Non-metal pipeline space positioning detection system

Abstract

The invention discloses a non-metal pipeline space positioning detection system, and relates to the technical field of high-precision positioning, and the system comprises a guiding instrument which comprises a ground receiver and a probe rod, the ground receiver is in communication connection with the probe rod, the ground receiver comprises an RTK module, the RTK module is used for obtaining the ground horizontal coordinate of the ground receiver, in the process that the probe moves in the non-metal pipeline, the ground receiver tracks the position of the probe according to the intensity change of an electromagnetic signal emitted by the probe; the carrier comprises a central empty barrel, a first walking mechanism and a second walking mechanism, and the probe is inserted into the central empty barrel. Compared with the prior art, the non-metal pipeline space positioning detection method solves the problem that an existing non-metal pipeline space positioning detection method is large in positioning data error, the ground horizontal coordinates and depth of the non-metal pipeline can be accurately obtained, and high-precision space positioning detection of the non-metal pipeline is achieved.

Description

Technical Field

[0001] This invention relates to the field of high-precision positioning technology, and in particular to a spatial positioning and detection system for non-metallic pipes. Background Technology

[0002] Spatial positioning detection of non-metallic pipelines, obtaining ground coordinates and burial depth, can ensure the safe operation and sustainable development of cities. For example, it can prevent underground non-metallic pipelines from being damaged by road excavation, pile foundation construction and other projects. Furthermore, the establishment of a non-metallic pipeline database can provide data support for the design of new pipelines and integrated utility tunnels, avoiding pipeline intersections and conflicts.

[0003] In existing spatial positioning and detection technologies for non-metallic pipelines, due to the fact that non-metallic pipelines are buried underground, and are limited by the characteristics of the pipeline and the burial depth, the positioning data errors are large when using common acoustic positioning methods and tracer probe methods for spatial positioning and detection, and high-precision positioning cannot be achieved. Summary of the Invention

[0004] The purpose of this invention is to provide a spatial positioning and detection system for non-metallic pipes, so as to solve the problem of large positioning data errors in existing spatial positioning and detection methods for non-metallic pipes.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a non-metallic pipe spatial positioning and detection system, comprising: The guide includes a ground receiver and a probe. The ground receiver is communicatively connected to the probe. The ground receiver includes an RTK module, which is used to acquire the ground horizontal coordinates of the ground receiver. As the probe moves inside the non-metallic pipe, the ground receiver tracks the position of the probe based on the changes in the intensity of the electromagnetic signal emitted by the probe. The carrier includes a central empty barrel, a first traveling mechanism, and a second traveling mechanism. A probe is inserted into the central empty barrel. The carrier is placed inside a non-metallic pipe. One end of the central empty barrel is connected to a traction device, which is used to move the carrier inside the non-metallic pipe. The first traveling mechanism and the second traveling mechanism are arranged symmetrically back-to-back in the middle of the central empty barrel. The first traveling mechanism includes a first ring seat, a first support rod, a first wheel frame, and a first traveling wheel. The first ring seat is fixedly installed on the central empty barrel. Several first support rods are arranged circumferentially on the first ring seat. The first wheel frame is rotatably installed on the first support rod. Springs are symmetrically arranged on both sides of the first wheel frame. One end of the spring is fixedly installed on the first wheel frame, and the opposite end is fixedly installed on the first support rod. The first traveling wheel is rotatably installed on the first wheel frame and contacts the inner wall of the non-metallic pipe. In the process of the carrier driving the probe to perform spatial positioning and detection in the non-metallic pipe space, the traction device pulls the carrier at a fixed distance, so that the probe moves a fixed distance d in a single measurement, and the data is recorded after a single measurement.

[0006] As a further description of the above technical solution: One end of the central empty bucket is equipped with a connecting seat for connecting the traction device.

[0007] As a further description of the above technical solution: The central empty bucket is a polyamide fiber bucket.

[0008] As a further description of the above technical solution: The first ring seat is equipped with three first support rods arranged circumferentially.

[0009] As a further description of the above technical solution: The first support rod of the first traveling mechanism and the second support rod of the second traveling mechanism are arranged in a staggered manner.

[0010] As a further description of the above technical solution: The back of the first ring seat is provided with three first pin holes arranged circumferentially. The three first pin holes and three first support rods are arranged at intervals, and a connecting pin is provided in the first pin hole.

[0011] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. In this invention, the guide instrument obtains the vertical depth of the non-metallic pipe through the probe, and combines the ground horizontal coordinates obtained by the ground receiver from the RTK module to provide centimeter-level precision coordinates in real time. It can accurately obtain the ground horizontal coordinates and depth of the non-metallic pipe, realize high-precision spatial positioning and detection of the non-metallic pipe, and the positioning data has high accuracy.

