Portable Beidou high-precision positioning device and method for dam hazard inspection

Abstract

The invention discloses a portable Beidou high-precision positioning device and method for dam hazard inspection, and belongs to the technical field of dam protection, the device comprises a holding main body, a positioning module, a probe assembly and the like, and a first accommodating space is formed in the holding main body; the positioning module is accommodated in the first accommodating space, and the positioning module is used for receiving satellite signals and outputting position information; the probe assembly is connected to one end of the holding main body, and a second accommodating space is formed in the probe assembly; the positioning module is accommodated in the first accommodating space, the data acquisition module is accommodated in the second accommodating space and is used for acquiring attribute data of a hazard point, the processing module is accommodated in the first accommodating space, and the processing module is electrically connected with the positioning module and the data acquisition module and is used for receiving, associating and storing the position information and the attribute data; the man-machine interaction module is arranged on the holding main body. According to the positioning method, the device is adopted, and the positioning precision and the overall operation efficiency of dike animal harm inspection work are improved.

Description

Technical Field

[0001] This invention relates to the field of dam protection technology, and in particular to a portable Beidou high-precision positioning device and method for dam hazard inspection. Background Technology

[0002] A dam is a water conservancy project used for water retention, flood control, and irrigation. In practice, termites, rodents, badgers, and other pests can burrow and nest inside the dam. These burrows and tunnels can be penetrating or semi-penetrating, damaging the structural integrity of the dam, reducing its seepage resistance and shear strength, and becoming a significant hidden danger leading to major emergencies such as piping, seepage, landslides, and even dam failure. Therefore, it is necessary to regularly inspect and eliminate potential hazards to ensure the safety of the dam.

[0003] The current process for detecting potential hazards to embankments mainly relies on manual ground patrols, using simple tools such as compasses, handheld GPS devices, and measuring tapes. In practice, patrol personnel walk along the embankment surface, use a compass to determine direction, rely on handheld GPS devices to obtain approximate location information, and then use a measuring tape to measure distances. This allows them to record and initially locate any suspected signs of animal activity that could damage the embankment.

[0004] However, existing hazard detection processes lack sufficient accuracy. Ordinary handheld GPS or mobile phone positioning typically only achieves a few meters or even less accuracy, making it difficult to precisely pinpoint the exact location of hazard points caused by animals. For some subtle or hidden hazard points, this level of accuracy is insufficient for practical needs. Secondly, existing detection processes are inefficient. Surveyors must manually record coordinates, descriptions, and sketches on-site, then manually input the data into a computer back indoors. This process is cumbersome, error-prone, and results in low data standardization. Furthermore, it cannot perform real-time spatial overlay analysis with historical data and engineering drawings. Summary of the Invention

[0005] The purpose of this invention is to provide a portable BeiDou high-precision positioning device and method for dam hazard inspection, so as to solve the technical problems of low accuracy and low efficiency of existing hazard point detection methods.

[0006] To achieve this objective, the present invention adopts the following technical solution: On one hand, the present invention provides a portable BeiDou high-precision positioning device for dam hazard inspection. Specifically, the device includes: A gripping body, wherein a first accommodating space is formed inside the gripping body; A positioning module is housed within the first accommodating space, and the positioning module is used to receive satellite signals and output location information. A probe assembly is connected to one end of the gripping body, and a second accommodating space is formed inside the probe assembly; A data acquisition module is housed within the second accommodating space. The data acquisition module is used to acquire attribute data of hazard points, wherein the attribute data includes at least image data. A processing module is housed within the first accommodating space. The processing module is electrically connected to the positioning module and the data acquisition module, respectively, and is used to receive and associate the location information and the attribute data. A human-computer interaction module is disposed on the gripping body. The human-computer interaction module is electrically connected to the processing module and is used to display information and receive user input.

[0007] Preferably, the gripping body includes a support frame located within the first accommodating space, the positioning module and the processing module are mounted on the support frame, and a flange is provided at one end of the support frame, with the probe assembly mounted on the flange.

[0008] Preferably, the probe assembly is connected to the flange of the gripping body via a universal joint structure. The universal joint structure includes a universal joint and a locking knob. The universal joint is used to adjust the pitch and roll angles of the probe assembly relative to the gripping body, and the locking knob is used to lock the universal joint.

[0009] Preferably, the positioning module includes a Beidou high-precision positioning board and an RF shielding board. The Beidou high-precision positioning board is fixed to the RF shielding board via a shockproof connector. The RF shielding board is installed on the top of the support frame, and the area of ​​the gripping body corresponding to the antenna of the Beidou high-precision positioning board is made of RF transparent material.

[0010] Preferably, the data acquisition module includes a macro camera housed within the second accommodating space, with the lens of the macro camera facing outwards from the probe assembly for acquiring macro images of the hazard point; the probe assembly is also equipped with a ring light, which surrounds the lens of the macro camera for providing illumination during image acquisition.

