Urban underground pipe network disease detection integrated equipment and use method thereof

Abstract

The invention relates to the technical field of pipe network detection, and particularly discloses urban underground pipe network disease detection integrated equipment, which comprises a detection vehicle and a cable vehicle, the detection vehicle is connected with the cable vehicle through an Ethernet cable with a steel wire, a computer is arranged above the cable vehicle, the Ethernet cable is in communication connection with the computer, and the cable vehicle is connected with the computer through a wireless communication module. A cable is arranged in the cable car; a lifting support is installed right in front of the detection vehicle, a three-dimensional laser radar, a panoramic camera, a holder and an LED lamp are integrated on the lifting support, range finders are installed on the left side and the right side of the outer portion of the front end of the detection vehicle, and AGV wheels are arranged on the front side and the rear side of the outer portion of the detection vehicle and in the middle of a vehicle body. According to the urban underground pipe network disease detection integrated equipment and the using method thereof, integrated detection and accurate analysis of underground pipe network diseases can be achieved, and the pipe network detection efficiency and the management level are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline network detection, and in particular to an integrated device for detecting diseases of urban underground pipeline networks and a method for using the same. Background Art

[0002] In the modern urban infrastructure system, the underground pipeline network is like the "blood vessels" and "nerves" of the city, undertaking multiple key functions such as water supply, drainage, gas transmission, power transmission, and communication, and playing a crucial role in ensuring the normal operation of the city and the daily life of residents. However, with the continuous expansion of the urban construction scale, the continuous increase in the service life, and the influence of external environmental factors, the underground pipeline network faces many potential risks and disease problems.

[0003] Currently, diseases such as corrosion, rupture, deformation, and blockage are common in urban underground pipeline networks. For example, metal pipes buried underground for a long time are vulnerable to soil corrosion, resulting in thinner pipe walls or even rupture; external factors such as urban ground settlement and construction activities can also cause deformation of the pipeline network structure, affecting the medium transportation efficiency and safety; and the accumulation of debris in the drainage pipeline network is prone to cause blockage, triggering disasters such as urban waterlogging. These diseases not only cause resource waste and environmental pollution, but may even lead to safety accidents, seriously threatening urban safety and the safety of residents' lives and property.

[0004] Existing detection means for diseases of urban underground pipeline networks have many limitations. Firstly, traditional detection equipment has a single function and can mostly only detect a specific type of disease or a certain index of the pipeline network. For example, a single pipeline leak detector can only detect whether there is a leak in the pipeline and cannot diagnose other problems such as pipeline structure deformation and corrosion degree, making it difficult to achieve comprehensive and integrated detection of pipeline network diseases. Secondly, there is no effective integration mechanism for the data collected by different detection equipment, making it difficult to achieve integrated and rapid modeling. Due to differences in data formats, transmission protocols, etc., various detection data are difficult to fuse and analyze, resulting in low efficiency of urban underground pipeline information management and unable to provide accurate and comprehensive data support for urban infrastructure construction planning. Thirdly, existing detection technologies are difficult to meet the actual needs in terms of accuracy and operation convenience. For example, some detection equipment is greatly affected by environmental factors, and the detection accuracy drops significantly in complex geological conditions or small spaces; at the same time, the operation process is cumbersome and requires professional personnel to carry out complex equipment debugging and data processing, resulting in low detection efficiency and difficult to meet the needs of large-scale pipeline network detection in the city. Summary of the Invention

[0005] The object of the present invention is to provide an integrated equipment for detecting diseases of urban underground pipe networks and its usage method. Through the automated data acquisition and processing functions, manual intervention is reduced, the efficiency of detecting diseases of underground pipe networks is significantly improved, the labor cost and time cost are reduced, and it is applicable to the detection requirements of large-scale pipe networks in cities.

[0006] To achieve the above object, the present invention provides an integrated equipment for detecting diseases of urban underground pipe networks, including a detection vehicle and a cable vehicle. The detection vehicle is connected to the cable vehicle through an Ethernet cable with steel wires. A computer is arranged above the cable vehicle. The Ethernet cable is communicatively connected to the computer. Cables are arranged inside the cable vehicle.

[0007] A lifting bracket is installed in the front of the detection vehicle. A 3D lidar, a panoramic camera, a pan-tilt head and an LED lamp are integrated on the lifting bracket. Rangefinders are installed on the left and right sides of the front end outside of the detection vehicle. AGV wheels are arranged on the front and rear sides outside the detection vehicle and in the middle of the vehicle body.

[0008] Preferably, the panoramic camera and the LED lamp are installed on the pan-tilt head. The pan-tilt head is rotatably connected to the lifting bracket. The lifting bracket includes an integrally formed first base and a second base.

[0009] Preferably, first transmission rods are rotatably connected to both sides of the first base. An inclination sensor is arranged on the first transmission rod. The other end of the first transmission rod is rotatably connected to a fixed base. The 3D lidar is integrated on the fixed base.

[0010] The pan-tilt head is rotatably connected to the front end of the fixed base. The fixed base is connected to a first rotating shaft through a second transmission rod. The first rotating shaft is fixedly arranged below the base.

[0011] Preferably, two electric telescopic rods are symmetrically arranged on the detection vehicle. A second rotating shaft is rotatably arranged between the first transmission rods. The telescopic end of the electric telescopic rod is fixedly connected to the second rotating shaft. A cable connector connected to the Ethernet cable is fixedly arranged on the second rotating shaft. The detection vehicle is connected to a U-shaped hanging ring through a third rotating shaft.

