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

Abstract

The application relates to the technical field of inspection devices, in particular to a field operation inspection device based on laser point cloud real-time modeling technology, which comprises an inspection device body, an I-shaped track, a plurality of first cleaning assemblies and a plurality of second cleaning assemblies. The I-shaped track is arranged on the inspection device body. A plurality of driving rollers in a rectangular array are arranged on the top of the inspection device body and are rollingly connected on the opposite sides of the I-shaped track. An auxiliary roller is arranged on the top wall of the inspection device body between the driving rollers at the front and back ends. The first cleaning assembly pushes the dust on the inner side of the I-shaped track into the interior of the L-shaped cover through the cleaning plate and the side plate, and then the dust is accumulated in the dust accumulation box and the quick dismounting box. The kinetic energy of the inspection device body is utilized to automatically push the dust on the I-shaped track into the dust accumulation box through the cleaning plate and the side plate, so that the friction force of the driving rollers on the I-shaped track is reduced, and the accident of vehicle sliding is avoided.

Description

TECHNICAL FIELD

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

[0002] In the field of operation personnel 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 field of intelligent safety technology research, many dangerous areas, live areas and interval controls are involved in the operation of various devices in substations, and personnel misentry will cause serious accidents.

[0003] The existing mine inspection device usually uses a hanging type to inspect on the track. The walking track is usually a I-shaped track erected on the top side wall of the mine, and then the terminal starts the inspection device to walk on the track. Due to the environment in the substation, the shape of the track has parallel type, uphill type and downhill type, so that the inspection device needs to walk uphill and downhill to complete the inspection of the substation.

[0004] However, due to the harsh environment in the substation, the I-shaped track erected on the top side wall of the mine is easy to accumulate a lot of dust, and in the case of long time, the dust is easy to reduce the friction between the track and the inspection device when encountering water vapor, thereby causing the phenomenon of car sliding of the inspection device in the uphill and downhill process, which has safety hazards. Secondly, in the case of long time, the dust is easy to solidify into hard impurities when encountering water vapor, and if the hard impurities are not cleaned in time, the inspection device will produce the phenomenon of shaking on the track, which affects the normal driving of the inspection device. SUMMARY

[0005] Therefore, the purpose of the present application 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 too much dust on the inner side of the track and too many hard impurities.

[0006] To achieve the above purpose, the present application provides the following technical scheme: a field operation inspection device based on laser point cloud real-time modeling technology, comprising an inspection device body and a data processing unit.

[0007] The data processing unit comprises:

[0008] The data acquisition module: the patrol device body acquires point cloud data and image data, after acquiring data of two different sensors, firstly fusing the data, then a series of preprocessing of the data is needed, after preprocessing, the ground points and non-ground points are separated by morphological filtering, 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 in the feature points of two frames of data, then registration is performed according to the corresponding matching points, after registration, the interpolated ground points and non-ground points are integrated together, the scene is rendered, and modeling is completed;

[0009] The data preprocessing module: after the environmental data acquisition link is completed in the modeling process, firstly, the acquired three-dimensional laser point cloud data and radar data are preprocessed, and the fused point cloud data after preprocessing is used for feature extraction and feature matching in the subsequent modeling experiment;

[0010] The feature extraction module: the normal vector-based feature point normal vector feature point and the curvature feature point extracted according to the curvature are extracted, compared, and appropriate points are selected for subsequent registration;

[0011] The matching modeling algorithm module: when a frame of data is collected from the environment, the newly collected data is converted into a coordinate system, matched with the previously collected data, when the reference map model is established, a plurality of control points are acquired by using a satellite positioning system, thereby calculating the pose, giving the collected color point cloud data position information, and using the point cloud data registration algorithm normal distribution transformation algorithm and iterative nearest neighbor point algorithm.

[0012] 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 the spatial index of the fused data, elimination of the gross error of the point cloud, morphological filtering and thinning of the point cloud data.

[0013] Preferably, it further comprises an I-shaped track, the patrol device body is installed on the I-shaped track, a plurality of driving rollers in a rectangular array are installed on the top of the patrol device body, and the plurality of driving rollers are rollingly connected on opposite sides of the I-shaped track, an auxiliary roller is installed on the top wall of the patrol device body 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.

[0014] A plurality of first cleaning assemblies are arranged on the left and right ends of the patrol device body, and are used for cleaning dust on the inner side of the I-shaped track during uphill or downhill processes.

