. The supporting roller and the return spring provided in the present invention are conducive to the circular cover, the U-shaped connecting block and the cleaning plate entering the uphill or downhill state on the I-shaped track, while not affecting the cleaning of the cleaning plate and the side plate on the inner side of the I-shaped track, thereby improving the cleaning stability of the cleaning plate and the side plate.

[0031] 5. The present invention sets a connection balance plate, a limit arc member, a limit control member, a control rod and a micro spring, and the electric heating plate in the brush tube and the blower can be replaced or repaired, and the connection balance plate can be quickly installed or disassembled.

[0032] 6. During the modeling process, the present invention has high data processing efficiency and can improve the overall speed of the modeling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is the overall structural module diagram of the present invention;

[0034] Figure 2 It is a schematic diagram of the overall structure of the present invention;

[0035] Figure 3 It is a schematic diagram of the inspection device body of the present invention;

[0036] Figure 4 It is the longitudinal section of the inspection device body of the present invention;

[0037] Figure 5 for Figure 3 A partial enlarged view of middle A;

[0038] Figure 6 for Figure 4 A partial enlarged view of B in the middle;

[0039] Figure 7 is a schematic diagram of a first cleaning component of the present invention;

[0040] Figure 8 for Figure 7 A partial enlarged view of middle C;

[0041] Fig. 9 is a schematic diagram of a second cleaning component of the present invention;

[0042] Fig.10 It is a cross-sectional view of the connection between the balance plate and the buffer rotating plate of the present invention;

[0043] Fig.11 An exploded view of the connection between the balance board and the control rod of the present invention;

[0044] Fig.12 It is an exploded view of the blower and brush cylinder of the present invention.

[0045] In the figure:

[0046] 1. Inspection device body;

[0047] 2. I-shaped track;

[0048] 3. Driving roller; 31. Auxiliary roller;

[0049] 4. First cleaning assembly; 40. Ear seat; 41. Rotating member; 42. Fixed rod; 43. Connecting plate; 44. Dust box; 45. Round cover; 46. U-shaped connecting block; 47. Cleaning plate; 48. Side plate; 401. Support roller; 411. Spring plate; 412. Return spring; 441. Quick disassembly box; 442. Wedge block; 443. Rotating plate; 444. Clamping block; 471. First compression spring; 472. Sliding block; 473. Ball; 474. Groove;

[0050] 5. Second cleaning component; 50. Connecting balance plate; 51. Fixing plate; 52. Limiting rod; 53. Buffering rotating plate; 54. Driving gear; 55. Passive gear; 56. Blower; 57. Brush cylinder; 501. Control rod; 502. Manual twisting cap; 503. Limiting arc member; 504. Limiting control member; 560. Electric heating plate; 561. Blowing rod; 562. Heating wire; 563. Injection port; 571. Air injection port; 5011. Second compression spring; 541. Inner disc gear rod. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0052] Embodiment 1:

[0053] like Figure 1-Figure 7 As shown, the on-site operation inspection device based on the laser point cloud real-time modeling technology is characterized in that it includes an inspection device body 1 and a data processing unit; the data processing unit includes: a data acquisition module: the inspection device body 1 acquires point cloud data and image data. After acquiring data from two different sensors, the data is firstly fused, and then a series of preprocessing is required for the data. For the preprocessed data, morphological filtering is used to separate ground points and non-ground points. For the ground points, interpolation calculation is performed, and for the non-ground points, feature points are extracted after thinning; corresponding matching points are searched for in the feature points of the two frames of data, and then registration is performed according to the corresponding matching points. After registration, the interpolated ground points and non-ground points are integrated together to render the scene and complete the modeling;

[0054] Data preprocessing module: In the modeling process, after completing the environmental data collection phase, the collected 3D laser point cloud data and radar data are first preprocessed. The preprocessed fused point cloud data is used for subsequent feature extraction and feature matching processes in the modeling experiment;

[0055] Feature extraction module: based on the feature points extracted from the normal vector and the curvature feature points extracted from the curvature, the two feature points are extracted separately, compared, and the appropriate points are selected for subsequent registration;

[0056] Matching modeling algorithm module: Whenever a frame of data is collected from the environment, the newly collected data is transformed into a coordinate system and matched with the previously collected data. When establishing a baseline map model, a satellite positioning system is used to obtain multiple control points for posture settlement, and the collected color point cloud data is given location information. The point cloud data registration algorithm uses the normal distribution transformation algorithm and the iterative nearest neighbor algorithm.

