L-shaped platform suitable for surveying parameters of cable working well

Abstract

The invention relates to the technical field of cable well survey, and provides an L-shaped platform suitable for cable well parameter survey, which comprises a lifting seat arranged below a tripod in a lifting manner; the working telescopic rod is rotationally arranged at the lower part of the lifting seat in the vertical direction; the vertical angle steering engine is arranged at the lower part of the lifting seat and is used for driving the working telescopic rod to rotate; the camera module is rotationally arranged at the end of the working telescopic rod in the horizontal direction, the camera module comprises a camera and two laser distance measuring sensor modules, and the two laser distance measuring sensor modules are arranged on the two sides of the camera and used for irradiating laser points to the well wall on the outer side of the to-be-measured pipeline hole and measuring the distance between the laser distance measuring sensor modules and the well wall; the horizontal angle steering engine is arranged on the working telescopic rod and used for driving the camera module to rotate. Through the technical scheme, the personnel safety problem, the environment pollution problem and the operation efficiency problem in the prior art are solved.

Description

Technical Field

[0001] This invention relates to the field of cable well surveying technology, and in particular to an L-shaped platform suitable for surveying parameters of cable wells. Background Technology

[0002] In the design and construction of urban cable ducts, multiple ducts are often constructed at once to reserve cable laying channels for future expansion of the urban power grid, in accordance with the requirements of power grid development. After years of operation, these reserved cable duct channels (duct holes) suffer from incomplete information due to data loss. This necessitates preliminary exploration and verification of relevant cable well information during the design of new cable lines, such as whether the dimensions of the cable laying ducts meet the cable diameter requirements and whether the remaining space is sufficient for new cable laying. Currently, preliminary exploration uses manual well-opening and measurement, where surveyors enter the cable wells after drainage to measure the required parameters. However, with increasingly stringent requirements for power grid safety and urban environmental protection, traditional manual cable well surveying methods have several problems: (1) Personnel safety issues. Because the cable well is in a closed state for a long time, the microorganisms in the well produce related harmful gases (such as CO2, H2S, CH4, etc.) through fermentation. At the same time, the running cables in the well also have leakage. Currently, safety accidents caused by toxic gases and electric shock occur frequently during the cable well surveying process, which brings serious safety hazards to the cable well surveying personnel. (2) Environmental pollution issues. In the traditional process of manually surveying the condition of cable wells, the sewage in the well needs to be pumped out and discharged before the surveyors enter the well to take measurements. In the context of increasingly high requirements for environmental protection and urban traffic in cities, this has brought many difficulties to the surveying of cable wells (such as sewage discharge, traffic control, etc.). (3) Operational efficiency issues. Traditional manual surveying of cable wells takes a long time (at least 4 hours), mainly due to the discharge of wastewater from the cable wells, which seriously affects the efficiency of cable well condition surveying.

[0003] In summary, traditional methods of manually surveying cable wells have many drawbacks and are no longer suitable for the rapid development and safe construction requirements of urban power grids. This has become an urgent problem to be solved in the process of building digital infrastructure for power grids. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an L-shaped platform suitable for surveying parameters of cable wells, which addresses the above-mentioned technical deficiencies and solves the problems of personnel safety, environmental pollution and work efficiency in the prior art.

[0005] The technical solution adopted in this invention is: to provide an L-shaped platform suitable for surveying parameters of cable wells, including a tripod, and further comprising: The lifting platform, which is located below the tripod, is used to access the inside of the cable manhole; The working telescopic rod is rotatably mounted on the lower part of the lifting seat in the vertical direction; A camera module is rotatably mounted at the end of the working telescopic rod in the horizontal direction. The camera module includes a camera and two laser rangefinder sensor modules. The two laser rangefinder sensor modules are located on both sides of the camera and are used to irradiate a laser point onto the outer wall of the wellbore of the pipe hole to be measured and to measure the distance between the laser rangefinder and the wellbore wall.

[0006] To further optimize this technical solution, the lifting seat is a U-shaped folding plate.

[0007] Further optimization of this technical solution includes: a vertical angle servo motor, located at the lower part of the lifting base, for driving the working telescopic rod to rotate.

[0008] To further optimize this technical solution, the vertical angle servo motor drives the working telescopic rod to rotate through a reduction gear set.

[0009] Further optimization of this technical solution includes: a horizontal angle servo motor, mounted on the working telescopic rod, used to drive the camera module to rotate.