[0015] Multiple second cleaning components are disposed at the front and rear ends of the inspection device body for cleaning after the dust has solidified into a hard substance.

[0016] Preferably, the first cleaning component includes rotating parts disposed 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. A dust collection box is rotatably connected to the top of the connecting plate. A quick-release box is provided at the bottom of the dust collection box. A U-shaped cover is installed at the end of the dust collection box near the I-shaped track. The dust collection box and the U-shaped cover are connected. A U-shaped connecting block is installed on the side of the U-shaped cover near the inspection device body. A cleaning plate is installed at the end of the U-shaped connecting block away from the U-shaped cover. A side plate is installed at the end of the cleaning plate away from the U-shaped cover. The cleaning plate and the side plate are slidably connected inside the I-shaped track.

[0017] Preferably, the cleaning plate is inclined on the side opposite to the main body of the inspection device, and the cleaning plate is slightly inclined outward on the side opposite to the I-shaped track, and the side plate is inclined on the side opposite to the main body of the inspection device.

[0018] Preferably, the spiral cover is inclined, and one end of the cleaning plate protrudes out of the outside of the I-shaped track and extends into the inside of the spiral cover.

[0019] Preferably, the dust collection box and the quick-release box are connected by a snap-fit ​​mechanism. The quick-release box has a horizontally arranged wedge block installed on the outer side of the I-shaped track, and the dust collection box has a pair of rotating plates installed on the outer side of the I-shaped track. A snap-fit ​​block is installed on the end of the rotating plate away from the dust collection box, and the snap-fit ​​block abuts against the bottom of the wedge block.

[0020] Preferably, ear seats are installed at both ends of the inspection device body and on the side corresponding to the rotating component, and the ear seats and the rotating component are rotatably connected by a rotating shaft. A support roller is rotatably connected to the end of the rotating component away from the ear seat, and the support roller is rolled on the bottom of the I-shaped track. A spring plate in a rectangular array is installed on the top wall of the inspection device body. The spring plate and the rotating component are configured to correspond to each other, and a return spring is connected between the spring plate and the rotating component.

[0021] 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 is installed on the side of the slider near the I-shaped track, and grooves are opened at the bottom of both the front and rear ends of the I-shaped track, and the ball rolls and connects inside the grooves.

[0022] Preferably, the second cleaning assembly includes fixed plates installed at both ends of the inspection device body. The left and right ends of the fixed plates are rotatably connected to limit rods via bearings. One end of the limit rod rotatably passes through the fixed plate and is fixedly connected to the rotating shaft inside the drive roller. A buffer plate is rotatably connected to the end of the limit rod near the fixed plate via a first bearing. A connecting balance plate is rotatably connected to the buffer plate located between the left and right ends. An inclined second compression spring is connected between the two ends of the connecting balance plate and the buffer plate. A drive gear is provided at the end of the limit rod near the buffer plate. An inner disc gear is installed on the inner ring of the drive gear, and the inner disc gear meshes with the inner ring of the buffer plate. The first bearing is rotatably connected to the buffer plate. The end of the buffer plate away from the main body of the inspection device is rotatably connected to a driven gear that meshes with the driving gear through a second bearing. The shaft inside the driven gear rotates through the buffer plate and is equipped with a blower. A blower rod is installed at the end of the blower facing away from the buffer plate. The outer wall of the blower rod is equipped with spray nozzles in a ring array. An electric heating plate is installed on the side of the blower close to the blower rod. A heating wire wrapped around the outside of the blower rod is installed on the side of the electric heating plate facing away from the blower. A brush cylinder is provided on the outside of the blower rod. The outer wall of the brush cylinder has a ring array of air spray nozzles, and the air spray nozzles are located between the brushes on the brush cylinder.

[0023] Preferably, a control rod is rotatably connected to the middle of the connecting balance plate, and a manual torsion cap is installed at the end of the control rod away from the inspection device body. A pair of limiting arc-shaped parts are installed in the middle of the connecting balance plate, and a pair of limiting control parts are installed on the side of the manual torsion cap close to the connecting balance plate, and the pair of limiting control parts just pass between the pair of limiting arc-shaped parts.

[0024] Preferably, the outer wall of the limiting rod is provided with a clearance groove on the side opposite to the inner disc toothed rod, the blower rod and the brush cylinder are fixedly connected by a torsion rod, and a rubber pad is installed on the side of the blower near the brush cylinder.