[0057] The preprocessing of the data preprocessing module includes: conversion of the point cloud data coordinate system, fusion of point cloud and color image data, establishment of spatial index of fused data, elimination of gross errors of point cloud, morphological filtering and thinning of point cloud data.

[0058] It also includes an I-shaped track 2, the inspection device body 1 is installed on the I-shaped track 2, a plurality of driving rollers 3 in a rectangular array are installed on the top of the inspection device body 1, and the plurality of driving rollers 3 are rollingly connected on opposite sides of the I-shaped track 2, an auxiliary roller 31 is installed on the top wall of the inspection device body 1 and between the driving rollers 3 at the front and rear ends, the auxiliary roller 31 is rollingly connected on the bottom wall of the I-shaped track 2, a plurality of first cleaning components 4 are arranged on the left and right ends of the inspection device body 1, and are used to clean the dust on the inner side of the I-shaped track 2 during uphill or downhill operations, the first cleaning component 4 includes a rotating member 41 arranged on the left and right ends of the inspection device body 1, a fixing rod 42 is installed on the side of the rotating member 41 away from the I-shaped track 2, a connecting plate 43 is installed on the side of the fixing rod 42 away from the rotating member 41, and a dust box is rotatably connected to the top of the connecting plate 43 44. A quick-disassembly box 441 is provided at the bottom of the dust box 44. A circular cover 45 is installed at one end of the dust box 44 close to the I-shaped track 2. The dust box 44 and the circular cover 45 are connected. A U-shaped connecting block 46 is installed on the side of the circular cover 45 close to the inspection device body 1. A cleaning plate 47 is installed at the end of the U-shaped connecting block 46 away from the circular cover 45. A side plate 48 is installed at the end of the cleaning plate 47 away from the circular cover 45. The cleaning plate 47 and the side plate 48 are both slidably connected on the inner side of the I-shaped track 2. The cleaning plate 47 is located on the opposite side of the inspection device body 1 and is inclined. The cleaning plate 47 is located on the opposite side of the I-shaped track 2 and is slightly inclined outward. The side plate 48 is located on the opposite side of the inspection device body 1 and is inclined. The circular cover 45 is inclined, and one end of the cleaning plate 47 protrudes from the outside of the I-shaped track 2 and extends into the inside of the circular cover 45.

[0059] During operation, when the driving roller 3 and the auxiliary roller 31 drive the inspection device body 1 uphill or downhill, due to the self-gravity of the circular cover 45 and the cleaning plate 47, the cleaning plate 47 and the side plate 48 slide on the inner side of the I-shaped track 2. First, the side plate 48 can clean the dust on the side wall of the I-shaped track 2, and the cleaned impurities will fall on the cleaning plate 47. At the same time, the cleaning plate 47 can clean the dust on the bottom surface of the side where the driving roller 3 contacts the I-shaped track 2. Then, under the pushing pressure of the cleaning plate 47, the dust flows into the inner side of the circular cover 45, and then flows into the dust collection box 44 and the quick-disassembly box 441. It can be cleaned by the staff later. The dust on the I-shaped track 2 can be cleaned under the power of the inspection device body 1 to avoid reducing the friction between the driving roller 3 on the inspection device body 1 and the I-shaped track 2.

[0060] It is worth noting that the cleaning plate 47 provided in the present invention is located on the opposite side of the inspection device body 1 and is inclined, which is conducive to the rapid cleaning of dust on the bottom surface of the I-shaped track 2, so that the dust flows in through the top surface of the cleaning plate 47. At the same time, the cleaning plate 47 provided in the present invention is located on the opposite side of the I-shaped track 2 and is slightly inclined outward, which is conducive to the dust on the top surface of the cleaning plate 47. Under the pressure of movement, the dust can be quickly thrown out from the cleaning plate 47 toward the inner side of the circular cover 45 to prevent the dust from falling on the I-shaped track 2 during the movement of the inspection device body 1, and can also accumulate the dust.