[0010] To further optimize this technical solution, the camera module also includes a fill light.

[0011] To further optimize this technical solution, the tripod includes three telescopic support rods; it also includes: The telescopic rod has its upper part rotatably mounted on the tripod and its lower part connected to the upper end of the lifting seat, and is used to drive the lifting seat to rise and fall and to rotate in the horizontal direction. Further optimization of this technical solution also includes a gimbal servo motor, which is mounted on the tripod and used to drive the telescopic rod of the rod to rotate.

[0012] Further optimization of this technical solution also includes a control system, which includes a computer and further includes: The first control board communicates with the support telescopic rod, the rod telescopic rod, and the gimbal servo motor. The second control board is connected to the computer at one end via a network cable and to the first control board at the other end via a power line carrier cable; the first and second control boards are used to control the surface section.

[0013] To further optimize this technical solution, the control system also includes: The third control board communicates with the working telescopic rod and the vertical angle servo motor, and the third control board communicates with the second control board via a power line carrier line; The fourth control board communicates with the camera module and the horizontal angle servo motor. The fourth control board communicates with the third control board via a power line carrier. The third and fourth control boards are used to control the downhole section.

[0014] The beneficial effects of this invention are as follows: 1. The lifting platform and the working telescopic rod form an L-shaped support that can be unfolded and retracted, facilitating access to the cable well. The camera module allows for observation of the well, measurement of the diameter of pipe holes on the well wall, and observation of the existing cable laying conditions. No manual entry or drainage / ventilation is required, ensuring personnel safety, reducing environmental pollution, and improving work efficiency.

[0015] 2. By using two laser rangefinder sensors in the camera module, the distance from two points on both sides of the camera to the shaft wall can be measured to determine whether the camera is facing the shaft wall. If the distances are the same, it is determined that the camera is facing the shaft wall, which improves the accuracy of taking pictures, reduces distortion, and makes the measurement and calculation of pipe hole diameter more accurate.

[0016] 3. The lifting platform is designed to extend downwards into the well, facilitating observation at different depths. The telescopic working rod is retractable; when shortened, it is easy to store after erection, and when extended in the horizontal position, it allows the camera module to get closer to the object being measured, such as the well wall, enabling high-definition observation of the object. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the lower structure of the present invention; Figure 3 This is a logic block diagram of the control system of the present invention; Figure 4 This is a schematic diagram of the camera module structure of the present invention; Figure 5 This is a schematic diagram comparing the acquired images at different shooting distances according to the present invention; Figure 6 This is a schematic diagram illustrating the downhole observation effect of the present invention; The markings in the diagram are as follows: 1. Tripod; 101. Support telescopic rod; 2. Rod telescopic rod; 201. Gimbal servo; 3. U-shaped folding plate; 4. Working telescopic rod; 5. Vertical angle servo; 501. Reduction gear set; 6. Camera module; 601. Camera; 602. Laser rangefinder sensor module; 603. Fill light; 604. Laser point; 7. Horizontal angle servo. Detailed Implementation

[0018] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments to facilitate understanding of the technical solution of this application.

[0019] To keep the drawings concise, each figure only schematically shows the parts relevant to the invention, and these do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, only one of the components with the same structure or function is schematically shown, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one," and "several" includes "two" and "more than two."

[0020] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0021] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance, nor do they necessarily represent different marks belonging to the same class.

[0022] like Figure 1-4 As shown, an L-shaped platform suitable for surveying parameters of cable wells includes a tripod 1, and also includes: The lifting platform, which is located below the tripod, is used to access the inside of the cable manhole; The working telescopic rod 4 is rotatably mounted on the lower part of the lifting seat in the vertical direction; A vertical angle servo motor 5 is located at the lower part of the lifting seat and is used to drive the working telescopic rod 4 to rotate; The camera module 6 is rotatably mounted at the end of the working telescopic rod 4 in the horizontal direction. The camera module 6 includes a camera 601 and two laser ranging sensor modules 602. The two laser ranging sensor modules 602 are located on both sides of the camera 601 and are used to irradiate the outer wall of the well wall of the pipe hole to be measured with a laser point 604 and to measure the distance between the laser point 604 and the well wall. A horizontal angle servo motor 7 is mounted on the working telescopic rod 4 and is used to drive the camera module 6 to rotate.

[0023] The lifting platform is a U-shaped folding plate 3.