[0025] Compared with the prior art, the beneficial effects of the present invention are:

[0026] This invention uses a first cleaning component to push the dust from the cleaning plate and side plate inside the I-shaped track into the U-shaped cover. The dust then accumulates inside the dust collection box and quick-release box. This invention utilizes the kinetic energy of the inspection device body to automatically push the dust from the I-shaped track into the dust collection box using the cleaning plate and side plate, thus preventing the friction of the drive rollers on the I-shaped track from decreasing and causing a slippage accident.

[0027] This invention utilizes a second cleaning component to drive the kinetic energy of a roller to rotate a limiting rod, which in turn drives the active and passive gears to move synchronously. This causes the brush cylinder to rotate on an I-shaped track, facilitating automated cleaning of the brushes on the brush cylinder. Furthermore, the invention includes a heating plate and heating wires so that any residual dust after cleaning can be dried with hot air. The dried dust is then easier to clean again later, thus improving the cleaning effect on hard impurities and some dust.

[0028] The cleaning plate of this invention is located on the opposite side of the inspection device body and is inclined, which facilitates the rapid cleaning of dust on the bottom surface of the I-shaped track. The dust flows in through the top surface of the cleaning plate. At the same time, the cleaning plate is located on the opposite side of the I-shaped track and is slightly inclined outward, which helps to quickly throw the dust on the top surface of the cleaning plate outward from the inside of the inclined U-shaped cover under the pressure of movement. This prevents the dust from falling on the I-shaped track during the movement of the inspection device body and also helps to accumulate dust.

[0029] The support rollers and reset springs provided in this invention facilitate the entry of the U-shaped cover, U-shaped connecting block and cleaning plate into the uphill or downhill state on the I-shaped track, while not affecting the cleaning of the cleaning plate and side plate inside the I-shaped track, thus improving the stability of the cleaning of the cleaning plate and side plate.

[0030] The present invention, through the coordinated action of the connecting balance plate, the limiting arc-shaped component, the limiting control component, the control rod, and the micro spring, allows for the replacement or repair of the heating plate inside the brush cylinder and the blower, while also facilitating the quick installation or removal of the connecting balance plate.

[0031] This invention features high data processing efficiency during the modeling process, thereby improving the overall speed of the modeling process. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 This is a schematic diagram of the overall structure of the present invention;

[0034] Figure 3 This is a schematic diagram of the inspection device body of the present invention;

[0035] Figure 4 This is a longitudinal section of the inspection device body of the present invention;

[0036] Figure 5 for Figure 3 A magnified view of part A in the image;

[0037] Figure 6 for Figure 4A magnified view of part B in the image;

[0038] Figure 7 This is a schematic diagram of the first cleaning component of the present invention;

[0039] Figure 8 for Figure 7 A magnified view of part C;

[0040] Figure 9 This is a schematic diagram of the second cleaning component of the present invention;

[0041] Figure 10 This is a cross-sectional view of the connection between the balance plate and the buffer plate of the present invention;

[0042] Figure 11 This is an exploded view of the connecting balance plate and control rod of the present invention;

[0043] Figure 12 This is an exploded view of the blower and brush cylinder of the present invention.

[0044] In the picture:

[0045] Inspection device body;

[0046] I-shaped track;

[0047] 31. Drive roller; Auxiliary roller;

[0048] First cleaning assembly; 40. Ear seat; 41. Rotating component; 42. Fixing rod; 43. Connecting plate; 44. Dust collection box; 45. U-shaped 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. Snap-fit ​​block; 471. First compression spring; 472. Slider; 473. Ball bearing; 474. Groove;

[0049] Second cleaning component; 50. Connecting balance plate; 51. Fixing plate; 52. Limiting rod; 53. Buffer rotating plate; 54. Driving gear; 55. Driven gear; 56. Blower; 57. Brush tube; 501. Control rod; 502. Manual twist cap; 503. Limiting arc-shaped component; 504. Limiting control component; 560. Heating plate; 561. Blower rod; 562. Heating wire; 563. Spray nozzle; 571. Air nozzle; 5011. Second compression spring; 541. Inner disc gear. Detailed Implementation

[0050] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] Example 1:

[0052] like Figures 1-7 As shown, the field operation inspection device based on laser point cloud real-time modeling technology is characterized by comprising 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 first fused, and then a series of preprocessing steps are required. For the preprocessed data, morphological filtering is used to separate ground points and non-ground points. For ground points, interpolation calculation is performed, while 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 for scene rendering to complete the modeling.