[0012] Preferably, a main control board, a signal conversion board, a gyroscope, wheel motors, encoders, an electronic speed controller and multiple ultrasonic sensors are installed inside the detection vehicle. The main control board includes an electronic control unit ECU, a signal processing circuit, a data storage unit and a communication interface. The ultrasonic sensors include an acceleration sensor and a displacement sensor.

[0013] Preferably, the main control board communicates with the signal conversion board via RS485, saves the point cloud data with three-dimensional coordinates in real time, and transfers the saved point cloud data to a computer via Ethernet after the pipeline detection is completed. The computer performs three-dimensional modeling of the internal pipeline network;

[0014] The data of the main control board communicates with the panoramic camera and the pan-tilt via USB. When moving forward, it saves the video data with three-dimensional coordinates in real time. After the pipeline detection is completed, it transfers the saved video data with three-dimensional coordinates to a computer via Ethernet to monitor the defects inside the pipeline and the deformation and damage of the pipeline cross-section. When moving forward and backward, it transfers the video data to the computer via Ethernet for the running judgment of the detection vehicle;

[0015] The main control board communicates with the gyroscope via RS485, coordinates with the encoder data, records the walking trajectory, saves the gyroscope-encoder data in real time, and simultaneously transfers the data to the computer via Ethernet;

[0016] The main control board communicates with the rangefinder via RS485 for obstacle avoidance and transfers the data to the computer via Ethernet;

[0017] The main control board communicates with the signal conversion board via RS485 to control the operation of the motor, the on / off of the LED lights, and read the encoder data.

[0018] Preferably, a control board, a large-capacity battery, a planetary reduction motor, a winch, a reciprocating lead screw, an encoder, a charging interface, and a power switch are installed in the cable vehicle;

[0019] The control board communicates with the computer via RS485 to USB, is used to control the cable laying and retracting and the operation of the lead screw motor, and read the encoder data and the battery power.

[0020] Preferably, the computer is used to receive, process, and display the data collected by the detection vehicle, and is installed with application APP software. The application APP software communicates with the cable vehicle and the detection vehicle for the control and data display and analysis of the equipment, specifically including:

[0021] Display the three-dimensional model of the internal pipeline according to the saved point cloud data;

[0022] Display the image data with three-dimensional coordinates inside the pipeline according to the saved camera data, and display the three-dimensional map of the pipeline position in real time;

[0023] Automatically identify and display the defect location, size, and photos inside the pipeline, and the deformation and damage location, size, and photos of the pipeline cross-section based on the point cloud file and the camera video file;

[0024] Display basic equipment information including battery power, equipment operation information including driving distance, operation posture, and distance to surrounding obstacles;

[0025] Control operations and information display, including the switching of LED lights and light strips, the start of measurement, the operation of the probe vehicle, and the operation of the camera, pan / tilt head, and lifting bracket.

[0026] Preferably, the door-shaped hanging ring is made of aluminum alloy, and the waterproof grade of the detection vehicle is IP68, and the dustproof grade is IP6Y.

[0027] The present invention also provides a method for using an integrated device for detecting urban underground pipe network defects, comprising the following steps:

[0028] S1. According to the detection direction of the pipeline to be detected, adjust the lowering position of the detection vehicle and hook the rope to the lifting ring of the detection vehicle through the hook;

[0029] S2. Set the lowering distance on the computer and click to lower the probe car. The operator manually lowers the rope, and the cable car automatically lowers the probe car.

[0030] S3. According to the judgment of the cable car encoder, when the bottom of the pipeline to be detected is reached, the operator detaches the hook from the detection car and pulls it out of the pipeline mouth;

[0031] S4. According to the diameter of the pipe to be inspected, the operator manually adjusts the height of the lifting bracket, the position of the pan / tilt head, and turns on the LED light according to the default parameters on the computer;

[0032] S5. Adjust the position of the detection vehicle in the pipeline according to the comprehensive judgment of the rangefinder and the panoramic camera image;

[0033] S6. Click Start Detection on the computer, and all sensors on the detection vehicle will start working;

[0034] S7. After comprehensive analysis of the rangefinder and panoramic camera images, the operator controls the forward movement and steering of the probe vehicle on the computer. At the same time, the cable truck lowers the cable length according to the forward speed of the probe vehicle.

[0035] S8, real-time storage of point cloud data with three-dimensional coordinates of the three-dimensional laser radar, video data with three-dimensional coordinates of the panoramic camera, and encoder data of the gyroscope-probe vehicle;

[0036] S9, displaying real-time video and a three-dimensional map of the pipeline position on a computer;

[0037] S10, when the pipeline detection is completed, click Stop Detection on the computer, and the 3D laser radar will not work;

[0038] S11. The operator operates the pan-tilt on the computer to rotate 180°, turning the panoramic camera and the LED light to the rear;

[0039] S12. Click to retract the detection vehicle on the computer. The operator operates the detection vehicle to move backward on the computer, and at the same time, the cable car pulls up the detection vehicle;

[0040] S13. According to the encoders of the cable car and the detection vehicle, it is judged that the detection vehicle stops pulling up automatically after being pulled up to the pipe orifice. The operator pulls the detection vehicle to the ground of the pipe orifice, and the pipeline detection operation is completed;

[0041] S14. Click to read data on the computer, read point cloud, video and gyroscope data, and automatically complete the establishment of a three-dimensional model inside the pipeline, a three-dimensional positioning map of the pipeline on the computer according to the data, locate the defect position inside the pipeline, measure the defect size and generate disease photos, locate the position of deformation damage of the pipeline section, measure the deformation damage size and generate deformation damage photos.