[0011] Preferably, the probe assembly has a physical centering point at its bottom and a laser pointer inside the probe assembly. The optical path of the laser pointer is coaxially arranged with the physical centering point and the optical axis of the macro camera to align the laser point with the center of the hazard point, so that the position information recorded when the physical centering point contacts the ground corresponds to the center of the hazard point.

[0012] Preferably, the data acquisition module further includes a laser ranging module, which is used to measure the target distance between the probe assembly and the hazard point; The processing module is electrically connected to the laser ranging module and is used to calculate the relative elevation information of the hazard point based on the target distance and the tilt data collected by the tilt sensor built into the gripping body.

[0013] Preferably, the data acquisition module further includes a line laser profile scanner, which is used to perform two-dimensional profile scanning of the hazard point; the processing module is electrically connected to the line laser profile scanner and is used to calculate the aperture or area of ​​the hazard point based on the scanning data of the line laser profile scanner.

[0014] Preferably, the data acquisition module further includes an environmental sensor cluster. The probe assembly is equipped with a ventilation and dustproof filter. The environmental sensor cluster is positioned corresponding to the ventilation and dustproof filter and is used to collect environmental parameters around the hazard point. The environmental parameters include at least one of temperature, humidity, and atmospheric pressure.

[0015] On the other hand, the present invention also provides a portable BeiDou high-precision positioning method for dam hazard inspection. This positioning method employs the aforementioned portable BeiDou high-precision positioning device for dam hazard inspection. Specifically, the positioning method includes: The portable Beidou high-precision positioning device for dam hazard inspection is activated, the current location information is obtained through the positioning module, and the location information is displayed through the human-computer interaction module; The attribute data of the hazard points are collected through the data acquisition module. The processing module associates the location information at the trigger time with the collected attribute data, and stores the associated location information and attribute data as a hazard point record.

[0016] The beneficial effects of this invention are: This invention proposes a portable BeiDou high-precision positioning device for dam hazard inspection. The device uses a grip unit as the operating unit, integrating the positioning module and processing module within a first accommodating space. A probe assembly is connected to one end of the grip unit, allowing the data acquisition module to be independently housed within a second accommodating space of the probe assembly. This enables operators to simultaneously receive satellite signals using the positioning module to obtain high-precision location information while conducting inspections with the handheld device, and to collect image data of any animal-related hazard points discovered using the acquisition module at the front end of the probe assembly. By integrating location and image acquisition into a single device, errors introduced by tool switching and manual measurement are avoided, ensuring improved positioning accuracy and enabling accurate marking of even subtle or hidden hazard points. The processing module is electrically connected to both the positioning module and the data acquisition module, receiving location information output from the positioning module and image data acquired by the data acquisition module in real time. It automatically associates the location information of the same hazard point with the image data, achieving a one-to-one correspondence for storage. This entire process is completed automatically on-site, effectively avoiding problems such as typos, information omissions, and data correspondence errors that are prone to occur with manual recording, thus improving the efficiency and accuracy of data collection. The human-machine interface module, electrically connected to the processing module and mounted on the main unit, provides a convenient visual and interactive platform for on-site operation. Patrol personnel can use the human-machine interface module to view current location information in real time, confirm the quality of the collected images, and control the collection actions. Simultaneously, the human-machine interface module provides hardware support for subsequent overlay analysis with historical data and engineering drawings, enabling the collected data to be directly used as a standardized data source for information management. In summary, through the coordinated operation of the positioning module, data acquisition module, processing module, and human-machine interface module, this device constructs a complete working system capable of high-precision on-site positioning, multimedia data acquisition, and automatic data association and storage, improving the positioning accuracy and overall operational efficiency of embankment animal hazard inspection work, and achieving data standardization and immediate availability. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the portable Beidou high-precision positioning device for dam hazard inspection provided in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of a part of the portable Beidou high-precision positioning device for dam hazard inspection provided in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of another part of the portable Beidou high-precision positioning device for dam hazard inspection provided in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of another part of the portable Beidou high-precision positioning device for dam hazard inspection provided in Embodiment 1 of the present invention; Figure 5 This is a flowchart of a portable BeiDou high-precision positioning method for dam hazard inspection provided in Embodiment 2 of the present invention.

[0018] In the picture: 1. Holding body; 11. Support frame; 12. Flange; 2. Probe assembly; 21. Ventilation and dustproof filter; 3. Universal connection structure; 4. Positioning module; 41. Beidou high-precision positioning board; 42. RF shielding board; 43. Shockproof connector; 5. Environmental sensor cluster; 51. Temperature sensor; 52. Humidity sensor; 53. Integrated circuit board; 6. Human-computer interaction interface. Detailed Implementation

[0019] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0020] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between 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] In the description of this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0022] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0023] Example 1 See Figures 1 to 4The portable Beidou high-precision positioning device for dam hazard inspection provided in this embodiment of the invention includes a gripping body 1, a positioning module 4, a probe assembly 2, a data acquisition module, a processing module, and a human-machine interaction module. The gripping body 1 has a first accommodating space; the positioning module 4 is housed within the first accommodating space and is used to receive satellite signals and output location information; the probe assembly 2 is connected to one end of the gripping body 1, and a second accommodating space is formed within the probe assembly 2; the data acquisition module is housed within the second accommodating space and is used to collect attribute data of hazard points, wherein the attribute data includes at least image data; the processing module is housed within the first accommodating space and is electrically connected to both the positioning module 4 and the data acquisition module, used to receive and associate the location information and attribute data; the human-machine interaction module is disposed on the gripping body 1 and is electrically connected to the processing module, used to display information and receive user input.