[0053] Data preprocessing module: In the modeling process, after the environmental data acquisition stage is completed, the acquired 3D laser point cloud data and radar data are preprocessed first. The fused point cloud data after preprocessing is used for subsequent feature extraction and feature matching processes in the modeling experiment.

[0054] Feature extraction module: Extracts feature points based on normal vectors and curvature feature points based on curvature. The two types of feature points are extracted separately, compared, and the appropriate points are selected for subsequent registration.

[0055] 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 building a baseline map model, multiple control points are obtained using a satellite positioning system to perform pose calculation. The collected color point cloud data is given position information and point cloud data registration algorithms, normal distribution transformation algorithms, and iterative nearest neighbor algorithms are used.

[0056] The preprocessing in the data preprocessing module includes: transformation of the coordinate system of point cloud data, fusion of point cloud and color image data, establishment of spatial index of fused data, removal of gross errors in point cloud, morphological filtering, and thinning of point cloud data.

[0057] It also includes an I-shaped track 2. The inspection device body 1 is mounted on the I-shaped track 2. Multiple drive rollers 3 arranged in a rectangular array are mounted on the top of the inspection device body 1, and the multiple drive rollers 3 are all rolled and connected on opposite sides of the I-shaped track 2. An auxiliary roller 31 is installed between the drive rollers 3 at the front and rear ends of the top wall of the inspection device body 1. The auxiliary roller 31 is rolled and connected on the bottom wall of the I-shaped track 2. Multiple first cleaning components 4 are arranged on the left and right ends of the inspection device body 1 for cleaning the dust inside the I-shaped track 2 during uphill or downhill processes. The first cleaning component 4 includes a rotating part 41 arranged on the left and right ends of the inspection device body 1. A fixed rod 42 is installed on the side of the rotating part 41 away from the I-shaped track 2. A connecting plate 43 is installed on the side of the fixed rod 42 away from the rotating part 41. A dust collection box 4 is rotatably connected to the top of the connecting plate 43. 4. A quick-release box 441 is provided at the bottom of the dust collection box 44. A U-shaped cover 45 is installed at the end of the dust collection box 44 near the I-shaped track 2. The dust collection box 44 and the U-shaped cover 45 are connected. A U-shaped connecting block 46 is installed on the side of the U-shaped cover 45 near the inspection device body 1. A cleaning plate 47 is installed at the end of the U-shaped connecting block 46 away from the U-shaped cover 45. A side plate 48 is installed at the end of the cleaning plate 47 away from the U-shaped cover 45. The cleaning plate 47 and the side plate 48 are slidably connected on the inside 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 U-shaped cover 45 is inclined. One end of the cleaning plate 47 protrudes out of the outside of the I-shaped track 2 and extends into the inside of the U-shaped cover 45.

[0058] During operation, when the drive roller 3 and auxiliary roller 31 drive the inspection device body 1 uphill or downhill, the cleaning plate 47 and side plate 48 slide inside the I-shaped track 2 due to the weight of the shroud 45 and cleaning plate 47. 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 onto the cleaning plate 47. At the same time, the cleaning plate 47 can clean the dust on the bottom surface of the side of the drive roller 3 that contacts the I-shaped track 2. Then, under the pushing pressure of the cleaning plate 47, the dust flows into the inside of the shroud 45, and then into the dust collection box 44 and the quick disassembly box 441. The dust can be cleaned by the staff later. The dust on the I-shaped track 2 can be cleaned by the power of the inspection device body 1, avoiding the reduction of friction between the drive roller 3 and the I-shaped track 2 on the inspection device body 1.

[0059] It is worth noting that the cleaning plate 47 provided in this invention is inclined on the side opposite to the inspection device body 1, which is conducive to the rapid cleaning of dust on the bottom surface of the I-shaped track 2, allowing dust to flow in through the top surface of the cleaning plate 47. At the same time, the cleaning plate 47 provided in this invention is slightly inclined outward on the side opposite to the I-shaped track 2, which is conducive to the dust on the top surface of the cleaning plate 47 being quickly thrown out from the inside of the inclined U-shaped cover 45 under the pressure of movement, so as to prevent dust from falling on the I-shaped track 2 during the movement of the inspection device body 1, and can also play a role in the accumulation of dust.