[0024] The vertical angle servo motor 5 drives the working telescopic rod 4 to rotate through the reduction gear set 501.

[0025] The camera module 6 also includes a fill light 603.

[0026] The tripod 1 includes three telescopic support rods 101; and also includes: The telescopic rod 2 is rotatably mounted on the tripod 1 at the top and connected to the upper end of the lifting seat at the bottom, and is used to drive the lifting seat to rise and fall and to rotate in the horizontal direction. The gimbal servo motor 201 is mounted on the tripod 1 and is used to drive the telescopic rod 2 of the rod body to rotate.

[0027] It also includes a control system, which includes a computer and further includes: a first control board that communicates with the support telescopic rod 101, the rod telescopic rod 2, and the gimbal servo motor 201; and a second control board, one end of which is connected to the computer via a network cable, and the other end of which is connected to the first control board via a power line carrier cable. The third control board communicates with the working telescopic rod 4 and the vertical angle servo 5, and communicates with the second control board via a power line carrier. The fourth control board communicates with the camera module 6 and the horizontal angle servo 7, and communicates with the third control board via a power line carrier.

[0028] During use, the vertical angle servo motor 5 drives the working telescopic rod 4 to rotate and adjust between 0-90°. In the vertical state, the working telescopic rod 4 can be located inside the U-shaped folding plate 3, facilitating access to the wellhead. The working telescopic rod 4, the rod body telescopic rod 2, and the support telescopic rod 101 can all be electrically operated telescopic rod structures, which can be controlled by communication with the control board.

[0029] The reduction gear set 501 includes a large and a small gear that mesh together. The small gear is driven by a vertical angle servo motor 5, which in turn drives the large gear. The gear ratio between the large and small gears is 1:4. This gear ratio amplifies the output torque of the vertical angle servo motor 5 by four times, ensuring sufficient torque is retained on the working telescopic rod 4. The large gear is directly connected to the working telescopic rod 4 via a clamp. Rotation of the large gear allows the working telescopic rod 4 to be adjusted between 0 and 90°.

[0030] The front end of the working telescopic rod 4 is connected to the camera module 6 via a horizontal angle servo motor 7. The camera module 6 can be moved forward by extending and retracting the inner rod of the working telescopic rod 4. The horizontal angle servo motor 7 can control the rotation angle of the camera module 6 in the horizontal direction, thereby adjusting the distance and angle with the object being measured. This ensures that the camera is perpendicular and close to the object being measured, enabling high-definition observation of the object and improving detection accuracy.

[0031] The lower end of the telescopic rod 2 is connected to the upper end of the U-shaped folding plate 3. The telescopic rod 2 extends downwards through the extension and retraction of its inner rod, enabling observation at different depths. The rotation of the telescopic rod 2 is controlled by the gimbal servo motor 201, causing the U-shaped folding plate 3 to rotate horizontally from 0-360°, achieving 360° observation of the cable manhole without blind spots.

[0032] The camera module 6 includes a camera 601, a laser rangefinder, and a supplementary light 603. The supplementary light 603 provides illumination for the camera module 6 in dark spaces. Two supplementary lights 603 form a supplementary light group 603, each containing six high-brightness LEDs. By adjusting the power supply to the LEDs, the brightness of the entire supplementary light group 603 can be adjusted to adapt to different working scenarios. The two supplementary lights 603 can be positioned next to the laser rangefinder on either side. The rangefinder provides the module with distance parameters to objects in front. The rangefinder uses a laser rangefinder with a maximum range of 40 meters and an accuracy of 2mm, meeting the needs of various dimensional surveys. The camera 601 can record video and capture images of the entire survey space. The camera 601 is equipped with an electrically adjustable module, which controls the lens focal length, allowing for up to 10x magnification of the survey image, enabling detailed capture of the survey space.

[0033] The system is divided into two parts: the surface section and the downhole section. The surface section includes a computer, a second control board, a first control board, and some controlled devices. The downhole section includes a third control board, a fourth control board, and some controlled devices.

[0034] The first control board is responsible for controlling the tripod 1 above ground and can communicate with the second control board via a power line carrier. It controls the gimbal servo 201 (including forward rotation, reverse rotation, stop, and speed adjustment), the telescopic rod 2 (including extension and retraction), and the three support telescopic rods 101 (including extension and retraction of a single support telescopic rod 101 and combined extension and retraction of all three support telescopic rods 101).