[0061] Embodiment 2:

[0062] The technical solution is basically the same as that of the first embodiment, except that Figure 7 and Figure 8 As shown, the dust box 44 and the quick-release box 441 are connected by a snap-fit ​​connection. A transversely arranged wedge block 442 is installed on the outer side of the quick-release box 441 facing away from the I-shaped rail 2. A pair of rotating plates 443 are installed on the outer side of the dust box 44 facing away from the I-shaped rail 2, and a snap-fit ​​block 444 is installed on the end of the rotating plate 443 away from the dust box 44, and the snap-fit ​​block 444 is abutted against the bottom of the wedge block 442.

[0063] When the inside of the quick-detachable box 441 is filled with dust, the staff can rotate the rotating plates 443 on both sides outward to allow the clamping block 444 to be separated from the wedge block 442, and then detach the quick-detachable box 441 from the dust box 44 so that the dust in the quick-detachable box 441 can be processed. This makes it convenient for the staff to quickly install or disassemble the quick-detachable box 441, and greatly improves the efficiency of dust processing. It is worth noting that the quick-detachable box 441 provided in the present invention is made of transparent material, so that the staff can observe the dust situation inside the quick-detachable box 441.

[0064] Embodiment three:

[0065] The technical solution is basically the same as that of the first embodiment, except that Figure 8 As shown, ear seats 40 are installed at the left and right ends of the inspection device body 1 and on one side corresponding to the rotating member 41, and the ear seat 40 and the rotating member 41 are rotatably connected via a rotating shaft, and the end of the rotating member 41 away from the ear seat 40 is rotatably connected to a support roller 401, and the support roller 401 is rollingly connected to the bottom of the I-shaped track 2, and a rectangular array of spring plates 411 are installed on the top wall of the inspection device body 1, the spring plates 411 and the rotating member 41 are arranged to correspond to each other, and a return spring 412 is connected between the spring plate 411 and the rotating member 41.

[0066] When the inspection device body 1 is moving, the supporting roller 401 on the rotating part 41 connected thereto rolls on the bottom wall of the I-shaped track 2. At the same time, under the pressure of the reset spring 412, it is conducive to the circular cover 45, the U-shaped connecting block 46 and the cleaning plate 47 to enter an uphill or downhill state on the I-shaped track 2. At the same time, it does not affect the cleaning of the cleaning plate 47 and the side plate 48 on the inner side of the I-shaped track 2, thereby improving the cleaning stability of the cleaning plate 47 and the side plate 48.

[0067] Embodiment 4:

[0068] The technical solution is basically the same as that of the first embodiment, except that Figure 2 and Figure 5 As shown, a first compression spring 471 is installed at the bottom of the cleaning plate 47, a slider 472 is installed at the bottom end of the first compression spring 471, a ball 473 is installed on the side of the slider 472 close to the I-shaped rail 2, grooves 474 are provided at the bottom of the front and rear ends of the I-shaped rail 2, and the ball 473 is rolled and connected inside the groove 474.

[0069] During operation, when the inspection device body 1 is moving, the ball 473 rolls inside the groove 474, and the slider 472 connected to it can make the first compression spring 471 maintain a balancing force, so that the cleaning plate 47 can remain parallel to the bottom surface of the I-shaped track 2 during the uphill or downhill process, and at the same time make the cleaning plate 47 forcefully close to the bottom surface of the I-shaped track 2, thereby improving the cleaning effect.