[0060] Example 2:

[0061] The technical solution is basically the same as that in Embodiment 1, except that, as Figure 7 and Figure 8 As shown, the dust collection box 44 and the quick-release box 441 are connected by a snap-fit. The quick-release box 441 is equipped with a horizontally arranged wedge 442 on the outer side of the I-shaped track 2, and the dust collection box 44 is equipped with a pair of rotating plates 443 on the outer side of the I-shaped track 2. A snap-fit ​​block 444 is installed at the end of the rotating plate 443 away from the dust collection box 44, and the snap-fit ​​block 444 abuts against the bottom of the wedge 442.

[0062] When the inside of the quick-release box 441 is filled with dust, the operator can rotate the two rotating plates 443 outwards to release the locking block 444 from the wedge block 442, and then remove the quick-release box 441 from the dust collection box 44 to remove the dust inside the quick-release box 441. This allows the operator to quickly install or remove the quick-release box 441, greatly improving the efficiency of dust removal. It is worth noting that the quick-release box 441 is made of transparent material so that the operator can observe the dust condition inside the quick-release box 441.

[0063] Example 3:

[0064] The technical solution is basically the same as that in Embodiment 1, except that, as Figure 8 As shown, ear seats 40 are installed at both ends of the main body 1 of the inspection device and on one side corresponding to the rotating part 41. The ear seats 40 and the rotating part 41 are rotatably connected by a rotating shaft. The end of the rotating part 41 away from the ear seats 40 is rotatably connected to a support roller 401. The support roller 401 is rolled on the bottom of the I-shaped track 2. A rectangular array of spring plates 411 is installed on the top wall of the main body 1 of the inspection device. The spring plates 411 and the rotating part 41 are set to correspond to each other. A reset spring 412 is connected between the spring plates 411 and the rotating part 41.

[0065] When the main body 1 of the inspection device moves, the support roller 401 on the rotating part 41 connected to it rolls on the bottom wall of the I-shaped track 2. At the same time, under the pressure of the return spring 412, it is beneficial for the U-shaped 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. At the same time, it does not affect the cleaning of the cleaning plate 47 and the side plate 48 inside the I-shaped track 2, thus improving the cleaning stability of the cleaning plate 47 and the side plate 48.

[0066] Example 4:

[0067] The technical solution is basically the same as that in Embodiment 1, except that, as 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 bearing 473 is installed on the side of the slider 472 near the I-shaped track 2, and grooves 474 are provided at the bottom of both the front and rear ends of the I-shaped track 2, and the ball bearing 473 rolls and connects inside the grooves 474.

[0068] During operation, as the main body 1 of the inspection device moves, the ball bearing 473 rolls inside the groove 474. The connected slider 472 allows the first compression spring 471 to maintain a balanced force. This makes it easier to keep the cleaning plate 47 parallel to the bottom surface of the I-shaped track 2 during uphill or downhill movement, and also allows the cleaning plate 47 to press firmly against the bottom surface of the I-shaped track 2, thereby improving the cleaning effect.

[0069] Example 5:

[0070] The technical solution is basically the same as that in Embodiment 1, except that, as Figure 9As shown, multiple second cleaning components 5 are installed at both ends of the inspection device body 1 for cleaning after dust has solidified into a hard substance. Each second cleaning component 5 includes a fixed plate 51 installed at both 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 via bearings. One end of the limit rod 52 rotates through the fixed plate 51 and is fixedly connected to the rotating shaft inside the drive roller 3. A buffer plate 53 is rotatably connected to the end of the limit rod 52 near the fixed plate 51 via a first bearing. A connecting balance plate 50 is rotatably connected to the buffer plate 53 located between the left and right ends. An inclined second compression spring 5011 is connected between the two ends of the connecting balance plate 50 and the buffer plate 53. A drive gear 54 is installed at the end of the limit rod 52 near the buffer plate 53. An inner disc gear 541 is installed on the inner ring of the drive gear 54. The inner disc gear 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 the driven gear 55, which meshes with the active gear 54, through the second bearing. The shaft in the driven gear 55 rotates through the buffer rotating plate 53 and is then installed with a blower 56. The blower 56 is mounted with a blower rod 561 at the end of the blower 56 facing away from the buffer rotating plate 53. The outer side of the blower rod 561 is equipped with spray nozzles 563 in a ring array. The side of the blower 56 close to the blower rod 561 is equipped with a heating plate 560. The side of the heating plate 560 facing away from the blower 56 is equipped with a heating wire 562 wound around the outside of the blower rod 561. A brush cylinder 57 is provided on the outer side of the blower rod 561. The outer side of the brush cylinder 57 is provided with a spray nozzle 571 in a ring array, and the spray nozzles 571 are located between the brushes on the brush cylinder 57.