[0035] The second control board is a communication relay box. One end connects to the computer via a network cable, and the other end connects to the first and third control boards via power line carrier lines (two communication lines, L and N). It implements protocol conversion between Ethernet and power line carrier, enabling communication between the computer and each control board, thereby achieving automatic control.

[0036] The third control board is responsible for controlling the downhole section and communicates with the second control board via a power line carrier. It controls the working telescopic boom 4 (including its extension and retraction) and the vertical angle servo motor 5 (ensuring the working telescopic boom 4 can switch between horizontal and vertical states).

[0037] The fourth control board is responsible for data acquisition and control of the camera module 6, including image acquisition and distance acquisition. Simultaneously, in order to obtain clear images in dark environments, supplementary lighting is needed, so the brightness of the two supplementary lights 603 needs to be controlled. Furthermore, to ensure that the camera 601 is directly facing the pipe hole, a horizontal angle servo motor 7 allows for fine-tuning of the camera 601's lens angle.

[0038] The control operation steps during the entire system usage process are as follows: Step 1, Adjusting tripod 1 to be level: The computer sends a leveling command to the first control board, and the first control board simultaneously drives the three support telescopic rods 101 to level the tripod 1 (automatic leveling can be achieved through feedback such as level detection, which is existing technology).

[0039] Step 2: Place the tripod 1 downhole portion into the well: The computer sends a descent command to the first control board, which drives the telescopic rod 2 to extend, placing the tripod 1 downhole portion into the well.

[0040] Step 3: Adjust the working telescopic rod 4 to a horizontal position: The computer sends a leveling command to the third control board, and the third control board drives the vertical angle servo motor 5 to adjust the working telescopic rod 4 to a horizontal position.

[0041] Step 4: Turn on the fill light 603: The computer sends a brightness adjustment command to the fourth control board, which then drives the fill light 603 to turn on and adjust it to a suitable brightness.

[0042] Step 5, adjust the camera lens direction: The camera module 601 is adjusted in a wide range of directions. The computer sends a rotation command to the first control board, which drives the gimbal servo 201 to adjust the direction of the camera 601 within a wide range, so as to observe the pipe hole.

[0043] When the camera 601 is brought close to the pipe hole, the computer sends a command to the third control board to extend the working telescopic rod 4. The third control board then drives the working telescopic rod 4 to extend, bringing the camera 601 closer to the pipe hole.

[0044] When laser ranging is activated, the computer sends a command to the fourth control board to activate laser ranging. The fourth control board collects the distance (distance from the shaft wall) measured by the two laser ranging sensor modules 602 and uploads it to the computer. At the same time, the laser point 604 hits the shaft wall.

[0045] The direction of camera 601 is fine-tuned. Based on the distance measured by laser ranging, the computer sends a command to the fourth control board to fine-tune the direction of the camera lens. The fourth control board drives the horizontal angle motor to adjust the direction of the camera lens, with the goal of equalizing the distances measured by the two laser ranging.

[0046] Step 6: Acquire images of the pipe hole and calculate the pipe hole size.

[0047] Step 7: If the measurement is completed, turn off the supplementary light 603, adjust the working telescopic rod 4 to be vertical, raise the underground part to the surface, and then turn off the power.

[0048] During the observation process, in order to adjust the LED supplementary lighting, the driving circuit can use a Darlington transistor ULN2003. The control chip controls the transistor switch through PWM waves with different duty cycles, and the brightness of the supplementary light 603 is achieved by adjusting the average voltage of the LED.

[0049] During the measurement and calculation process after image acquisition, the distance between the camera 601 and the object being photographed affects the image size, making it difficult to directly measure the diameter of the pipe hole using image analysis methods. To measure the diameter of the pipe hole in the cable well, a combination of laser and image analysis is used.

[0050] In this scheme, the measurement is achieved by arranging laser ranging sensor modules 602 (containing underwater lasers, which can project laser points 604 onto the well wall) on both sides of the camera 601. The measurement structure is as follows: Figure 4 As shown, when camera 601 completes image sampling, the laser next to camera 601 also emits a laser beam that hits the area around the object being photographed. The laser point 604 emitted by the laser will also be directly captured on the sampled image, as shown. Figure 5 As shown, based on basic camera knowledge, different shooting distances will result in different image sizes. Since the lasers are arranged in parallel and the distance between the two lasers is known, the distance between the two laser points 604 in the image is the fixed scale in the drawing. The actual distance between the two laser points 604 is calculated from the pixels in the drawing. Furthermore, based on the principle that the distance between the measured object and laser point 604 is proportional under the same conditions, the actual size of other objects in the image can be calculated using the following formula: In the formula: D is the diameter of the pipe hole being measured, L1 is the distance between the two ends of the pipe hole circle, L2 is the distance between the two laser points 604, and d is the actual distance between the two laser points 604.

