AI electric power pipe gallery surveying and mapping method and device

Abstract

The invention discloses an AI electric power pipe gallery surveying and mapping method and device, belongs to the technical field of electric power pipe gallery surveying and mapping, and aims to solve the problems that an existing electric power pipe gallery surveying and mapping device is insufficient in calibration degree, and a surveying and mapping robot needs to measure the size of an electric power pipe gallery and improve the integration level. The surveying and mapping driving mechanism is arranged to drive the electric power pipe gallery surveying and mapping device to move along the pipe gallery hanger rail for surveying and mapping, and the rubber rotating wheels are arranged on the two sides and the lower end of the pipe gallery hanger rail correspondingly, so that the three faces of the pipe gallery hanger rail are fixed, and connection calibration of the pipe gallery hanger rail is achieved; through integrated arrangement of the laser scanning mechanism, the camera shooting mechanism and the GPS signal transmitting mechanism, the AI electric power pipe gallery surveying and mapping method comprises the steps that the surveying and mapping driving mechanism moves, the GPS signal transmitting mechanism locates the position, and the laser scanning mechanism and the camera shooting mechanism conduct laser measurement and all-dimensional monitoring respectively. Measurement data are sent to the AI surveying and mapping processor through wireless signals for centralized processing.

Description

Technical Field

[0001] The present invention relates to the technical field of power pipe gallery surveying and mapping, and particularly relates to an AI power pipe gallery surveying and mapping method and device. Background Art

[0002] Power pipe gallery surveying and mapping is an important task aimed at accurately obtaining information such as the spatial position, shape, and dimensions of the power pipe gallery, providing basic data support for the planning, design, construction, and operation of the power pipe gallery. Using an AI power pipe gallery surveying and mapping device to detect along the pipe gallery direction can determine the position, depth, and direction of the power cables in the pipe gallery. During the detection process, different types of pipelines should be distinguished, and markings and records should be made.

[0003] A multi-row frame power pipe gallery inspection robot with the authorization announcement number CN116614696B includes a mobile platform. Inspection cameras are evenly installed on the edge of the mobile platform, a mobile module is installed in the middle of the mobile platform, a tumor removal module with adjustable position is arranged at the rear end of the mobile module, and the mobile module and the tumor removal module are in cooperative connection. Marking modules are symmetrically arranged at the left and right ends of the mobile platform. The mobile module is movably arranged in a connecting track, and embedded tracks are symmetrically arranged on the left and right sides at the lower end of the connecting track. This inspection robot records the situation in the pipe gallery through the camera and removes tumors through the mobile module to ensure the normal operation of the inspection robot. However, it is difficult to timely feedback the recorded situation by the camera for abnormal positioning, and the insufficient calibration degree of the track connection easily causes the surveying and mapping robot to get stuck and difficult to move. At the same time, the surveying and mapping robot needs to measure the size of the power pipe gallery, locate the specific geographical location, and improve the integration degree.

[0004] To solve the above problems, an AI power pipe gallery surveying and mapping method and device are proposed. Summary of the Invention

[0005] The purpose of the present invention is to provide an AI power pipe gallery surveying and mapping method and device, which solves the problems that the existing power pipe gallery surveying and mapping device has insufficient calibration degree, easily causes the surveying and mapping robot to get stuck and difficult to move, and at the same time, the surveying and mapping robot needs to measure the size of the power pipe gallery, locate the specific geographical location, and improve the integration degree in the background art.

[0006] To achieve the above object, the present invention provides the following technical solutions: an AI power pipe gallery surveying method and device, including an AI surveying processor and a pipe gallery suspension rail. A surveying driving mechanism for driving is rotatably provided on the pipe gallery suspension rail. The output end of the surveying driving mechanism is provided with a rubber runner. One side of the fixed end of the rubber runner is connected with an edge-following component. The edge-following component is correspondingly arranged at the lower end and both sides of the pipe gallery suspension rail. One side of the surveying driving mechanism is fixedly provided with a surveying robot housing. Laser scanning mechanism, camera mechanism, GPS signal transmitting mechanism and battery are arranged side by side on one side of the surveying robot housing. The camera mechanism is arranged at the output end of the surveying driving mechanism. The detection data of the laser scanning mechanism, the camera mechanism and the GPS signal transmitting mechanism are transmitted to the AI surveying processor for centralized processing.