[0042] Therefore, the present invention adopts the above-mentioned integrated equipment for detecting diseases of urban underground pipe networks and its usage method, and the beneficial effects are as follows:

[0043] (1) The present invention integrates various detection devices such as 3D lidar, panoramic camera, rangefinder, etc. on the detection vehicle, and can simultaneously realize multiple functions such as internal entity modeling of pipelines, defect positioning, and detection of cross-section deformation damage. It changes the situation of single-function of traditional equipment, can comprehensively and comprehensively diagnose diseases of underground pipe networks, avoid missing key diseases, and improve the integrity and accuracy of detection.

[0044] (2) The present invention realizes high-speed data transmission between the detection vehicle and the computer through an Ethernet cable. Combining with the powerful data processing ability of the computer application APP software, it can quickly integrate the point cloud data of the 3D lidar, camera video data, etc., and automatically complete the establishment of a three-dimensional model inside the pipeline and a positioning three-dimensional map, as well as the identification and analysis of defects and deformation damage, greatly improving the data processing efficiency and the level of information management, and providing a scientific and accurate decision-making basis for pipe network maintenance and repair.

[0045] (3) The present invention adopts high-precision sensors and advanced algorithms. The 3D lidar can realize internal entity modeling of pipelines with millimeter-level accuracy. The panoramic camera combined with the pan-tilt realizes omnidirectional and non-blind detection. The rangefinder can accurately monitor the distance from obstacles in real time, ensuring high-precision detection even in complex geological conditions and narrow pipe network spaces. At the same time, the detection vehicle has an IP68 waterproof and IP6Y dustproof rating and can work stably in harsh environments with strong adaptability.

[0046] (4) The present invention adopts an integrated design and realizes remote centralized control of the detection vehicle and the cable vehicle through a computer application APP software. The operation interface is simple and intuitive, and the operator can get started with only simple training. During the detection process, the detection data and video images can be displayed in real time, which is convenient for the operator to adjust the detection strategy in a timely manner.

[0047] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Description of the Drawings

[0048] Figure 1 It is a schematic diagram of the overall structure of the detection vehicle in an embodiment of an integrated equipment for detecting diseases of urban underground pipe networks according to the present invention;

[0049] Figure 2 It is a schematic diagram of the overall structure of the cable vehicle in an embodiment of an integrated equipment for detecting diseases of urban underground pipe networks according to the present invention;

[0050] Figure 3 It is a general flow chart of an embodiment of the usage method of an integrated equipment for detecting diseases of urban underground pipe networks according to the present invention;

[0051] Figure 4 It is a schematic diagram of the overall framework of an embodiment of an integrated equipment for detecting diseases of urban underground pipe networks according to the present invention.

[0052] Reference Signs

[0053] 1. AGV wheels; 2. U-shaped lifting rings; 3. Ethernet cables; 4. Pan-tilt heads; 5. First bases; 6. Second bases; 7. First drive rods; 8. Fixed bases; 9. Second drive rods; 10. First rotating shafts; 11. Electric telescopic rods; 12. Second rotating shafts; 13. Cable connectors. Detailed Embodiments

[0054] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0055] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the ordinary meanings as understood by those of ordinary skill in the field to which the present invention pertains. The "first", "second" and similar terms used in the present invention do not denote any order, quantity or importance, but are only used to distinguish different components. Words such as "comprising" or "including" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. Words such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Upper", "lower", "left", "right", etc. are only used to indicate relative position relationships, and when the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0056] As Figure 1 , Figure 2 shown, an integrated equipment for detecting diseases of urban underground pipe networks includes a detection vehicle and a cable vehicle. AGV wheels 1 are provided on the front and rear sides and in the middle of the detection vehicle. Each group of AGV wheels 1 is equipped with an independent electronic speed controller. The electronic speed controller precisely adjusts the motor speed through PWM (Pulse Width Modulation) technology to achieve various motion modes such as the detection vehicle moving forward, backward, and turning. By controlling the different speeds and turns of the front and rear wheels, the detection vehicle can achieve flexible operations such as rotating in place and moving obliquely, and can easily cope with special terrains such as complex bends and narrow spaces in the underground pipe network.

[0057] The detection vehicle is connected with a U-shaped lifting ring 2 through a third rotating shaft. The U-shaped lifting ring 2 is made of aluminum alloy and has the characteristics of light weight, high strength, and corrosion resistance. The U-shaped lifting ring 2 is connected to the second rotating shaft 12 by a high-precision deep groove ball bearing. The outer ring of the bearing is fixed to the lifting ring, and the inner ring is closely fitted with the second rotating shaft 12, enabling the lifting ring to freely rotate 360° around the second rotating shaft 12. This design can effectively avoid the influence of rope winding on the attitude of the detection vehicle during the lowering and recovery processes of the detection vehicle, ensuring that the detection vehicle can be smoothly and vertically lowered to the designated position in the pipeline.