[0071] When there are hard impurities on the bottom surface of the I-shaped track 2, the kinetic energy of the drive roller 3 is used to drive the rotating shaft connected to it to rotate the limiting rod 52, thereby driving the inner disc gear 541 and the drive gear 54 connected to it to rotate, which in turn drives the driven gear 55 and the blower 56 to rotate. The brush on the brush cylinder 57 can clean the hard impurities on the I-shaped track 2. Then, under the pressure of the blower 56, the airflow flows into the spray nozzle 563 and the air nozzle 571 and flows out, which facilitates the blowing away of hard materials to prevent them from obstructing the movement of the inspection device body 1. In addition, the present invention is equipped with an electric heating plate 560 and a heating wire 562 so that after the dust is cleaned, there is still some dust on the bottom surface of the I-shaped track 2. It can be dried by the cooperation of the electric heating plate 560 and the heating wire 562, which facilitates the subsequent cleaning of the dried dust and improves the cleaning effect of the I-shaped track 2, avoiding the phenomenon of the inspection device body 1 shaking on the I-shaped track 2.

[0072] It is worth noting that the brushes on the brush cylinder 57 of this invention are hard brushes, which facilitates the powerful cleaning of impurities on the I-shaped track 2. The blower rod 561 is treated with high temperature, which facilitates the blowing of air through the heating wire 562, so that hot air is discharged from the brush cylinder 57. Moreover, when dust adheres to the brushes on the brush cylinder 57, the hot air can quickly dry the dust on the brushes, which greatly improves the service life of the brush cylinder 57.

[0073] Example 6:

[0074] The technical solution is basically the same as that in Embodiment 1, except that, as Figure 9 , Figure 12 and Figure 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 of the connecting balance plate 50. A manual torsion cap 502 is installed at the end of the control rod 501 away from the inspection device body 1. A pair of limiting arc-shaped parts 503 are installed in the middle of the connecting balance plate 50. A pair of limiting control parts 504 are installed on the side of the manual torsion cap 502 close to the connecting balance plate 50, and the pair of limiting control parts 504 just pass between the pair of limiting arc-shaped parts 503. An avoidance groove is opened on the outer side wall of the limiting rod 52 relative to the side of the inner disc tooth rod 541. The blower rod 561 and the brush cylinder 57 are fixedly connected by a torsion rod. A rubber pad is installed on the side of the blower 56 close to the brush cylinder 57.

[0075] During operation, when it is necessary to replace the brush cylinder 57 or repair the heating plate 560 inside the blower 56, the operator can rotate the manual torsion cap 502 to disengage the limit control component 504 through the gap between the limit arc component 503. This makes it easier for the operator to pull the connecting balance plate 50 and the buffer rotating plate 53 connected to it outward. At the same time, the inner disc toothed rod 541 slides along the inner side of the clearance groove on the limit rod 52, which makes it convenient for the operator to disassemble the brush cylinder 57 and the blower 56, as well as repair the heating plate 560 inside the blower 56.

[0076] It is worth noting that the limiting control component 504, the limiting arc component 503, and the micro spring in this invention work together to lock or quickly disassemble the connecting balance plate 50. This makes it easier to install the brush cylinder 57 later. Simply press the connecting balance plate 50 along the manual torsion cap 502 and then rotate the manual torsion cap 502 so that the limiting control component 504 is pressed against the limiting arc component 503, thus improving the efficiency of installation or disassembly.