[0007] Further, the pipe gallery suspension rail includes an I-shaped rail fixed to the upper end of the power pipe gallery. Side plates are arranged on both sides of adjacent I-shaped rails. Screws are threadedly connected between the two side plates.

[0008] Further, the surveying robot housing includes a housing part. An internal support is fixedly arranged inside the housing part. The internal support supports and connects the surveying driving mechanism.

[0009] Further, the internal support includes an upper connecting plate for connecting the surveying driving mechanism and a lower connecting plate for connecting the laser scanning mechanism. Sleeve rods are connected to the four corners of the upper connecting plate and the lower connecting plate.

[0010] Further, the laser scanning mechanism includes a laser data recorder fixedly arranged on one side of the lower connecting plate. A rotating frame is fixedly arranged at one end of the laser data recorder.

[0011] Further, a laser scanning head is rotatably clamped at one end of the rotating frame.

[0012] Further, the camera mechanism includes a camera rotatably arranged at the lower end of the internal support. One end of the camera is connected with a large gear. A small gear is meshed on one side of the large gear. The small gear is connected side by side to one side of the upper connecting plate and the lower connecting plate. An output gear is meshed on one side of the small gear.

[0013] Further, one side of the output gear is connected with a cam divider. The cam divider is driven by the surveying driving mechanism. A charging head is arranged on one side of the battery. The charging head is externally connected to the housing part.

[0014] Further, the surveying driving mechanism includes a bidirectional motor fixedly arranged at the upper end of the upper connecting plate. The output end of the bidirectional motor is connected with a belt drive assembly. The output end of the belt drive assembly is connected with a rotating rod. The rotating rod and the rubber runner are connected by a belt drive assembly.

[0015] Furthermore, the edge component includes a pressing block fixed inside the housing of the surveying robot. Spring members are inserted on both sides of the pressing block, and a positioning runner is connected to one end of each spring member.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] 1. For an AI power pipe gallery surveying method and device provided by the present invention, through the setting of the surveying driving mechanism, the rubber runners inside the surveying driving mechanism rotate, driving the power pipe gallery surveying device to move along the pipe gallery suspension rail for surveying. The rubber runners are respectively arranged on both sides and the lower end of the pipe gallery suspension rail, so that all three sides of the pipe gallery suspension rail are fixed, thereby realizing the connection calibration of the pipe gallery suspension rail, and solving the problem that the existing power pipe gallery surveying device has insufficient calibration accuracy, which easily causes the surveying robot to get stuck and difficult to move.

[0018] 2. For an AI power pipe gallery surveying method and device provided by the present invention, through the integrated setting of the laser scanning mechanism, the camera mechanism and the GPS signal transmitting mechanism, the AI power pipe gallery surveying method is to move through the surveying driving mechanism, the GPS signal transmitting mechanism locates the position, the laser scanning mechanism and the camera mechanism respectively perform laser measurement and omnidirectional monitoring, the storage battery ensures the battery life of the device, and the measurement data is sent to the AI surveying processor through wireless signals for centralized processing. Among them, the measurement point spacing of the surveying robot is the moving distance of the surveying driving mechanism when the camera mechanism rotates one circle, solving the problem that the existing power pipe gallery surveying device needs to measure the size of the power pipe gallery, locate the specific geographical location, and improve the integration degree. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 It is a schematic side view structure diagram of the overall structure of the present invention;

[0021] Figure 3 It is a schematic front view structure diagram of the overall structure of the present invention;

[0022] Figure 4 It is a schematic side view structure diagram of the surveying driving mechanism of the present invention;

[0023] Figure 5 It is a schematic internal side view structure diagram of the present invention;

[0024] Figure 6 It is a schematic structure diagram of the surveying driving mechanism of the present invention;

[0025] Figure 7 It is a schematic structure diagram of the camera mechanism, the laser scanning mechanism and the GPS signal transmitting mechanism of the present invention.