[0070] Embodiment five:

[0071] The technical solution is basically the same as that of the first embodiment, except that Fig. 9As shown, a plurality of second cleaning components 5 are arranged on the front and rear ends of the inspection device body 1, and are used for cleaning the dust after it solidifies into a hard substance. The second cleaning component 5 includes a fixed plate 51 installed on the front and rear ends of the inspection device body 1, and the left and right ends of the fixed plate 51 are rotatably connected to the limit rod 52 through bearings, and one end of the limit rod 52 rotates through the fixed plate 51 and is fixedly connected to the rotating shaft on the inner side of the driving roller 3, and the end of the limit rod 52 close to the fixed plate 51 is rotatably connected to the buffer rotating plate 53 through the first bearing, and the buffer rotating plate 53 located between the left and right ends is rotatably connected to the connecting balance plate 50, and an inclined second compression spring 5011 is connected between the two ends of the connecting balance plate 50 and the buffer rotating plate 53, and a driving gear 54 is arranged at one end of the limit rod 52 close to the buffer rotating plate 53, and an inner disc gear rod 541 is installed on the inner ring of the driving gear 54 , and the inner disc gear rod 541 is rotatably connected to the first bearing in the buffer rotating plate 53, the end of the buffer rotating plate 53 away from the inspection device body 1 is rotatably connected to a passive gear 55 meshing with the active gear 54 through a second bearing, and a blower 56 is installed after the rotating shaft in the passive gear 55 rotates through the buffer rotating plate 53, and a blower 56 is installed at the end of the blower 56 facing away from the buffer rotating plate 53, and a nozzle 563 is installed in a circular array on the outer wall of the blower rod 561, an electric heating plate 560 is installed on the side of the blower 56 close to the blower rod 561, and a heating wire 562 wound around the outer side of the blower rod 561 is installed on the side of the electric heating plate 560 facing away from the blower 56, and a brush cylinder 57 is arranged on the outer side of the blower rod 561, and an air nozzle 571 in a circular array is opened on the outer wall of the brush cylinder 57, and the air nozzle 571 is located between the brushes on the brush cylinder 57.

[0072] When there are hard impurities on the bottom surface of the I-shaped track 2, the kinetic energy of the driving roller 3 is utilized to drive the rotating shaft connected thereto to drive the limiting rod 52 to rotate, thereby driving the inner disc gear rod 541 and the driving gear 54 connected thereto to rotate, and then driving the driven gear 55 and the blower 56 to rotate, and the brush on the brush barrel 57 can clean the hard impurities on the I-shaped track 2, and then, under the pressure of the blower 56, the air flow flows into the injection port 563 and flows out of the air injection port 571, so as to blow away the hard substances to prevent the substances from hindering the movement of the inspection device body 1, and the present invention is provided with an electric heating plate 560 and a heating wire 562, so that after the dust is cleaned, if there is still some dust on the bottom surface of the I-shaped track 2, it can be blown dry with the cooperation of the electric heating plate 560 and the heating wire 562, so as to facilitate the later cleaning of the dried dust, thereby improving the cleaning effect of the I-shaped track 2 and avoiding the shaking of the inspection device body 1 on the I-shaped track 2.

[0073] It is worth noting that the brush on the brush barrel 57 of the present invention is a hard brush, which is convenient for effectively cleaning impurities on the I-shaped track 2, and the blowing rod 561 has been treated with high temperature, so that the blown wind is convenient for passing the heated wire 562 to discharge the hot air from the brush barrel 57, and when the brush on the brush barrel 57 passes through dust adhesion, the hot air can quickly dry the dust on the brush, greatly improving the service life of the brush barrel 57.

[0074] Embodiment six:

[0075] The technical solution is basically the same as that of the first embodiment, except that Fig. 9 , Fig.12 and Fig.12 As shown, a micro spring (not shown in the figure) is connected between the connecting balance plate 50 and the inspection device body 1, a control rod 501 is rotatably connected to the middle part of the connecting balance plate 50, an artificial twisting cap 502 is installed at the end of the control rod 501 away from the inspection device body 1, a pair of limiting arc parts 503 are installed in the middle part of the connecting balance plate 50, a pair of limiting control parts 504 are installed on the side of the artificial twisting cap 502 close to the connecting balance plate 50, and the pair of limiting control parts 504 are just passed through the pair of limiting arc parts 503, an outer wall of the limiting rod 52 is provided with an avoidance groove on one side relative to the inner disk gear rod 541, the blowing rod 561 and the brush cylinder 57 are fixedly connected by a twisting rod, and a rubber pad is installed on the side of the blower 56 close to the brush cylinder 57.