[0058] The waterproof grade of the detection vehicle is IP68, and the dustproof grade is IP6Y. The entire surface is treated with a special coating, having excellent waterproof and anti-corrosion properties. The joints between the components of the detection vehicle body adopt a double-sealing design. The inner layer is a silicone rubber sealing ring, which can effectively prevent the intrusion of moisture and dust; the outer layer tightly connects the outer shell components through ultrasonic welding technology to form a complete sealed cavity.

[0059] The detection vehicle is connected to the cable vehicle through an Ethernet cable 3 with steel wires. This cable is the data and power transmission link of the entire detection system. The cable adopts a layered structure design inside. The innermost layer consists of 4 groups of shielded Ethernet cable cores, and each group of cable cores uses oxygen-free copper wires compliant with the CAT6A standard, capable of achieving high-speed data transmission of up to 10 Gbps, ensuring that large-capacity information such as 3D lidar point cloud data and panoramic camera video data collected by the detection vehicle is quickly and stably transmitted to the computer.

[0060] A computer is set above the cable vehicle. The computer uses a portable high-performance industrial tablet computer, equipped with an Intel Core i7 processor, 16GB of memory, and a 512GB solid-state drive, with powerful data processing and storage capabilities. The Ethernet cable 3 is communicatively connected to the computer, capable of receiving various types of data collected by the detection vehicle in real time. There is a cable inside the cable vehicle. When the detection vehicle needs to be lowered to a specified position in the pipeline network to be detected to perform the detection task, the cable in the cable vehicle connects the integrated power cable core inside to the detection vehicle through orderly cable release, continuously and stably supplying power to the electrical equipment such as the main control board, sensors, and motors on the detection vehicle, ensuring that the detection vehicle always maintains stable operation in the complex pipeline network environment and providing reliable power guarantee for accurately carrying out the pipeline network disease detection work.

[0061] Range finders are installed on both the left and right sides of the front end of the detection vehicle externally, capable of monitoring the distance between the detection vehicle and the pipeline wall and obstacles in real time with millimeter-level accuracy, and can promptly sense changes in the surrounding environment. When the detected distance is too close, it can quickly feedback the data to the main control board, triggering the automatic obstacle avoidance program and adjusting the running state of the AGV wheels 1 to ensure the safe and smooth progress of the detection vehicle in the pipeline network.

[0062] A lifting bracket is installed directly in front of the detection vehicle. The lifting bracket integrates a 3D lidar, a panoramic camera, a pan-tilt 4, and an LED light. Among them, the 3D lidar can quickly capture the spatial structure information inside the pipeline network by emitting and receiving laser beams, generating high-precision 3D point cloud data at a sampling frequency of tens of thousands of points per second, providing basic data for the 3D modeling and disease analysis of the pipeline network.

[0063] The panoramic camera and the LED light are installed on the flexibly adjustable pan-tilt 4. The motion performance of the pan-tilt 4 satisfies an up-and-down rotation angle of 45° and a left-and-right rotation angle of 180°. And there are two panoramic cameras installed front and back to achieve a full-range and non-blind detection perspective of the camera, capable of clearly capturing both cracks at the top of the pipeline and sediments at the bottom. At the same time, the LED light provides sufficient and uniform lighting, ensuring that the camera can obtain clear image data even in a dim pipeline network environment.

[0064] When the detection vehicle moves in the pipe network, the pan-tilt 4 can flexibly adjust the angle according to the preset program or the operator's instructions, so that the camera always aims at the key detection area, significantly improving the detection efficiency and accuracy.

[0065] The lifting bracket includes an integrally formed first base 5 and a second base 6. The two sides of the first base 5 are rotatably connected with first transmission rods 7. An inclination sensor is arranged on the first transmission rods 7 to monitor the inclination angle change of the first transmission rods 7 in real time and accurately, and transmit the data to the main control board quickly. Based on these data, the system can dynamically adjust the height of the lifting bracket to ensure that the detection device is always in the best working state.

[0066] The other end of the first transmission rod 7 is rotatably connected with a fixed base 8. The 3D lidar is integrated on the fixed base 8; the pan-tilt 4 is rotatably connected to the front end of the fixed base 8. The fixed base 8 is connected with a first rotating shaft 10 through a second transmission rod 9. The first rotating shaft 10 is fixedly arranged under the base to ensure that during the detection process, the 3D lidar can remain stable and not be interfered by the outside world, so as to realize high-precision scanning operation.

[0067] Two electric telescopic rods 11 are symmetrically arranged on the detection vehicle. A second rotating shaft 12 is rotatably arranged between the first transmission rods 7. The telescopic end of the electric telescopic rod 11 is fixedly connected with the second rotating shaft 12. A cable connector 13 connected to the Ethernet cable 3 is fixedly arranged on the second rotating shaft 12. When the electric telescopic rod 11 expands and contracts, it can drive the second rotating shaft 12 to rotate, and then drive the first transmission rod 7 to rotate around its connection point with the first base 5, realizing the height adjustment function of the lifting bracket. Thus, the lifting bracket can quickly and accurately adjust the height of the detection device according to the pipe network with different pipe diameters, greatly improving the applicability of the device.

[0068] At the same time, the cable connector 13 fixedly arranged on the second rotating shaft 12 adopts a waterproof and anti-loosening design, ensuring the stable and reliable power supply and data transmission between the detection vehicle and the external system.