[0024] This invention proposes a portable BeiDou high-precision positioning device for dam hazard inspection. The device uses a gripping body 1 as the operating unit, integrating a positioning module 4 and a processing module within the first accommodating space of the gripping body 1. A probe assembly 2 is connected to one end of the gripping body 1, allowing the data acquisition module to be independently housed within the second accommodating space of the probe assembly 2. This enables the operator to simultaneously use the positioning module 4 to receive satellite signals for high-precision location information while conducting inspections, and to use the acquisition module at the front end of the probe assembly 2 to collect image data of any animal-related hazard points discovered. By integrating location and image acquisition into the same device, errors introduced by tool switching and manual measurement are avoided, ensuring improved positioning accuracy and enabling accurate marking of even subtle or hidden hazard points. The processing module is electrically connected to both the positioning module 4 and the data acquisition module, receiving the location information output by the positioning module 4 and the image data acquired by the data acquisition module in real time. It automatically associates the location information of the same hazard point with the image data, achieving a one-to-one correspondence in storage. This entire process is completed automatically on-site, effectively avoiding problems such as typos, information omissions, and data correspondence errors that are prone to occur with manual recording, thus improving the efficiency and accuracy of data collection. The human-machine interface module, located on the main grip unit 1, is electrically connected to the processing module, providing a convenient visualization and interactive platform for on-site operation. Patrol personnel can use the human-machine interface module to view current location information in real time, confirm the quality of the collected images, and control the collection actions. Simultaneously, the human-machine interface module provides hardware support for subsequent overlay analysis with historical data and engineering drawings, enabling the collected data to be directly used as a standardized data source for information management. In summary, through the coordinated operation of the positioning module 4, data acquisition module, processing module, and human-machine interface module, this device constructs a complete working system capable of high-precision on-site positioning, multimedia data acquisition, and automatic data association and storage, improving the positioning accuracy and overall operational efficiency of embankment animal hazard inspection work, and achieving data standardization and immediate availability.

[0025] In this invention, a hazard point refers to an abnormal location or trace formed by the activity of dam-damping animals on the dam that may affect the structural safety of the dam. Common dam-damping animals mainly include termites, rodents, and badgers. These animals usually burrow and build nests inside or on the surface of the dam, and the resulting hazard points can manifest in various forms. For example, termites build nests and dig tunnels inside the dam, and these tunnels may penetrate the dam body, becoming channels for water seepage; the burrows dug by rodents or badgers on the dam usually have their entrances directly exposed on the dam surface, while the burrows themselves extend into the dam; in addition, the activity of dam-damping animals may also cause secondary signs on the dam surface such as sinkholes, seepage points, and damp patches, which can also serve as important evidence for identifying the existence of hazard points.

[0026] It should be noted that the above examples are only a few typical manifestations of hazards that may be involved in this invention. In actual inspections, the specific shape, size, location, and manifestation of hazards may vary due to factors such as the species of animals that damage the dike, the dike structure, and geological conditions. This invention does not limit the specific manifestation of hazards. Any inspection location related to the activity of animals that damage the dike that can be located and collected by the device of this invention falls within the scope of hazards as defined in this invention. In the subsequent description of embodiments, this understanding will be the premise for a detailed explanation of the specific process of hazard inspection using the device of this invention.

[0027] The device is roughly L-shaped or pistol-shaped, conforming to ergonomic principles, making it easy for operators to hold for extended periods and perform directional operations. The grip body 1 forms the part held by the operator, and the interior of the grip body 1 forms a first accommodating space for housing functional components.

[0028] The outer shell of the grip body 1 is made of high-strength engineering plastics, such as PC+ABS material. PC+ABS material ensures structural strength while being lightweight, which can reduce the carrying burden of patrol personnel and is suitable for long-term outdoor operations.

[0029] To ensure the stable installation and long-term reliability of the components inside the gripping body 1, a support frame 11 is provided inside the gripping body 1, and the support frame 11 is located within the first accommodating space. As a preferred embodiment, the support frame 11 is made of aluminum alloy and is manufactured as a one-piece structure through precision casting or CNC machining.