[0076] During operation, when it is necessary to replace the brush cylinder 57 and repair the electric heating plate 560 inside the blower 56, the staff turns the manual twisting cap 502 to make the limit control part 504 disengage through the gap between the limit arc parts 503, so that it is convenient for the staff to pull the connected balance plate 50 and the buffer rotating plate 53 connected to it to move outward, and at the same time, the inner disk gear rod 541 slides along the inner side of the avoidance groove on the limit rod 52, so that the staff can disassemble the brush cylinder 57 and the blower 56 and repair the electric heating plate 560 inside the blower 56.

[0077] It is worth noting that the limit control member 504, the limit arc member 503 and the micro spring provided in the present invention cooperate to achieve locking or quick disassembly of the connecting balance plate 50, which is convenient for the later installation of the brush tube 57. It is only necessary to press the connecting balance plate 50 to move along the manual twisting cap 502, and then rotate the manual twisting cap 502 so that the limit control member 504 is squeezed on the limit arc member 503, thereby improving its installation or disassembly efficiency.

[0078] Working principle: This is a mining inspection device. When in use:

[0079] First: during operation, when the driving roller 3 and the auxiliary roller 31 drive the inspection device body 1 uphill or downhill, due to the self-gravity of the circular cover 45 and the cleaning plate 47, the cleaning plate 47 and the side plate 48 slide on the inner side of the I-shaped track 2. First, the side plate 48 can clean the dust on the side wall of the I-shaped track 2, and the cleaned impurities will fall on the cleaning plate 47. At the same time, the cleaning plate 47 can clean the dust on the bottom surface of the side where the driving roller 3 contacts the I-shaped track 2, and then, under the pushing pressure of the cleaning plate 47, the dust flows into the inner side of the circular cover 45, and then flows into the dust collection box 44 and the quick-disassembly box 441, and can be cleaned by the staff later. The dust on the I-shaped track 2 can be cleaned under the power of the inspection device body 1 to avoid reducing the friction between the driving roller 3 on the inspection device body 1 and the I-shaped track 2.

[0080] Second: when the inside of the quick-detachable box 441 is filled with dust, the staff can rotate the rotating plates 443 on both sides outward to make the clamping block 444 break away from the constraint on the wedge block 442, and then detach the quick-detachable box 441 from the dust box 44, so as to deal with the dust in the quick-detachable box 441.

[0081] Third: When the inspection device body 1 is moving, the supporting roller 401 on the rotating part 41 connected thereto rolls on the bottom wall of the I-shaped track 2. At the same time, under the pressure of the reset spring 412, it is conducive to the circular cover 45, the U-shaped connecting block 46 and the cleaning plate 47 to enter the uphill or downhill state on the I-shaped track 2, and at the same time, it does not affect the cleaning of the cleaning plate 47 and the side plate 48 on the inner side of the I-shaped track 2. When the inspection device body 1 is moving, the ball 473 rolls inside the groove 474, and the slider 472 connected thereto can make the first compression spring 471 maintain a balancing force, so that the cleaning plate 47 remains parallel to the bottom surface of the I-shaped track 2 during the uphill or downhill process, and at the same time, the cleaning plate 47 is effectively close to the bottom surface of the I-shaped track 2.

[0082] Fourth: When there are hard impurities on the bottom surface of the I-shaped track 2, the kinetic energy of the driving roller 3 is utilized, and the rotating shaft connected thereto drives the limiting rod 52 to rotate, thereby driving the inner disc gear rod 541 and the driving gear 54 connected thereto to rotate, and then driving the passive gear 55 and the blower 56 to rotate, and the brush on the brush tube 57 can clean the hard impurities on the I-shaped track 2, and then, under the pressure of the blower 56, the air flow flows into the injection port 563 and flows out of the air injection port 571, so as to blow away the hard substances to prevent the substances from hindering the movement of the inspection device body 1, and the present invention is provided with an electric heating plate 560 and a heating wire 562, so that after the dust is cleaned, if there is still some dust on the bottom surface of the I-shaped track 2, it can be blown dry with the cooperation of the electric heating plate 560 and the heating wire 562, so as to facilitate the later cleaning of the dried dust.