[0069] Such as Figure 4As shown in the figure, a main control board, a signal conversion board, a gyroscope, wheel motors, encoders, electronic speed controllers, and multiple ultrasonic sensors are installed inside the detection vehicle. The main control board includes an electronic control unit (ECU), a signal processing circuit, a data storage unit, and a communication interface. The ultrasonic sensors include an acceleration sensor and a displacement sensor. The electronic control unit (ECU) coordinates and schedules the operation status of the detection vehicle, the operation of sensors, data processing, and transmission based on a preset program and real-time collected data. The signal processing circuit preprocesses the original signals collected by the sensors, such as amplification, filtering, and conversion, to ensure the accuracy and reliability of the data. The data storage unit is used to temporarily store the massive data generated during the detection process, including the point cloud data of the 3D lidar, the video data of the panoramic camera, and the monitoring data of various sensors, for subsequent transmission and analysis. The rich communication interfaces (RS485, USB, Ethernet interface, etc.) enable high-speed data interaction between the main control board and other components and external devices, ensuring the smooth flow of information.

[0070] The main control board uses an Intel CPU: N100, with a built-in WIN10 or Ubuntu operating system. The main control board communicates with the signal conversion board via RS485, and saves the point cloud data with three-dimensional coordinates in real time. After the pipeline detection is completed, the saved point cloud data is transmitted to the computer via Ethernet, and the computer performs three-dimensional modeling of the inside of the pipe network.

[0071] The data of the main control board is communicated with the panoramic camera and the pan-tilt 4 via USB. When moving forward, the video data with three-dimensional coordinates is saved in real time. After the pipeline detection is completed, the saved video data with three-dimensional coordinates is transmitted to the computer via Ethernet for monitoring the defects inside the pipeline and the deformation and damage of the pipeline cross-section. When moving forward and backward, the video data is transmitted to the computer via Ethernet for the operation judgment of the detection vehicle. The three-dimensional coordinate data can be obtained through the 3D lidar. When the detection vehicle moves forward, the camera shows the front image; when moving backward, the rear image is shown.

[0072] The main control board communicates with the gyroscope via RS485. Combining with the encoder data, it records the walking trajectory, saves the gyroscope-encoder data in real time, and at the same time transmits the data to the computer via Ethernet.

[0073] The main control board communicates with the rangefinder via RS485 for obstacle avoidance and transmits the data to the computer via Ethernet. Similarly, the main control board communicates with the signal conversion board via RS485 to control the operation of the motor, the on / off of the LED lights, and read the encoder data.

[0074] Inside the cable vehicle, there are installed a control board, a large-capacity battery, a planetary reduction motor, a winch, a reciprocating lead screw, an encoder, a charging interface, and a power switch.

[0075] The control board uses a 32-bit ARM board, which communicates data with the computer via RS485 to USB. It is used to control the cable pay-off and take-up and the operation of the lead screw motor, and read the encoder data and battery power.

[0076] The computer is used to receive, process and display the data collected by the probe car, and is installed with application APP software to build a human-computer interaction platform. The application APP software establishes real-time two-way communication with the cable car and the probe car through the communication protocol, which is used for equipment control and data display and analysis, including:

[0077] The three-dimensional model of the interior of the pipeline is displayed based on the saved point cloud data, which is used to intuitively and stereoscopically present the spatial structure of the pipeline, the layout of ancillary facilities and other information. The internal details of the pipeline can be carefully observed from any angle through operations such as zooming and rotating, providing a solid data foundation for pipeline network structure analysis and disease diagnosis.

[0078] The saved camera data is used to display the image data with three-dimensional coordinates in the pipeline, and the three-dimensional or pseudo-three-dimensional map of the pipeline position is displayed in real time. These images not only clearly show the geographic information such as the direction and burial depth of the pipeline, but also can overlay the real-time position and running track of the detection vehicle in the pipeline. Through dynamic visualization, operators can grasp the detection process in real time, accurately judge the environment of the detection vehicle, and effectively improve the safety and efficiency of detection operations.

[0079] In the field of defect identification and analysis, the APP software integrates image recognition and data analysis algorithms. It can automatically identify and display various defects such as cracks, corrosion, deformation, etc. in the pipeline based on the point cloud files collected by the three-dimensional lidar and the camera video files. With the help of high-precision spatial positioning algorithms, the system can accurately mark the location of the defect in the three-dimensional pipe network model and the two-dimensional plane map, with the error controlled within the millimeter level; at the same time, it uses the dimensional measurement model based on deep learning to accurately locate the defect position, measure the defect size and generate high-definition disease photos.

[0080] For pipeline section deformation damage, the APP software can accurately determine the location, size and corresponding photos of pipeline section deformation damage. By comparing and analyzing the point cloud data of different detection periods, combined with the original design parameters of the pipeline network, and using three-dimensional reconstruction and deformation algorithms, it can quickly locate the deformation area and accurately calculate the deformation amount, offset angle and other key indicators of the section. The analysis results are intuitively presented in the form of visual charts, data reports, etc., which not only clearly show the deformation trend and severity, but also generate detailed disease assessment reports, providing scientific and quantitative decision-making support for the formulation of pipeline maintenance plans and repair priority sorting, effectively improving the operation and maintenance management level of urban underground pipeline networks.

[0081] The APP software also has comprehensive equipment status monitoring and control functions. It can display basic equipment information in real time, including the battery power of the detection vehicle and cables, and remind users to charge in time with eye-catching icons and values ​​to avoid affecting the detection operation due to insufficient power. In terms of operation information display, it can also display equipment operation information, including driving distance, operation posture (including pitch angle, roll angle, etc.), ranging distance to surrounding obstacles and other data to help operators fully understand the equipment operation status.