[0051] To verify the testing accuracy of the image analysis-based pipe hole diameter measurement module designed in this patent, tests were conducted on different pipe holes, and the test results are shown in Table 1. The test data shows that the testing accuracy of the measurement device designed in this patent is better than 5mm, meeting the 7.5mm resolution requirement for pipe holes.

[0052] Table 1 Controlled Dimension Test Data Serial Number Actual pipe bore diameter (mm) Pipe hole measurement (mm) Deviation value (mm) 1 150 147.5 2.5 2 150 151.7 1.7 3 175 173.1 1.9 4 175 172.7 2.3 5 200 203.5 3.5 6 220 223.7 3.7 7 200 201.7 1.7 like Figure 6 This is a schematic diagram of the observation effect facing the shaft wall, which can show the actual working environment to which this application is applicable, and facilitates the understanding that this application can clearly observe the cable distribution and pipe hole resources.

[0053] It is understood that this invention has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of this invention. Furthermore, under the teachings of this invention, those skilled in the art can modify these features and embodiments to adapt to specific situations and materials without inventive effort, without departing from the spirit and scope of this invention. Therefore, this invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are protected by this invention.

Claims

1. An L-shaped platform suitable for surveying parameters of cable wells, comprising a tripod (1), characterized in that, Also includes: The lifting seat is located below the tripod (1) and is used to enter the cable well. The working telescopic rod (4) is rotatably mounted on the lower part of the lifting seat in the vertical direction; The camera module (6) is rotatably mounted at the end of the working telescopic rod (4) in the horizontal direction. The camera module (6) includes a camera (601) and two laser ranging sensor modules (602). The two laser ranging sensor modules (602) are mounted on both sides of the camera (601) for irradiating a laser point (604) onto the outer wall of the pipe hole to be measured and for measuring the distance between the laser and the wall.

2. The L-shaped platform for surveying parameters of cable wells according to claim 1, characterized in that, The lifting platform is a U-shaped folding plate (3).

3. An L-shaped platform suitable for parameter surveying of cable wells according to claim 2, characterized in that, Also includes: A vertical angle servo motor (5) is mounted on the lifting seat and is used to drive the working telescopic rod (4) to rotate.

4. An L-shaped platform for surveying parameters of cable wells according to claim 3, characterized in that, The vertical angle servo motor (5) drives the working telescopic rod (4) to rotate through the reduction gear set (501).

5. An L-shaped platform suitable for parameter surveying of cable wells according to claim 4, characterized in that, Also includes: A horizontal angle servo motor (7) is installed at the lower part of the working telescopic rod (4) to drive the camera module (6) to rotate.

6. An L-shaped platform for surveying parameters of cable wells according to claim 5, characterized in that, The camera module (6) also includes a fill light (603).

7. An L-shaped platform for surveying parameters of cable wells according to claim 6, characterized in that, The tripod (1) includes three support telescopic rods (101); The telescopic rod (2) is rotatably mounted on the tripod (1) at the top and connected to the upper end of the lifting seat at the bottom, and is used to drive the lifting seat to rise and fall and rotate in the horizontal direction.

8. An L-shaped platform for surveying parameters of cable wells according to claim 7, characterized in that, Also includes: A gimbal servo motor (201) is mounted on the tripod (1) and is used to drive the telescopic rod (2) of the rod body to rotate.

9. An L-shaped platform for surveying parameters of cable wells according to claim 8, characterized in that, It also includes a control system; the control system includes a computer, and the control system further includes: The first control board communicates with the support telescopic rod (101), the rod telescopic rod (2), and the gimbal servo motor (201); The second control board is connected to the computer via a network cable at one end and to the first control board via a power line carrier cable at the other end.

10. An L-shaped platform for surveying parameters of cable wells according to claim 9, characterized in that, The control system further includes: The third control board communicates with the working telescopic rod (4) and the vertical angle servo motor (5), and the third control board communicates with the second control board via a power line carrier line; The fourth control board communicates with the camera module (6) and the horizontal angle servo (7), and communicates with the third control board via a power line carrier.

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