[0030] Both the positioning module 4 and the processing module are mounted on the support frame 11. The support frame 11 has multiple mounting platforms and screw posts machined on it, providing a stable and secure foundation for each module. Simultaneously, the support frame 11 also has pre-drilled cable trays, allowing for orderly arrangement of electrical connection cables between modules and avoiding contact problems caused by messy or loose cables. Furthermore, the metal support frame 11 has excellent thermal conductivity, effectively conducting the heat generated by the positioning module 4 and the processing module during operation to the outer casing for dissipation, thus contributing to the stability of the device's operation.

[0031] In addition, to further enhance the durability of the device, the support frame 11 is connected to the outer shell of the grip body 1 by a shock-absorbing rubber pad. This elastic connection can buffer external impacts and vibrations and protect the internal precision components of the grip body 1 from damage.

[0032] The positioning module 4 is housed within the first accommodating space and is used to receive satellite signals and output location information. Specifically, the positioning module 4 includes a Beidou high-precision positioning board 41 and an RF shielding board 42. The Beidou high-precision positioning board 41 is an RTK positioning board that supports multiple frequency signals such as Beidou-3 B1C / B2a, and can receive satellite signals and output location information with centimeter-level accuracy in real time, thereby meeting the need for precise positioning of embankment damage points by animals.

[0033] Preferably, the Beidou high-precision positioning board 41 is fixed to the radio frequency shielding plate 42 by the shockproof connector 43. The shockproof connector 43 can effectively absorb and buffer the vibration and impact that the device may be subjected to during carrying or use, and avoid signal interruption or positioning failure due to loose connection.

[0034] Specifically, the shockproof connector 43 comprises a plug and a socket that mate with each other. The socket is soldered to the circuitry of the RF shielding plate 42, while the plug is soldered to the circuitry of the Beidou high-precision positioning board 41. The plug and socket are connected via an array of elastic pins. These elastic pins have a certain compression stroke, allowing them to undergo slight displacement when subjected to vibration and maintain a tight contact with the socket due to their own elasticity. When the device vibrates during field inspections due to walking, vehicle transport, or accidental impacts, the elastic pins absorb some of the vibration energy, ensuring a stable electrical connection between the Beidou high-precision positioning board 41 and the RF shielding plate 42, preventing satellite signal loss or positioning data jumps due to momentary poor contact.

[0035] Meanwhile, auxiliary locking structures, such as snaps or hooks, are provided around the base of the plug and socket to provide additional mechanical holding force after insertion, preventing the connector from coming loose due to violent shaking.

[0036] In other embodiments, the shockproof connector 43 can also adopt other structural forms to achieve the same function. For example, the shockproof connector 43 can use a flexible circuit board instead of a rigid board-to-board connector, connecting the Beidou high-precision positioning board 41 to the interface on the RF shielding plate 42 through the flexible circuit board. The flexible circuit board itself has bendability to absorb and buffer vibration, preventing vibration from being directly transmitted to the solder joint. Alternatively, the shockproof connector 43 can be based on a standard board-to-board connector, with a thermally conductive silicone pad or damping adhesive filled between the Beidou high-precision positioning board 41 and the RF shielding plate 42. The viscoelasticity of the adhesive absorbs vibration energy and simultaneously assists in heat conduction. The specific structure of the shockproof connector 43 will not be described in detail here, as long as it can achieve the above functions.

[0037] The radio frequency shielding plate 42 is made of metal and is installed on top of the support frame 11, located within the first accommodating space. By fixing the Beidou high-precision positioning board 41 to the independent radio frequency shielding plate 42, electromagnetic interference generated by other electronic components inside the holding body 1 during operation can be effectively isolated, ensuring that the satellite signals received by the positioning board are pure and reliable, thereby improving positioning accuracy and stability.

[0038] The radio frequency shielding plate 42 is fastened to the highest mounting platform on the top of the support frame 11 by screws, so that the antenna of the Beidou high-precision positioning board 41 can be as close as possible to the inner side of the top shell of the holding body 1, in order to optimize the antenna's field of view of the sky and reduce the obstruction of satellite signals by the device's own structure.

[0039] Correspondingly, the area of ​​the holding body 1 corresponding to the antenna of the Beidou high-precision positioning board 41 is made of radio frequency transparent material, such as LCP plastic. Radio frequency transparent material has good permeability to satellite signals, which can minimize the signal attenuation when passing through the shell and ensure that the positioning module 4 obtains stable signal reception quality.

[0040] A flange 12 is provided at one end of the support frame 11. The probe assembly 2 is mounted on the flange 12 and connected to the flange 12 of the gripping body 1 via a universal joint structure 3. Specifically, the universal joint structure 3 includes a universal joint and a locking knob. The universal joint, as a component for adjusting the angle of the probe assembly 2, can adopt a common cross-type universal joint or a ball-head universal joint structure. Taking a ball-head universal joint as an example, the universal joint includes a ball head seat and a ball head body. The ball head seat is fixedly connected to the probe assembly 2, and the ball head body is fixedly connected to the flange 12. The ball head body is housed in the ball head seat and can rotate freely in multiple directions, thereby enabling the probe assembly 2 to have adjustable pitch and roll angles relative to the gripping body 1.