[0082] At the operational control level, the APP software can turn on and off the LED lights and light strips through simple clicks, slides and other control operations, thereby adjusting the lighting intensity to adapt to different detection environments; it can also remotely control the start, stop, forward, backward, turn and other operating states of the detection vehicle, as well as control the camera shooting, the rotation of the gimbal 4 and the height adjustment of the lifting bracket and display the above information.

[0083] like Figure 3 As shown, the present invention also provides a method for using an integrated device for detecting urban underground pipe network defects, comprising the following steps:

[0084] 1. Preparation stage:

[0085] S1. Preparation before lowering the rover:

[0086] Before conducting underground pipeline network defect detection operations, operators first need to select a suitable location for lowering the detection vehicle at the entrance of the pipeline according to the direction, burial depth and specific detection requirements of the pipeline to be detected. Ensure that the area around the lowering point is flat and free of obstacles for subsequent operations. After moving the detection vehicle to the location, use tools such as a level to calibrate the vehicle body to keep it horizontal to avoid affecting the accuracy of the detection data due to the tilt of the vehicle body.

[0087] Then, take a high-strength rope, pass one end of the rope through the gate-shaped lifting ring 2 on the top of the rover, and use a special hook to firmly connect the rope. The hook adopts an anti-drop design, and a second check is required after connection to ensure that the hook is fully buckled to prevent the rope from falling off during the lowering of the rover.

[0088] S2. Lowering of the probe vehicle

[0089] The operator opens the corresponding pipe network detection application APP software on the computer and enters the detection parameter setting interface. In this interface, according to the pipeline depth information obtained in the early stage, the lowering distance of the detection vehicle is accurately set. After the setting is completed, click the "Lower the Detection Vehicle" button, and the computer sends a lowering instruction to the cable car through Ethernet cable 3.

[0090] After the cable car receives the instruction, the control board inside it immediately starts the planetary reduction motor and begins to slowly release the cable. To ensure the smooth lowering of the detection vehicle, the operator needs to manually assist in lowering the rope beside it, closely monitor the lowering state of the detection vehicle, and prevent it from shaking or colliding during the descent. During the entire lowering process, the encoder of the cable car real-time monitors the released length of the cable and feeds the data back to the control board and the computer so that the operator can grasp the lowering position of the detection vehicle in real time.

[0091] S3. Processing at the bottom of the pipeline

[0092] Judging according to the encoder of the cable car, when it is about to reach the bottom of the pipeline to be detected, the operator first stops manually assisting in lowering the rope, then carefully detaches the hook from the detection vehicle and pulls it out of the pipeline opening, and properly places the hook pulled out of the pipeline opening to avoid the hook being left in the pipeline and interfering with subsequent detection work.

[0093] II. Equipment debugging stage:

[0094] S4. Equipment parameter adjustment:

[0095] According to the actual diameter of the pipeline to be detected, the operator manually adjusts the height of the lifting bracket (controls the telescopic length of the electric telescopic rod 11), the position of the pan-tilt 4 (rotation angle), and turns on the LED light (the brightness can be adjusted through software) on the computer according to the default parameters, creating good conditions for subsequent detection work.

[0096] S5. Detection vehicle position calibration:

[0097] The operator can comprehensively judge and adjust the position of the detection vehicle in the pipeline according to the data measured by the rangefinders on the left and right sides at the front end of the detection vehicle in real time and combined with the images of the panoramic camera. If the detection vehicle deviates from the center of the pipeline or is too close to the pipe wall, the operator can control the AGV wheels 1 of the detection vehicle through the application APP software on the computer to adjust the position of the detection vehicle; for example, when the left rangefinder shows a too small distance, the left wheel can be controlled to decelerate or the right wheel can be accelerated through the software to make the detection vehicle move to the right until it is in the center position of the pipeline, ensuring the accuracy and integrity of subsequent detection data.

[0098] III. Detection stage:

[0099] S6. Start the detection equipment:

[0100] After confirming that the position of the detection vehicle has been adjusted and all equipment parameters are set correctly, the operator clicks start detection on the computer. The main control board on the detection vehicle receives the start instruction, and all sensors start to work, including 3D lidar, panoramic camera, gyroscope, rangefinder, and multiple ultrasonic sensors, etc. Each sensor starts to work according to the preset program and parameters, collecting various data inside the pipeline.

[0101] S7. Detection Vehicle Operation Control and Cable Retraction and Payout

[0102] After comprehensive analysis of the distance data real-time feedback by the rangefinder and the real-time images of the panoramic camera by the operator, the operator controls the forward movement and steering of the detection vehicle on the computer. The AGV wheels 1 of the detection vehicle are driven by the wheel motor and the electronic speed controller, and travel smoothly in the pipeline according to the operator's instructions. At the same time, the control board of the cable vehicle intelligently determines the payout length according to the forward speed of the detection vehicle to ensure that the cable always maintains an appropriate tension, avoiding both the loss of control of the detection vehicle caused by cable slack and damage to the cable and the detection vehicle caused by excessive tension, and ensuring the free movement of the detection vehicle in the pipe network.

[0103] S8. Real-time Data Acquisition and Storage

[0104] During the driving process of the detection vehicle, the 3D lidar continuously performs 3D scanning on the interior of the pipeline, and the point cloud data with 3D coordinates of the 3D lidar, the video data with 3D coordinates of the panoramic camera, and the gyroscope-detection vehicle encoder data are saved in real time. All the collected data are stored in the data storage unit of the main control board and are transmitted to the computer for further analysis and processing after the detection is completed.