[0026] In the figure: 1. AI mapping processor; 2. Pipe gallery suspension rail; 21. I-shaped rail; 22. Side plate; 23. Screw part; 3. Mapping robot housing; 31. Housing part; 32. Built-in rack; 321. Upper connecting plate; 322. Sleeve rod; 323. Lower connecting plate; 4. Laser scanning mechanism; 41. Laser data recorder; 411. Rotary frame; 42. Laser scanning head; 5. Camera mechanism; 51. Camera; 511. Large gear; 52. Small gear; 53. Output gear; 54. Cam divider; 6. Battery; 61. Charging head; 7. GPS signal transmitting mechanism; 8. Mapping driving mechanism; 81. Bidirectional motor; 82. Belt drive assembly; 83. Rotating rod; 84. Rubber runner; 85. Edge following assembly; 851. Pressing block; 852. Spring part; 853. Positioning runner. Detailed implementation manners

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0028] To solve the existing technical problems, such as Figures 1-7 as shown, the following preferred technical solutions are provided:

[0029] An AI power pipe gallery surveying method and device, including an AI surveying and mapping processor 1 and a pipe gallery suspension rail 2. A surveying and mapping driving mechanism 8 for driving is rotatably arranged on the pipe gallery suspension rail 2. An output end of the surveying and mapping driving mechanism 8 is provided with a rubber runner 84. One side of a fixed end of the rubber runner 84 is connected with an edge component 85. The edge component 85 is correspondingly arranged at the lower end and both sides of the pipe gallery suspension rail 2. One side of the surveying and mapping driving mechanism 8 is fixedly provided with a surveying and mapping robot housing 3. A laser scanning mechanism 4, a camera mechanism 5, a GPS signal transmitting mechanism 7 and a storage battery 6 are arranged side by side on one side of the surveying and mapping robot housing 3. The camera mechanism 5 is arranged at the output end of the surveying and mapping driving mechanism 8. Detection data of the laser scanning mechanism 4, the camera mechanism 5 and the GPS signal transmitting mechanism 7 are transmitted to the AI surveying and mapping processor 1 for centralized processing. The rubber runner 84 in the surveying and mapping driving mechanism 8 rotates to drive the power pipe gallery surveying device to move along the pipe gallery suspension rail 2 for surveying. The rubber runner 84 is respectively arranged on both sides and the lower end of the pipe gallery suspension rail 2, so that three sides of the pipe gallery suspension rail 2 are fixed, thereby realizing the connection calibration of the pipe gallery suspension rail 2. The surveying and mapping robot housing 3 realizes the enclosure of the robot to prevent the internal structure from being polluted by dust. The laser scanning mechanism 4, the camera mechanism 5, the GPS signal transmitting mechanism 7 and the surveying and mapping driving mechanism 8 are powered by the storage battery 6. The surveying and mapping driving mechanism 8 can not only drive the edge component 85 to rotate, but also drive the camera mechanism 5 to rotate to realize full-range imaging. This device has a high overall integration degree and is easy to operate. The AI power pipe gallery surveying method is to move through the surveying and mapping driving mechanism 8, the GPS signal transmitting mechanism 7 locates the position, the laser scanning mechanism 4 and the camera mechanism 5 respectively perform laser measurement and omnidirectional monitoring, the storage battery 6 guarantees the battery life of the device, and the measurement data is sent to the AI surveying and mapping processor 1 through wireless signals for centralized processing. Among them, the measurement point spacing of the surveying and mapping robot is the moving distance of the surveying and mapping driving mechanism 8 when the camera mechanism 5 rotates one circle.

[0030] The pipe gallery suspension rail 2 includes an I-shaped rail 21 fixed to the upper end of the power pipe gallery. Side plates 22 are arranged on both sides of adjacent I-shaped rails 21. A screw member 23 is threadedly connected between the two side plates 22.