[0012] 2. In this invention, during the process of the carrier driving the probe to perform spatial positioning and detection in the space of the non-metallic pipe, the traction device pulls the carrier at a fixed distance, so that the probe moves a fixed distance d in a single measurement, and the data is recorded after a single measurement, thereby improving the accuracy of spatial positioning.

[0013] 3. In this invention, when the probe moves inside the non-metallic pipe via the carrier, the springs on both sides of the first wheel frame enable the first traveling wheel to have dynamic extension and retraction capabilities, so that the first traveling wheel fits against the inner wall of the non-metallic pipe, the carrier moves smoothly, and the positioning data error is effectively controlled.

[0014] 4. In this invention, there is no supporting structure for the wheels at the end of the central empty barrel on the vehicle, which facilitates the installation and disassembly of the probe and the connection of the traction device at the end of the central empty barrel. It also facilitates the installation of extension devices at the end of the central empty barrel, such as additional anti-collision mechanisms and pipe cleaning mechanisms. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of a non-metallic pipeline spatial positioning and detection system.

[0017] Figure 2 This is a side-view structural diagram of a non-metallic pipeline spatial positioning and detection system.

[0018] Figure 3 This is a schematic diagram of the state changes of a non-metallic pipeline spatial positioning and detection system.

[0019] Figure 4 This is a structural breakdown diagram of a non-metallic pipeline spatial positioning and detection system.

[0020] Figure 5 for Figure 4 A magnified view of a portion of point A in the middle.

[0021] Legend: 1. Probe; 2. Carrier; 21. Central empty barrel; 22. First walking mechanism; 221. First ring seat; 2211. First pin hole; 222. First support rod; 223. First wheel frame; 224. First walking wheel; 225. Spring; 23. Second walking mechanism; 231. Second support rod. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention. Example 1

[0024] Please see Figure 1-5This invention provides a technical solution: a non-metallic pipe spatial positioning and detection system, comprising: The guide includes a ground receiver and a probe 1. The ground receiver is communicatively connected to the probe 1. The ground receiver includes an RTK module, which is used to obtain the ground horizontal coordinates of the ground receiver. As the probe 1 moves inside the non-metallic pipe, the ground receiver tracks the position of the probe based on the changes in the intensity of the electromagnetic signal emitted by the probe 1. Specifically, the position of the ground directly above the probe 1 can be determined by manually observing the peak value (strongest point) of the signal, and then the position of the ground receiver can be adjusted in real time to correspond to the probe 1. The carrier 2 includes a central empty bucket 21, a first traveling mechanism 22, and a second traveling mechanism 23. A probe 1 is inserted into the central empty bucket 21. The carrier 2 is disposed within a non-metallic pipe. One end of the central empty bucket 21 is connected to a traction device, which is used to move the carrier 2 within the non-metallic pipe. The first traveling mechanism 22 and the second traveling mechanism 23 are arranged symmetrically back-to-back in the middle of the central empty bucket 21. The first traveling mechanism 22 includes a first ring seat 221, a first support rod 222, a first wheel frame 223, and a first traveling wheel 224. The first ring seat 221 is fixed. Installed on the central empty barrel 21, such as by adhesive or bolt, the first ring seat 221 is provided with several first support rods 222 arranged circumferentially. The first wheel frame 223 is rotatably installed on the first support rods 222. The first wheel frame 223 is provided with symmetrically arranged springs 225 on both sides. One end of the spring 225 is fixedly installed on the first wheel frame 223, and the opposite end is fixedly installed on the first support rod 222. The first traveling wheel 224 is rotatably installed on the first wheel frame 223 and contacts the inner wall of the non-metallic pipe.

[0025] During the process of the carrier 2 driving the probe 1 to perform spatial positioning and detection in the space of the non-metallic pipe, the traction device pulls the carrier 2 at a fixed distance, so that the probe 1 moves a fixed distance d in a single measurement, and records the data after a single measurement, thereby improving the accuracy of spatial positioning.

[0026] The first walking mechanism 22 and the second walking mechanism 23 have the same structure and installation method. There is no supporting structure for the walking wheels at the end of the central empty barrel 21 on the carrier 2, which facilitates the installation and removal of the probe and the connection of the traction device at the end of the central empty barrel 21. At the same time, it is convenient to install extension devices at the end of the central empty barrel 21, such as additional anti-collision mechanisms and pipe cleaning mechanisms.

[0027] One end of the central empty bucket 21 is provided with a connecting seat 211 for connecting a traction device. If a cable reel is used as the traction device, one end of the traction rope wound on the cable reel is fixedly installed in the mounting hole of the connecting seat 211.

[0028] The central empty barrel 21 is a polyamide fiber barrel. That is, the central empty barrel 21 is made of nylon, which is lightweight and not easily deformed, ensuring the positioning effect of probe 1. The central empty barrel 21 can also be made of other non-metallic materials.