[0105] S9. Real-time Data Display:

[0106] The computer receives the video data and some status data transmitted by the detection vehicle in real time through the Ethernet cable 3, and displays the real-time video and the 3D or pseudo-3D map of the pipeline position on the computer; this helps the operator promptly understand the detection progress, discover potential problems and make corresponding adjustments.

[0107] IV. Completion Stage

[0108] S10. Stop Detection

[0109] When all pipeline detections are completed, click "Stop Detection" on the computer. At this time, the main control board of the detection vehicle receives the stop instruction, and the 3D lidar stops working to save power resources and reduce the data storage volume. Other sensors continue to maintain the necessary working states to ensure that the detection vehicle can return safely.

[0110] S11. Equipment Adjustment:

[0111] To facilitate the detection vehicle to observe the situation behind during the return process, the operator operates the pan-tilt 4 on the computer to rotate 180°, turning the panoramic camera and the LED light to the rear. The pan-tilt 4 is driven by a high-precision servo motor and can complete the rotation action quickly and accurately to ensure that the camera and the light are adjusted to the appropriate angles.

[0112] S12. Detection Vehicle Recovery:

[0113] Click to retract the detection vehicle on the computer. The operator operates the detection vehicle to reverse on the computer. The main control board of the detection vehicle controls the AGV wheels 1 to rotate in the reverse direction and starts to reverse along the original detection route. At the same time, the control board of the cable vehicle receives the retraction instruction, starts the planetary reduction motor to reverse, and at the same time the cable vehicle pulls up the detection vehicle, and the detection vehicle is slowly retracted from the pipeline. During the retraction process, the cable vehicle continuously monitors the cable tension and the running state of the detection vehicle to ensure the safety and smoothness of the retraction process.

[0114] S13. Complete the retraction:

[0115] According to the encoders of the cable vehicle and the detection vehicle, it is judged that the detection vehicle stops pulling up automatically after being pulled up to the pipeline opening. The control board of the cable vehicle automatically stops the operation of the planetary reduction motor. The operator pulls the detection vehicle to the ground at the pipeline opening, and the pipeline detection operation is completed.

[0116] S14. Data processing and analysis:

[0117] The operator clicks the "Read Data" button on the computer to read the point cloud, video and gyroscope data, and automatically completes the establishment of a three-dimensional model inside the pipeline, a three-dimensional pipeline positioning map on the computer according to the data, locates the defect positions inside the pipeline, measures the defect sizes and generates high-definition disease photos; at the same time, locates the positions of cross-section deformation and damage of the pipeline, measures the deformation and damage sizes and generates cross-section deformation and damage photos, and intuitively presents the analysis results in the form of charts, data reports, etc. Finally, the operator can comprehensively view the detection report through the computer, providing a scientific and accurate decision-making basis for the maintenance and management of urban underground pipe networks.

[0118] Therefore, the present invention adopts the above-mentioned integrated equipment for detecting diseases of urban underground pipe networks and its use method to realize the integrated detection and precise analysis of diseases of underground pipe networks, achieve multi-functional detection by integrating multiple devices, efficiently integrate data and quickly build models, with convenient operation and high precision, significantly improving the detection efficiency and management level of pipe networks.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that they can still modify or equivalently replace the technical solutions of the present invention, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. An integrated equipment for detecting urban underground pipe network defects, characterized in that: It includes a detection vehicle and a cable vehicle, wherein the detection vehicle is connected to the cable vehicle via an Ethernet cable with steel wires, a computer is arranged above the cable vehicle, the Ethernet cable is in communication connection with the computer, and cables are arranged inside the cable vehicle; A lifting bracket is installed directly in front of the detection vehicle, on which a three-dimensional laser radar, a panoramic camera, a pan-tilt head and an LED light are integrated. Rangefinders are installed on the left and right sides of the front end of the detection vehicle, and AGV wheels are set on the front and rear sides and in the middle of the vehicle.

2. The integrated equipment for detecting urban underground pipe network defects according to claim 1 is characterized by: The panoramic camera and the LED light are installed on the pan-tilt platform, the pan-tilt platform is rotatably connected to the lifting bracket, and the lifting bracket includes an integrally formed first base and a second base.

3. The integrated equipment for detecting urban underground pipe network defects according to claim 2 is characterized by: The first base is rotatably connected to first transmission rods at both sides, the first transmission rods are provided with inclination sensors, the other end of the first transmission rods is rotatably connected to a fixed base, and the three-dimensional laser radar is integrated on the fixed base; The pan head is rotatably connected to the front end of the fixed base, and the fixed base is connected to a first rotating shaft via a second transmission rod, and the first rotating shaft is fixedly arranged below the base.

4. The integrated equipment for detecting urban underground pipe network defects according to claim 3 is characterized by: Two electric telescopic rods are symmetrically arranged on the detection vehicle, a second rotating shaft is rotatably arranged between the first transmission rods, the telescopic end of the electric telescopic rod is fixedly connected to the second rotating shaft, a cable connector connected to the Ethernet cable is fixedly arranged on the second rotating shaft, and the detection vehicle is connected to a gate-shaped lifting ring through a third rotating shaft.