[0041] The locking knob works in conjunction with the universal joint. The locking knob can employ an eccentric locking mechanism or a threaded locking mechanism. For example, the locking knob can be threaded to the side wall of the ball joint. When the knob is tightened, its end presses against the surface of the ball joint, locking the ball joint at the current angle through friction. When the knob is loosened, the ball joint returns to its free-rotating state. With this structure, operators can flexibly adjust the orientation of probe assembly 2 on-site according to the dam surface morphology and the actual location of hazards. After adjusting to the appropriate angle, tightening the locking knob fixes the orientation, ensuring the stability and accuracy of subsequent image acquisition.

[0042] The probe assembly 2, as a component that directly approaches the hazard point for data acquisition, has an overall rod- or cone-shaped shape to facilitate operation by extending into cavities on the dam surface or close to concealed locations. The outer shell of the probe assembly 2 is made of high-strength engineering plastic or lightweight metal material, and the interior of the probe assembly 2 forms a second accommodating space for housing the data acquisition module.

[0043] The data acquisition module, which is used to collect feature information of hazard points, is located in the second accommodating space of the probe assembly 2. The data acquisition module includes a macro camera with its lens facing outwards from the probe assembly 2 to collect macro images of hazard points.

[0044] Macro cameras can be modularly designed with a fixed-focus macro lens and a high-pixel CMOS image sensor. The imaging distance of a macro camera can be set to within 5 to 20 centimeters from the front of the lens. This distance range can clearly capture the subtle features left by the activities of pests, such as mud blankets and mud lines built by termites, swarming holes of termite nests, and burrows dug by young mice.

[0045] In addition, to ensure that the macro camera can work normally in various environments, the front end of the probe assembly 2 is equipped with an openable transparent protective window. When not in use, the protective window is closed to prevent dust and moisture from entering the lens; when image acquisition is required, the protective window is opened to expose the lens optical path.

[0046] The probe assembly 2 is also equipped with a ring light that works in conjunction with the macro camera. The ring light surrounds the lens of the macro camera to provide uniform, shadowless illumination during image acquisition. Specifically, the ring light can consist of multiple high-brightness LED beads distributed around the lens. When working on the shady side of a dam, inside a cave, or at night, the operator can turn on the ring light to ensure that the area being photographed receives sufficient and uniform illumination, preventing image blurring or loss of detail due to insufficient light.

[0047] Furthermore, to avoid positioning misalignment errors caused by device height and operating angle, and to achieve precise correspondence between the shooting point and the positioning point, a physical centering point is provided at the bottom of the probe assembly 2, and a laser pointer is also provided inside the probe assembly 2. As a specific implementation, the physical centering point can be set as a cross-shaped recess or a pointed protrusion directly below the outer shell of the probe assembly 2, serving as the reference point for the contact between the probe assembly 2 and the ground. The laser pointer uses a low-power red laser, housed inside the probe assembly 2. The laser beam emitted by the laser pointer is guided by optical elements to form an optical path coaxial with the physical centering point and the optical axis of the macro camera, ensuring that the position of the laser point projected by the laser pointer, the shooting center position of the macro camera, and the contact point between the physical centering point and the ground are aligned in the vertical projection direction.

[0048] During on-site operation, the operator first activates the laser pointer and adjusts the device's orientation based on the red laser dot projected onto the dam surface, ensuring the laser dot is accurately aligned with the center of the hazard point to be collected. Then, maintaining the device's orientation, the operator presses it down, ensuring the physical alignment point at the bottom of probe assembly 2 is in close contact with the ground. At this point, due to the coaxial relationship of the three components, the center of the image captured by the macro camera precisely corresponds to the center of the hazard point, and the ground position contacted by the physical alignment point is also directly above or below the center of the hazard point. In this state, the location information recorded by the positioning module 4 is triggered, representing the precise coordinates of the hazard point's center. This structural design effectively eliminates positioning deviations introduced by factors such as device tilt and operating height, ensuring a strict spatial correspondence between the collected location information and the image information.

[0049] It is worth noting that the power and data cables connecting the macro camera, ring light, laser pointer, and other components to the processing module are all integrated into a single cable bundle and routed through the hollow shaft of the universal connection structure 3. This hollow cable routing method avoids exposing the cables to the outside of the device, maintaining a clean appearance and preventing the cables from being snagged or worn during use. At the points where the cables enter and exit the housing, they are sealed with glue-filled sealant joints or waterproof cable glands to prevent moisture and dust from entering the device through the cable interfaces. Within the first accommodating space of the holding body 1, the cables are reliably fixed to the support frame 11 using cable ties or clips, preventing loosening, abnormal noise, or abnormal wear due to shaking, thereby ensuring the long-term reliability of the electrical connection.