[0031] With the above structure, the cross-section of the I-shaped rail 21 is I-shaped, and the side plates 22 are at the same height as the inner side of the I-shaped rail 21 to achieve equidistant clamping. Four groups of screw members 23 are provided to fix the side plates 22 and the I-shaped rail 21. The overall length of the screw member 23 is less than the spacing between the two rubber runners 84, and does not affect the rolling of the rubber runner 84.

[0032] The surveying and mapping robot housing 3 includes a housing member 31. An internal built-in frame 32 is fixedly arranged inside the housing member 31. The built-in frame 32 supports and connects the surveying and mapping driving mechanism 8. The built-in frame 32 includes an upper connecting plate 321 for connecting the surveying and mapping driving mechanism 8 and a lower connecting plate 323 for connecting the laser scanning mechanism 4. Sleeve rods 322 are connected to the four corners of the upper connecting plate 321 and the lower connecting plate 323.

[0033] With the above structure, the outer shell member 31 provides overall packaging for the surveying and mapping device, the built-in frame 32 realizes internal support, and the upper connecting plate 321 and the lower connecting plate 323 are connected to each other through the sleeve rod 322 to realize hierarchical support for the internal structure of the outer shell 3 of the surveying and mapping robot.

[0034] The laser scanning mechanism 4 includes a laser data recorder 41 fixedly arranged on one side of the lower connecting plate 323. One end of the laser data recorder 41 is fixedly provided with a rotating frame 411, and one end of the rotating frame 411 is rotatably clamped with a laser scanning head 42.

[0035] With the above structure, the laser data recorder 41 realizes laser data processing and transmission. The rotating frame 411 is used for externally connecting the laser scanning head 42. The laser scanning head 42 is usually fixed obliquely at 45 degrees to realize distance measurement at the front end and the lower end, and construct the overall spatial structure.

[0036] The camera mechanism 5 includes a camera 51 rotatably arranged at the lower end of the built-in frame 32. One end of the camera 51 is connected with a large gear 511. One side of the large gear 511 is meshed with a small gear 52. The small gears 52 are arranged side by side and connected to one side of the upper connecting plate 321 and the lower connecting plate 323. One side of the small gear 52 is meshed with an output gear 53.

[0037] With the above structure, the output gear 53 drives two sets of small gears 52 arranged side by side up and down to rotate, thereby driving the large gear 511 and the camera 51 to rotate synchronously. The meshing of the small gear 52 driving the large gear 511 realizes an equal-proportion reduction in speed, ensuring the smoothness of the camera 51.

[0038] One side of the output gear 53 is connected with a cam divider 54. The cam divider 54 is driven by the surveying and mapping driving mechanism 8. One side of the storage battery 6 is provided with a charging head 61, and the charging head 61 is externally connected to the outer shell member 31.

[0039] With the above structure, the setting of the cam divider 54 realizes the steering transmission between the surveying and mapping driving mechanism 8 and the output gear 53, and the charging head 61 realizes the external charging of this surveying and mapping device.

[0040] The surveying and mapping driving mechanism 8 includes a bidirectional motor 81 fixedly arranged at the upper end of the upper connecting plate 321. The output end of the bidirectional motor 81 is connected with a belt transmission assembly 82. The output end of the belt transmission assembly 82 is connected with a rotating rod 83. The rotating rod 83 and the rubber runner 84 are connected through the belt transmission assembly 82. The edge component 85 includes a pressing block 851 fixed inside the outer shell 3 of the surveying and mapping robot. Both sides of the pressing block 851 are inserted with spring members 852, and one end of the spring members 852 is connected with a positioning runner 853.

[0041] With the above structure, the bidirectional motor 81 is an existing transmission component. The bidirectional motor 81 drives the rotating rod 83 and the rubber runner 84 to rotate synchronously through the belt transmission component 82 to complete the driving of the robot. The pressing block 851 realizes fixation, the spring member 852 provides an elastic supporting force for the spring member 852, and the positioning runner 853 rotates along the side end of the pipe gallery suspension rail 2 to maintain the stability of the surveying and mapping device.