[0083] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0084] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The on-site inspection device based on laser point cloud real-time modeling technology is characterized by: It comprises a patrol inspection device body (1) and a data processing unit; The data processing unit includes: Data acquisition module: the inspection device body (1) acquires point cloud data and image data. After acquiring data from two different sensors, the data is first fused and then a series of preprocessing is performed on the data. For the preprocessed data, morphological filtering is used to separate ground points and non-ground points. For ground points, interpolation calculation is performed, and for non-ground points, feature points are extracted after thinning. Corresponding matching points are searched for in the feature points of the two frames of data, and then registration is performed based on the corresponding matching points. After registration, the interpolated ground points and non-ground points are integrated together to render the scene and complete the modeling. Data preprocessing module: In the modeling process, after completing the environmental data collection phase, the collected 3D laser point cloud data and radar data are first preprocessed. The preprocessed fused point cloud data is used for subsequent feature extraction and feature matching processes in the modeling experiment; Feature extraction module: based on the feature points extracted from the normal vector and the curvature feature points extracted from the curvature, the two feature points are extracted separately, compared, and the appropriate points are selected for subsequent registration; Matching modeling algorithm module: Whenever a frame of data is collected from the environment, the newly collected data is transformed into a coordinate system and matched with the previously collected data. When establishing a baseline map model, a satellite positioning system is used to obtain multiple control points for posture settlement, and the collected color point cloud data is given location information. The point cloud data registration algorithm uses the normal distribution transformation algorithm and the iterative nearest neighbor algorithm.

2. The on-site inspection device based on laser point cloud real-time modeling technology according to claim 1 is characterized in that: The preprocessing of the data preprocessing module includes: conversion of the point cloud data coordinate system, fusion of point cloud and color image data, establishment of spatial index of fused data, elimination of gross errors of point cloud, morphological filtering and thinning of point cloud data.

3. The on-site inspection device based on laser point cloud real-time modeling technology according to claim 2 is characterized in that: It also comprises an I-shaped track (2), the inspection device body (1) is mounted on the I-shaped track (2), a plurality of driving rollers (3) in a rectangular array are mounted on the top of the inspection device body (1), and the plurality of driving rollers (3) are rollingly connected on opposite sides of the I-shaped track (2), an auxiliary roller (31) is mounted on the top wall of the inspection device body (1) and between the driving rollers (3) at the front and rear ends, and the auxiliary roller (31) is rollingly connected on the bottom wall of the I-shaped track (2); A plurality of first cleaning assemblies (4), the plurality of first cleaning assemblies (4) being arranged on the left and right ends of the inspection device body (1) and used for cleaning dust on the inner side of the I-shaped track (2) during an uphill or downhill process; A plurality of second cleaning components (5) are arranged on the front and rear ends of the inspection device body (1) and are used for cleaning dust after it solidifies into hard substances.

4. The on-site inspection device based on laser point cloud real-time modeling technology according to claim 3 is characterized in that: The first cleaning assembly (4) comprises a rotating member (41) arranged at the left and right ends of the inspection device body (1); a fixing rod (42) is installed on the side of the rotating member (41) away from the I-shaped track (2); a connecting plate (43) is installed on the side of the fixing rod (42) away from the rotating member (41); a top end of the connecting plate (43) is rotatably connected to a dust box (44); a quick-detachable box (441) is arranged at the bottom of the dust box (44); and the dust box (44) is close to the I-shaped track ( 2) is provided with a circular cover (45), the dust box (44) and the circular cover (45) are connected, a U-shaped connecting block (46) is provided on the side of the circular cover (45) close to the inspection device body (1), a cleaning plate (47) is provided on the end of the U-shaped connecting block (46) away from the circular cover (45), a side plate (48) is provided on the end of the cleaning plate (47) away from the circular cover (45), and the cleaning plate (47) and the side plate (48) are both slidably connected on the inner side of the I-shaped track (2).

5. The on-site inspection device based on laser point cloud real-time modeling technology according to claim 4 is characterized in that: The cleaning plate (47) is located on the side opposite to the inspection device body (1) and is arranged in an inclined manner, and the cleaning plate (47) is located on the side opposite to the I-shaped track (2) and is arranged slightly outwardly inclined, and the side plate (48) is located on the side opposite to the inspection device body (1) and is arranged in an inclined manner.