[0029] Working principle: The guide instrument obtains the vertical depth of the non-metallic pipe through probe 1, and combines it with the ground horizontal coordinates obtained by the ground receiver from the RTK module to provide centimeter-level accuracy coordinates in real time. This allows for precise acquisition of the ground horizontal coordinates and depth of the non-metallic pipe, achieving spatial positioning and detection with high accuracy. When probe 1 moves inside the non-metallic pipe via carrier 2, the springs 225 on both sides of the first wheel frame 223 enable the first traveling wheel 224 to dynamically extend and retract, ensuring the first traveling wheel 224 adheres to the inner wall of the non-metallic pipe. This ensures smooth movement of carrier 2 and effectively controls positioning data errors. Example 2

[0030] Based on the above embodiments, this embodiment further improves upon the following technical solution: three circumferentially arranged first support rods 222 are provided on the first ring seat 221, and the first support rods 222 of the first walking mechanism 22 are staggered with the second support rods 231 of the second walking mechanism 23 to improve the stability of the vehicle 2's movement. Example 3

[0031] This embodiment further improves upon the above embodiment by providing the following technical solution: The back of the first ring seat 221 is provided with three circumferentially arranged first pin holes 2211. The three first pin holes 2211 and three first support rods 222 are arranged at intervals, and connecting pins are provided in the first pin holes. The first ring seat 221 of the first traveling mechanism 22 and the second ring seat of the second traveling mechanism 23 are locked together by connecting pins, effectively maintaining the misalignment of the first traveling mechanism 22 and the second traveling mechanism 23, and preventing the first traveling mechanism 22 and the second traveling mechanism 23 from becoming loose. Example 4

[0032] Based on the above embodiments, this embodiment further improves upon the following technical solution: a lighting fixture is provided on the second support rod 231.

[0033] By utilizing the misalignment of the first walking mechanism 22 and the second walking mechanism 23, the lighting fixture on the back of the second support rod 231 can illuminate the direction of travel of the vehicle 2, thereby improving the image acquisition quality when a vision camera is installed on the vehicle 2.

[0034] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A spatial positioning and detection system for non-metallic pipes, characterized in that, include: The guide includes a ground receiver and a probe. The ground receiver is communicatively connected to the probe. The ground receiver includes an RTK module, which is used to acquire the ground horizontal coordinates of the ground receiver. As the probe moves inside the non-metallic pipe, the ground receiver tracks the position of the probe based on the changes in the intensity of the electromagnetic signal emitted by the probe. A carrier includes a central empty bucket, a first traveling mechanism, and a second traveling mechanism. A probe is inserted into the central empty bucket. The carrier is disposed within a non-metallic pipe. One end of the central empty bucket is connected to a traction device, which is used to move the carrier within the non-metallic pipe. The first and second traveling mechanisms are arranged symmetrically back-to-back in the middle of the central empty bucket. The first traveling mechanism includes a first ring seat, a first support rod, a first wheel frame, and a first traveling wheel. The first ring seat is fixedly mounted on the central empty bucket. A plurality of first support rods are arranged circumferentially on the first ring seat. The first wheel frame is rotatably mounted on the first support rod. Symmetrically arranged springs are provided on both sides of the first wheel frame. One end of each spring is fixedly mounted on the first wheel frame, and the opposite end is fixedly mounted on the first support rod. The first traveling wheel is rotatably mounted on the first wheel frame and contacts the inner wall of the non-metallic pipe. During the process of the carrier driving the probe to perform spatial positioning and detection in the non-metallic pipe space, the traction device pulls the carrier at a fixed distance, so that the probe moves a fixed distance d in a single measurement, and records the data after a single measurement.

2. The non-metallic pipe spatial positioning and detection system according to claim 1, characterized in that, One end of the central empty bucket is provided with a connecting seat for connecting the traction device.

3. The non-metallic pipe spatial positioning and detection system according to claim 1, characterized in that, The central empty barrel is a polyamide fiber barrel.

4. The non-metallic pipe spatial positioning and detection system according to claim 1, characterized in that, The first ring seat is provided with three first support rods arranged circumferentially.

5. A non-metallic pipe spatial positioning and detection system according to claim 4, characterized in that, The first support rod of the first traveling mechanism and the second support rod of the second traveling mechanism are arranged in a staggered manner.

6. A non-metallic pipe spatial positioning and detection system according to claim 5, characterized in that, The back of the first ring seat is provided with three first pin holes arranged in a circumferential direction. The three first pin holes and the three first support rods are arranged at intervals. A connecting pin is provided in the first pin hole.

7. The non-metallic pipeline spatial positioning and detection system according to claim 1, characterized in that, The second support rod is equipped with a lighting fixture.

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