[0050] The data acquisition module of this invention can also integrate multiple sensors to meet inspection needs in different scenarios. In a preferred embodiment, the data acquisition module further includes a laser ranging module, which measures the target distance between the probe assembly 2 and the hazard point. The laser ranging module can employ a single-point laser ranging sensor, and is installed inside the probe assembly 2 and electrically connected to the processing module.

[0051] During hazard point inspection, the operator aligns the probe assembly 2 with the target location. The laser ranging module emits a laser beam and receives the reflected signal, thereby acquiring the real-time straight-line distance between the front end of the probe assembly 2 and the surface of the hazard point, i.e., the target distance. Simultaneously, a high-precision dual-axis tilt sensor is installed on the support frame 11 of the gripping body 1. The tilt sensor collects the tilt angle data of the gripping body 1 relative to the horizontal plane, i.e., the tilt angle data. After receiving the target distance and tilt angle data, the processing module automatically calculates the relative elevation information of the hazard point relative to the operator's standing position or a reference plane using a built-in trigonometric algorithm. The elevation information, combined with the planar position information acquired by the positioning module 4, forms the three-dimensional spatial coordinates of the hazard point.

[0052] Optionally, the data acquisition module also includes a line laser profile scanner. The line laser profile scanner is installed side by side with the macro camera in the cavity at the front end of the probe assembly 2. A light-transmitting window is provided in front of the line laser generator of the line laser profile scanner to ensure that the laser beam can be emitted smoothly for two-dimensional profile scanning of the hazard point.

[0053] Specifically, when the operator aligns the probe assembly 2 with the cross-section of a mouse hole or termite tunnel, the line laser profile scanner projects a line laser beam onto the target and receives the laser stripes reflected from the target surface. The built-in imaging chip records the deformation information of the stripes. The processing module is electrically connected to the line laser profile scanner and, after receiving the scan data, calculates the pore size, cross-sectional area, and other geometric parameters of the hazard point using a profile reconstruction algorithm.

[0054] For example, for mouse burrows, the processing module can display the two-dimensional outline of the burrow in real time on the screen of the human-computer interaction module and automatically calculate its approximate diameter or opening area; for cracks or sinkholes on the surface of a dam, it can calculate the width of the crack or the projected area of ​​the depression. In this way, inspectors can quickly obtain quantitative data on the scale of the hazard on-site without the need for manual measurement using traditional tools such as measuring tapes, thus improving the efficiency and accuracy of the inspection work.

[0055] Furthermore, considering that the activities of dam-damming animals are closely related to the surrounding microenvironment, the data acquisition module of this invention may also include an environmental sensor cluster 5 for collecting environmental parameters around the dam site. Specifically, the environmental sensor cluster 5 includes at least one of a temperature sensor 51, a humidity sensor 52, and an atmospheric pressure sensor. These sensors are integrated on an integrated circuit board 53 and are positioned corresponding to the location of the ventilation and dustproof filter 21 opened on the side of the probe assembly 2. The ventilation and dustproof filter 21 allows airflow, improving measurement accuracy, while blocking larger dust particles and impurities from entering, thus protecting the sensor from contamination.

[0056] Among them, temperature sensor 51 is used to sense the ambient temperature at the hazard point, humidity sensor 52 is used to sense the air humidity at the hazard point, and atmospheric pressure sensor is used to sense the atmospheric pressure data at the hazard point. The atmospheric pressure data can be used as an auxiliary correction parameter for elevation measurement to improve the accuracy of relative elevation information calculation. The above three sensors are all mature and widely used general-purpose sensing elements in this field. Their specific models, packaging forms, and output signal types can be adaptively selected according to the overall design requirements and cost control requirements of the device. The sensing principles of conventional environmental parameters such as temperature, humidity, and atmospheric pressure, such as the temperature measurement principle based on thermistor or semiconductor PN junction, the humidity measurement principle based on humidity-sensitive capacitor or humidity-sensitive resistor, and the atmospheric pressure measurement principle based on piezoresistive or capacitive sensing elements, are all existing technologies well known to those skilled in the art and will not be elaborated here.

[0057] The environmental sensor cluster 5 can collect real-time data on temperature, humidity, and atmospheric pressure at the hazard site and transmit this data to the processing module. Atmospheric pressure data can also be used as auxiliary information to correct elevation measurements, improving the accuracy of elevation information. The processing module associates and stores environmental parameters with location information, image data, distance data, and contour scan data to form a complete hazard site information archive.

[0058] The human-computer interaction module is mounted on the grip body 1 and is electrically connected to the processing module. It is used to display information and receive user input. To facilitate clear identification of screen information and accurate operation by operators in bright outdoor light, the human-computer interaction module of this invention includes a human-computer interaction interface 6, which employs a high-brightness, sunlight-readable touchscreen. The brightness of the touchscreen is no less than 800 nits, maintaining a clear display even under direct sunlight.

[0059] The touchscreen is surrounded by a rubber buffer frame, which is embedded in the opening on the front panel of the grip body 1 and reliably fixed to the screen by an inner pressure plate. The rubber buffer frame can absorb and disperse energy when the device is accidentally dropped or impacted, protecting the screen glass from the risk of breakage.