6. The on-site inspection device based on laser point cloud real-time modeling technology according to claim 5 is characterized in that: The circular cover (45) is arranged in an inclined manner, and one end of the cleaning plate (47) protrudes from the outside of the I-shaped track (2) and extends into the inside of the circular cover (45).

7. The on-site inspection device based on laser point cloud real-time modeling technology according to claim 6 is characterized in that: The dust box (44) and the quick-release box (441) are connected in a snap-fit ​​manner; a transversely arranged wedge block (442) is installed on the outer side of the quick-release box (441) facing away from the I-shaped track (2); a pair of rotating plates (443) are installed on the outer side of the dust box (44) facing away from the I-shaped track (2); and a snap-fit ​​block (444) is installed at one end of the rotating plate (443) away from the dust box (44); the snap-fit ​​block (444) is pressed against the bottom of the wedge block (442).

8. The on-site inspection device based on laser point cloud real-time modeling technology according to claim 7 is characterized in that: Ear seats (40) are installed at the left and right ends of the inspection device body (1) and on one side of the corresponding rotating member (41), and the ear seats (40) and the rotating member (41) are rotatably connected via a rotating shaft. The end of the rotating member (41) away from the ear seat (40) is rotatably connected to a support roller (401), and the support roller (401) is rollingly connected to the bottom of the I-shaped track (2). The top wall of the inspection device body (1) is installed with spring plates (411) in a rectangular array, and the spring plates (411) and the rotating member (41) are arranged to correspond to each other. A return spring (412) is connected between the spring plates (411) and the rotating member (41).

9. The on-site inspection device based on laser point cloud real-time modeling technology according to claim 8 is characterized in that: A first compression spring (471) is installed at the bottom of the cleaning plate (47), a slider (472) is installed at the bottom end of the first compression spring (471), a ball (473) is installed on the side of the slider (472) close to the I-shaped track (2), grooves (474) are provided at the bottom of both the front and rear ends of the I-shaped track (2), and the ball (473) is rolled and connected inside the groove (474).

10. The on-site inspection device based on laser point cloud real-time modeling technology according to claim 9 is characterized in that: The second cleaning assembly (5) comprises a fixed plate (51) mounted at the front and rear ends of the inspection device body (1); the left and right ends of the fixed plate (51) are rotatably connected to a limit rod (52) through bearings, and one end of the limit rod (52) rotates through the fixed plate (51) and is fixedly connected to the rotating shaft on the inner side of the driving roller (3); the end of the limit rod (52) close to the fixed plate (51) is rotatably connected to a buffer rotating plate (53) through a first bearing; the buffer rotating plate (53) located between the left and right ends is rotatably connected to a connecting balance plate (50); an inclined second compression spring (5011) is connected between the two ends of the connecting balance plate (50) and the buffer rotating plate (53); a driving gear (54) is provided at one end of the limit rod (52) close to the buffer rotating plate (53); an inner disc gear rod (541) is installed on the inner ring of the driving gear (54); and the inner disc gear rod (541) is rotatably connected to the first bearing in the buffer rotating plate (53); The end of the buffer rotating plate (53) away from the inspection device body (1) is rotatably connected to a passive gear (55) meshing with the active gear (54) through a second bearing, and a blower (56) is installed after the rotating shaft in the passive gear (55) rotates through the buffer rotating plate (53). The end of the blower (56) facing away from the buffer rotating plate (53) is installed with a blower rod (561), and the outer wall of the blower rod (561) is installed with injection ports (563) in a circular array. An electric heating plate (560) is installed on the side of the blower (56) close to the blowing rod (561), and a heating wire (562) wound around the outside of the blowing rod (561) is installed on the side of the electric heating plate (560) facing away from the blower (56). A brush cylinder (57) is arranged on the outside of the blowing rod (561), and an outer wall of the brush cylinder (57) is provided with air outlets (571) in a circular array, and the air outlets (571) are located between the brushes on the brush cylinder (57).

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