[0077] Working principle: This is a mine inspection device. When in use:

[0078] Firstly, during operation, when the drive roller 3 and auxiliary roller 31 drive the inspection device body 1 uphill or downhill, the cleaning plate 47 and side plate 48 slide inside the I-shaped track 2 due to the weight of the shroud 45 and cleaning plate 47. Firstly, the side plate 48 can clean the dust on the side wall of the I-shaped track 2, and the cleaned impurities will fall onto the cleaning plate 47. At the same time, the cleaning plate 47 can clean the dust on the bottom surface of the side of the drive roller 3 that contacts the I-shaped track 2. Then, under the pushing pressure of the cleaning plate 47, the dust flows into the inside of the shroud 45, and then into the dust collection box 44 and the quick disassembly box 441. The dust can be cleaned by the staff later. The dust on the I-shaped track 2 can be cleaned by the power of the inspection device body 1, avoiding the reduction of friction between the drive roller 3 and the I-shaped track 2 on the inspection device body 1.

[0079] Second: When the inside of the quick disassembly box 441 is filled with dust, the operator can rotate the two rotating plates 443 outward to make the locking block 444 release from the restraint of the wedge block 442, and then remove the quick disassembly box 441 from the dust accumulation box 44 so that the dust inside the quick disassembly box 441 can be removed.

[0080] Third: When the inspection device body 1 moves, the support roller 401 on the rotating part 41 connected to it rolls on the bottom wall of the I-shaped track 2. At the same time, under the pressure of the return spring 412, it is beneficial for the U-shaped 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. At the same time, it does not affect the cleaning of the cleaning plate 47 and the side plate 48 inside the I-shaped track 2. When the inspection device body 1 moves, the ball 473 rolls inside the groove 474. The slider 472 connected to it can make the first compression spring 471 maintain a balanced force. This makes it easy to keep the cleaning plate 47 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.

[0081] Fourth: When there are hard impurities on the bottom surface of the I-shaped track 2, the kinetic energy of the drive roller 3 is used to drive the limit rod 52 to rotate, thereby driving the inner disc gear 541 and the drive gear 54 to rotate, which in turn drives the driven gear 55 and the blower 56 to rotate. The brush on the brush cylinder 57 can clean the hard impurities on the I-shaped track 2. Then, under the pressure of the blower 56, the airflow flows into the spray nozzle 563 and the air nozzle 571 to blow away the hard substances, so as to prevent these substances from obstructing the movement of the inspection device body 1. Moreover, the present invention is equipped with an electric heating plate 560 and a heating wire 562 so that after the dust is cleaned, there is still some dust on the bottom surface of the I-shaped track 2. It can be dried by the cooperation of the electric heating plate 560 and the heating wire 562, so that the dried dust can be cleaned again later.