[0060] In addition to the visual touchscreen, the human-machine interface 6 also features multiple physical buttons, such as a power button, a camera button, a measurement button, and customizable shortcut keys. These physical buttons utilize a waterproof silicone button structure. Specifically, the silicone dome of the physical button aligns with a tactile switch on the main control circuit board, and the button cap is located on the outer shell surface and moves in conjunction with the silicone dome. Pressing the button cap deforms the silicone dome, triggering the tactile switch. This waterproof silicone button structure ensures a good tactile feel while achieving an IP67-level seal on the button area, effectively preventing moisture and dust from entering the device through the button gaps.

[0061] To further enhance the detection capability of concealed hazard points, the data acquisition module of this invention also includes a ground-penetrating radar unit for non-contact detection of dam-damping animal nests or cavities within a certain depth range below the dam surface. In actual dam-damping animal hazard inspection work, some hazard points are not directly exposed on the dam surface. For example, termite nests are often located deep inside the dam, and burrows dug by rodents or badgers may be covered by surface soil. These hazards are difficult to detect by visual inspection and surface image acquisition alone. To address this situation, this embodiment adds a miniaturized ground-penetrating radar unit inside the probe assembly 2. The ground-penetrating radar unit includes a radar signal transmitting antenna and a receiving antenna, used to transmit high-frequency electromagnetic waves into the dam interior and receive reflected signals from the underground medium interface.

[0062] When the ground-penetrating radar (GPR) unit is operating, it transmits high-frequency electromagnetic waves with a center frequency in the range of 400MHz to 1GHz into the dam via its signal transmitting antenna. When these electromagnetic waves encounter interfaces with different dielectric constants during propagation, they generate reflected echoes. The receiving antenna captures these reflected signals and transmits them to the processing module. Based on the two-way travel time and wave velocity of the electromagnetic waves, the processing module calculates the depth of the reflecting interface and, combined with the planar coordinates obtained by the positioning module 4, generates the three-dimensional spatial coordinates of the underground hazard. Simultaneously, by analyzing the amplitude, phase, and frequency characteristics of the reflected signals, the nature of the underground anomaly can be preliminarily determined, such as cavities, loose areas, or high-density ant nest structures. The processing module spatially registers and fuses the underground target location information obtained by the GPR with surface images acquired by a macro camera, surface distances obtained by laser ranging, and contact point coordinates recorded by physical midpoints, thus forming a complete spatial information record from surface hazard signs to the underground hazard structure.

[0063] As a preferred implementation, the ground-penetrating radar unit can adopt a stepped-frequency continuous wave system, which has the advantages of high resolution, strong anti-interference capability, and easy miniaturization and integration. When the probe assembly 2 is in contact with the ground or close to the dam surface for scanning, the ground-penetrating radar unit can simultaneously collect underground profile data. The processing module displays the underground radar profile map on the touch screen in real time. Operators can determine whether there are potential hazards underground based on the abnormal reflection phase axes appearing in the image, and decide whether to conduct excavation verification or take preventive measures accordingly.

[0064] In addition, the device is equipped with a buzzer and a status indicator light, both housed in an independent cavity. This cavity is connected to the outside via a light guide or a light-transmitting window. The independent cavity design prevents the buzzer sound from being muffled by surrounding structures, ensuring clear and audible audible prompts. At the same time, the light guide or light-transmitting window effectively directs the indicator light to the surface of the outer casing, making it easy for operators to identify the current operating status of the device.

[0065] The device also includes a high-capacity battery pack, which is a modular battery pack that can be quickly replaced. The grip of the main body 1 forms a battery compartment, which is equipped with slide rails and elastic contacts. The battery pack is pushed into the battery compartment via the slide rails and makes contact with the elastic contacts to achieve electrical connection, thereby powering the main control unit and various functional modules. The cooperation between the slide rails and contacts ensures smooth battery pack installation and reliable electrical connection.

[0066] Furthermore, the battery compartment opening is equipped with a cover, which is sealed to the handle housing with a waterproof sealing ring, thus ensuring the dustproof and waterproof performance of the battery compartment and enabling the device to adapt to complex environments such as humidity and dust that may be encountered at the dam site. In addition, the cover is equipped with a locking mechanism to prevent accidental opening.

[0067] Behind each of the aforementioned functional modules, the main control unit coordinates and manages data processing and transmission. The main control unit adopts a high-performance, low-power ARM architecture industrial-grade core board. The core board and peripheral interface circuits together constitute an industrial-grade motherboard, ensuring the stability and reliability of the device during long-term operation in complex outdoor environments.