5. The integrated equipment for detecting urban underground pipe network defects according to claim 4 is characterized by: The detection vehicle is internally installed with a main control board, a signal conversion board, a gyroscope, a wheel motor, an encoder, an electric adjustment controller and a plurality of ultrasonic sensors. The main control board includes an electronic control unit ECU, a signal processing circuit, a data storage unit and a communication interface. The ultrasonic sensors include an acceleration sensor and a displacement sensor.

6. The integrated equipment for detecting urban underground pipe network defects according to claim 5 is characterized by: The main control board communicates with the signal conversion board via RS485, and saves point cloud data with three-dimensional coordinates in real time. After the pipeline detection is completed, the saved point cloud data is transmitted to the computer via Ethernet, and the computer performs three-dimensional modeling of the interior of the pipeline network; The data of the main control board communicates with the panoramic camera and the pan / tilt via USB, and the video data with three-dimensional coordinates is saved in real time when moving forward. After the pipeline detection is completed, the saved video data with three-dimensional coordinates is transmitted to the computer via Ethernet to monitor the defects in the pipeline and the deformation and damage of the pipeline section; the video data is transmitted to the computer via Ethernet when moving forward and backward for the operation judgment of the detection vehicle; The main control board communicates with the gyroscope via RS485, cooperates with the encoder data, records the walking trajectory, saves the gyroscope-encoder data in real time, and transmits the data to the computer via Ethernet; The main control board communicates with the rangefinder via RS485 for obstacle avoidance and transmits data to the computer via Ethernet; The main control board communicates with the signal conversion board via RS485 and is used to control the operation of the motor, the switching of the LED light, and read encoder data.

7. The integrated equipment for detecting urban underground pipe network defects according to claim 6 is characterized by: The cable car is equipped with a control panel, a large-capacity battery, a planetary reduction motor, a winch, a reciprocating screw, an encoder, a charging interface and a power switch; The control board communicates with the computer via RS485 to USB, and is used to control the cable pay-out and take-up and the operation of the lead screw motor, and read encoder data and battery power.

8. The integrated equipment for detecting urban underground pipe network defects according to claim 7 is characterized in that: The computer is used to receive, process and display data collected by the probe car, and is installed with an application APP software, which communicates with the cable car and the probe car for equipment control and data display and analysis, specifically including: Display the internal 3D model of the pipeline based on the saved point cloud data; Display the image data with three-dimensional coordinates in the pipeline according to the saved camera data, and display the three-dimensional map of the pipeline position in real time; Automatically identify and display the location, size and photos of defects in the pipeline based on point cloud files and camera video files, and locate, size and photos of deformation and damage on the pipeline section; Display basic equipment information including battery power, equipment operation information including driving distance, operation posture, and distance to surrounding obstacles; Control operations and information display, including the switching of LED lights and light strips, the start of measurement, the operation of the probe vehicle, and the operation of the camera, pan / tilt head, and lifting bracket.

9. The integrated equipment for detecting urban underground pipe network defects according to claim 8, characterized in that: The door-shaped hanging ring is made of aluminum alloy, and the waterproof level of the detection vehicle is IP68, and the dustproof level is IP6Y.

10. A method for using the integrated equipment for detecting urban underground pipe network defects according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. According to the detection direction of the pipeline to be detected, adjust the lowering position of the detection vehicle and hook the rope to the lifting ring of the detection vehicle through the hook; S2. Set the lowering distance on the computer and click to lower the probe car. The operator manually lowers the rope, and the cable car automatically lowers the probe car. S3. According to the judgment of the cable car encoder, when the bottom of the pipeline to be detected is reached, the operator detaches the hook from the detection car and pulls it out of the pipeline mouth; S4. According to the diameter of the pipe to be inspected, the operator manually adjusts the height of the lifting bracket, the position of the pan / tilt head, and turns on the LED light according to the default parameters on the computer; S5. Adjust the position of the detection vehicle in the pipeline according to the comprehensive judgment of the rangefinder and the panoramic camera image; S6. Click Start Detection on the computer, and all sensors on the detection vehicle will start working; S7. After comprehensive analysis of the rangefinder and panoramic camera images, the operator controls the forward movement and steering of the probe vehicle on the computer. At the same time, the cable truck lowers the cable length according to the forward speed of the probe vehicle. S8, real-time storage of point cloud data with three-dimensional coordinates of the three-dimensional laser radar, video data with three-dimensional coordinates of the panoramic camera, and encoder data of the gyroscope-probe vehicle; S9, displaying real-time video and a three-dimensional map of the pipeline position on a computer; S10, when the pipeline detection is completed, click Stop Detection on the computer, and the 3D laser radar will not work; S11. The operator operates the PTZ on the computer to rotate 180° and turn the panoramic camera and LED light to the rear; S12, click on the computer to retract the probe car, the operator controls the probe car to move backward on the computer, and at the same time the cable car pulls up the probe car; S13, according to the encoders of the cable car and the detection car, it is determined that the detection car automatically stops pulling up after being pulled up to the pipeline opening, and the operator pulls the detection car to the ground at the pipeline opening, and the pipeline detection operation is completed; S14. Click to read data on the computer to read the point cloud, video and gyroscope data, and automatically establish a three-dimensional model inside the pipeline and a three-dimensional pipeline positioning diagram on the computer based on the data, locate the position of defects in the pipeline, measure the size of defects and generate disease photos, locate the position of deformation and damage on the pipeline section, measure the size of deformation and damage and generate deformation and damage photos.

Images