[0042] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0043] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. An AI power pipe gallery surveying and mapping method and device, including an AI surveying and mapping processor (1) and a pipe gallery suspension rail (2), characterized in that: A surveying and mapping driving mechanism (8) for driving is rotatably arranged on the pipe gallery suspension rail (2). A rubber runner (84) is arranged at the output end of the surveying and mapping driving mechanism (8). One side of the fixed end of the rubber runner (84) is connected with a edge-following component (85). The edge-following component (85) is correspondingly arranged at the lower end and both sides of the pipe gallery suspension rail (2). A surveying and mapping robot housing (3) is fixedly arranged on one side of the surveying and mapping driving mechanism (8). A laser scanning mechanism (4), a camera mechanism (5), a GPS signal transmitting mechanism (7) and a storage battery (6) are arranged side by side on one side of the surveying and mapping robot housing (3). The camera mechanism (5) is arranged at the output end of the surveying and mapping driving mechanism (8). The detection data of the laser scanning mechanism (4), the camera mechanism (5) and the GPS signal transmitting mechanism (7) are transmitted to the AI surveying and mapping processor (1) for centralized processing.

2. The AI power pipe gallery surveying and mapping method and device according to claim 1, characterized in that: The pipe gallery suspension rail (2) includes an I-shaped rail (21) fixed at the upper end of the power pipe gallery. Side plates (22) are arranged on both sides of adjacent I-shaped rails (21). A screw member (23) is threadedly connected between the two side plates (22).

3. The AI power pipe gallery surveying and mapping method and device according to claim 2, characterized in that: The surveying and mapping robot housing (3) includes a housing member (31). An internal mounting frame (32) is fixedly arranged inside the housing member (31). The internal mounting frame (32) supports and connects the surveying and mapping driving mechanism (8).

4. The AI power pipe gallery surveying and mapping method and device according to claim 3, characterized in that: The internal mounting frame (32) includes an upper connecting plate (321) for connecting the surveying and mapping driving mechanism (8), a lower connecting plate (323) for connecting the laser scanning mechanism (4). Sleeve rods (322) are connected to the four corners of the upper connecting plate (321) and the lower connecting plate (323).

5. The AI power pipe gallery surveying and mapping method and device according to claim 4, characterized in that: The laser scanning mechanism (4) includes a laser data recorder (41) fixedly arranged on one side of the lower connecting plate (323). A rotating frame (411) is fixedly arranged at one end of the laser data recorder (41).

6. The AI power pipe gallery surveying and mapping method and device according to claim 5, characterized in that: One end of the rotating frame (411) is rotatably clamped with a laser scanning head (42).

7. The AI power pipe gallery surveying and mapping method and device according to claim 6, characterized in that: The camera mechanism (5) includes a camera (51) rotatably arranged at the lower end of the internal mounting frame (32). A large gear (511) is connected to one end of the camera (51). A small gear (52) is meshed on one side of the large gear (511). The small gear (52) is juxtaposed and connected to one side of the upper connecting plate (321) and the lower connecting plate (323). An output gear (53) is meshed on one side of the small gear (52).

8. The AI power pipe gallery surveying and mapping method and device according to claim 7, characterized in that: One side of the output gear (53) is connected with a cam divider (54). The cam divider (54) is driven by the surveying and mapping driving mechanism (8). A charging head (61) is arranged on one side of the storage battery (6). The charging head (61) is externally connected to the housing member (31).

9. The AI power pipe gallery surveying and mapping method and device according to claim 8, characterized in that: The surveying and mapping driving mechanism (8) includes a bidirectional motor (81) fixedly arranged at the upper end of the upper connecting plate (321). The output end of the bidirectional motor (81) is connected with a belt drive assembly (82). The output end of the belt drive assembly (82) is connected with a rotating rod (83). A belt drive assembly (82) is used to connect the rotating rod (83) and the rubber runner (84).

10. The AI power pipe gallery surveying and mapping method and device according to claim 9, characterized in that: The edge component (85) includes a pressing block (851) fixed inside the housing (3) of the surveying robot. Spring members (852) are inserted on both sides of the pressing block (851), and a positioning runner (853) is connected to one end of each spring member (852).

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