[0082] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0083] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those 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 invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A field operation inspection device based on real-time laser point cloud modeling technology, characterized in that, It includes the main body of the inspection device (1) and the 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. Then, a series of preprocessing is required. For the preprocessed data, morphological filtering is used to separate ground points and non-ground points. For ground points, interpolation calculation is performed, while for non-ground points, feature points are extracted after thinning. The corresponding matching points are searched in the feature points of the two frames of data. 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 the environmental data acquisition stage is completed, the acquired 3D laser point cloud data and radar data are preprocessed first. The fused point cloud data after preprocessing is used for subsequent feature extraction and feature matching processes in the modeling experiment. Feature extraction module: Extracts feature points based on normal vectors and curvature feature points based on curvature. The two types of 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 building a baseline map model, multiple control points are obtained using a satellite positioning system to perform pose calculation. The collected color point cloud data is given position information and point cloud data registration algorithm, normal distribution transformation algorithm and iterative nearest neighbor algorithm are used. It also includes an I-shaped track (2), the inspection device body (1) is installed on the I-shaped track (2), the top of the inspection device body (1) is equipped with a plurality of drive rollers (3) arranged in a rectangular array, and the plurality of drive rollers (3) are rolled and connected on opposite sides of the I-shaped track (2), and auxiliary rollers (31) are installed between the drive rollers (3) at the front and rear ends of the top wall of the inspection device body (1), and the auxiliary rollers (31) are rolled and connected on the bottom wall of the I-shaped track (2); Multiple first cleaning components (4) are arranged on the left and right ends of the inspection device body (1) for cleaning the dust inside the I-shaped track (2) during uphill or downhill processes; Multiple second cleaning components (5) are disposed at the front and rear ends of the inspection device body (1) for cleaning after the dust has solidified into a hard substance; The first cleaning component (4) includes rotating parts (41) disposed at the left and right ends of the inspection device body (1). A fixing rod (42) is installed on the side of the rotating part (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 part (41). A dust collection box (44) is rotatably connected to the top of the connecting plate (43). A quick-release box (441) is provided at the bottom of the dust collection box (44). The dust collection box (44) is close to the I-shaped track. (2) One end is equipped with a U-shaped cover (45), the dust collection box (44) and the U-shaped cover (45) are connected, the U-shaped cover (45) is equipped with a U-shaped connecting block (46) on the side of the inspection device body (1) close to the U-shaped cover (45), the U-shaped connecting block (46) is equipped with a cleaning plate (47) on the end away from the U-shaped cover (45), the cleaning plate (47) is equipped with a side plate (48) on the end away from the U-shaped cover (45), the cleaning plate (47) and the side plate (48) are slidably connected on the inside of the I-shaped track (2); The second cleaning component (5) includes a fixed plate (51) installed at both 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) via bearings. One end of the limit rod (52) rotates through the fixed plate (51) and is fixedly connected to the rotating shaft inside the drive roller (3). The end of the limit rod (52) near the fixed plate (51) is rotatably connected to a buffer plate (53) via a first bearing. The buffer plate (53) located between the left and right ends is rotatably connected to a connecting balance plate (50). The two ends of the connecting balance plate (50) and the buffer plate (53) are connected to an inclined second compression spring (5011). The end of the limit rod (52) near the buffer plate (53) is provided with a drive gear (54). The inner ring of the drive gear (54) is equipped with an inner disc gear rod (541), and the inner disc gear rod (541) is rotatably connected to the first bearing inside the buffer plate (53). The end of the buffer plate (53) away from the main body (1) of the inspection device is rotatably connected to a driven gear (55) that meshes with the driving gear (54) via a second bearing. The shaft inside the driven gear (55) rotates through the buffer plate (53) and is fitted with a blower (56). A blower rod (561) is installed at the end of the blower (56) opposite to the buffer plate (53). The outer wall of the blower rod (561) is equipped with spray nozzles (563) arranged in a ring array. A heating plate (560) is installed on the side of the blower (561) near the blower rod (561). A heating wire (562) wrapped around the outside of the blower rod (561) is installed on the side of the heating plate (560) facing away from the blower (56). A brush cylinder (57) is provided on the outside of the blower rod (561). An air nozzle (571) in a ring 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).

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

3. The field operation inspection device based on real-time laser point cloud modeling technology according to claim 1, characterized in that: 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 inclined slightly outward. The side plate (48) is located on the opposite side of the inspection device body (1) and is inclined.

4. The field operation inspection device based on real-time laser point cloud modeling technology according to claim 3, characterized in that: The spiral cover (45) is inclined, and one end of the cleaning plate (47) protrudes out of the outside of the I-shaped track (2) and extends into the inside of the spiral cover (45).

5. The field operation inspection device based on real-time laser point cloud modeling technology according to claim 4, characterized in that: The dust collection box (44) and the quick-release box (441) are connected by a snap-fit. The quick-release box (441) is equipped with a horizontally arranged wedge (442) on the outside of the I-shaped track (2) and the dust collection box (44) is equipped with a pair of rotating plates (443) on the outside of the I-shaped track (2). A snap-fit ​​block (444) is installed at the end of the rotating plate (443) away from the dust collection box (44). The snap-fit ​​block (444) abuts against the bottom of the wedge (442).

6. The field operation inspection device based on real-time laser point cloud modeling technology according to claim 5, characterized in that: Ear seats (40) are installed at both ends of the main body (1) of the inspection device and on one side of the rotating part (41). The ear seats (40) and the rotating part (41) are rotatably connected by a rotating shaft. A support roller (401) is rotatably connected to the end of the rotating part (41) away from the ear seat (40). The support roller (401) is rolled at the bottom of the I-shaped track (2). A spring plate (411) in a rectangular array is installed on the top wall of the main body (1) of the inspection device. The spring plate (411) and the rotating part (41) are set to correspond to each other. A reset spring (412) is connected between the spring plate (411) and the rotating part (41).

7. The field operation inspection device based on real-time laser point cloud modeling technology according to claim 6, characterized in that: The bottom of the cleaning plate (47) is equipped with a first compression spring (471), and the bottom end of the first compression spring (471) is equipped with a slider (472). The slider (472) is equipped with a ball (473) on the side near the I-shaped track (2). The bottom of both the front and rear ends of the I-shaped track (2) are provided with grooves (474), and the ball (473) is connected to the inside of the groove (474).

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