[0068] The industrial-grade motherboard is attached to the main mounting surface of the metal support frame 11 via thermally conductive silicone pads. A heatsink area is designed on the support frame 11 below the main mounting surface. Heat generated during operation by the positioning module 4, processing module, human-machine interface module, and other functional modules, especially heat from heat-generating components such as the CPU on the motherboard, is first quickly transferred to the metal support frame 11 via the thermally conductive silicone pads. Then, the large metal structure of the frame itself and the heatsink fins dissipate the heat into the surrounding air. This heat dissipation method, combining thermally conductive silicone pads and a metal frame, eliminates the need for active cooling components such as fans, avoiding heat dissipation failures caused by fan malfunctions or dust blockages. It also ensures that the motherboard remains within a suitable operating temperature range, preventing performance throttling or system instability due to overheating.

[0069] The electrical connections between the industrial-grade motherboard and the various acquisition modules within the Beidou high-precision positioning module 4, touch screen, and probe assembly 2 are all achieved using board-to-board connectors or flexible ribbon cables. These connection methods ensure the reliability of signal transmission and facilitate assembly and maintenance.

[0070] It is worth noting that the specific circuit configurations, chip models, control program algorithms, and communication protocols between modules involved in the above modules can all be implemented using existing mature technologies well-known to those skilled in the art. For example, the RTK positioning algorithm, laser ranging and contour scanning data processing methods, signal acquisition and conversion circuits of environmental sensors, display driver and touch recognition programs of touch screens, and data communication protocols between modules used in the Beidou high-precision positioning board 41 are all contents that those skilled in the art can directly select or appropriately adjust from the prior art according to actual needs when implementing this invention. The specific implementation details do not constitute the substantial contribution of this invention to the prior art, and therefore will not be elaborated here.

[0071] Example 2 like Figure 5 The flowchart shown illustrates that this embodiment of the invention also provides a portable BeiDou high-precision positioning method for dam hazard inspection. This positioning method uses the portable BeiDou high-precision positioning device for dam hazard inspection provided in Embodiment 1, and the specific steps are as follows: First, the operator activates the portable BeiDou high-precision positioning device for dam hazard inspection provided in Example 1. After powering on, the system automatically executes the initialization procedure. Positioning module 4 begins searching for and connecting to the BeiDou ground-based augmentation network or receiving satellite-based augmentation signals, entering a fixed-solution state within seconds to obtain centimeter-level or decimeter-level high-precision positioning. At this time, the processing module transmits the current location information output by positioning module 4 to the human-machine interface module in real time. The touchscreen displays information such as the accuracy factor, the number of currently visible satellites, and battery level, allowing the operator to confirm that the device is functioning normally. Simultaneously, the operator can load the day's survey tasks through the human-machine interface module, such as downloading or pre-importing an electronic map of the assigned section from the cloud. The touchscreen displays the device's own location in real time, providing guidance for the operator to navigate to the area to be inspected.

[0072] When operators discover suspected animal damage points during dam inspections, such as termite deposits, rat burrows, or badger activity, they immediately approach the site with their device to collect data. First, the operator activates the laser pointer via the human-machine interface module, aligning the red laser dot projected onto the surface of the damage point with its center. Then, maintaining the device's orientation, the operator slowly lowers it, ensuring the physical centering point of the probe assembly 2 makes firm contact with the ground. During this process, the processing module receives real-time position information from the positioning module 4, tilt data from the tilt sensor, and target distance measured by the laser ranging module. It then automatically compensates for geometric deviations caused by the probe's tilt angle and device height using a built-in algorithm, calculating the precise coordinates and elevation of the ground contact point. This process ensures that the final recorded position information corresponds to the actual center location of the damage point, achieving high-precision spatial positioning.

[0073] Next, the operator collects attribute data of the hazard point through the data acquisition module. This attribute data includes image data, contour dimensions, and environmental parameters. Specifically, the operator presses the camera button on the human-machine interface module or triggers the acquisition command via the touchscreen. The macro camera automatically focuses and captures a high-resolution image of the hazard point, which can be overlaid with watermark information such as the current time and geographical location. Simultaneously, the line laser contour scanner starts, performing a two-dimensional contour scan of the hazard point. The processing module calculates the quantified dimensions of the hazard point, such as aperture and cross-sectional area, based on the scan data and can overlay the contour graphic onto the image. Furthermore, the environmental sensor cluster 5 automatically collects environmental parameters such as temperature, humidity, and atmospheric pressure around the current hazard point and transmits this data to the processing module in real time. After the image and contour data acquisition is complete, a structured data entry form automatically pops up on the touchscreen. The operator can select information such as hazard type, hazard severity, and on-site handling status in the form. The data collected by the environmental sensors is automatically filled into the corresponding positions in the form, eliminating the need for manual entry.

[0074] In some cases, when operators arrive at a suspected hazard area but find no obvious surface signs, or when conducting in-depth investigations of identified surface hazard points, the ground-penetrating radar unit can be activated via the human-machine interface module. The operator holds the device, bringing the probe assembly 2 close to the dam surface, and slowly moves along a predetermined route or around the suspected area. During this movement, the ground-penetrating radar unit's signal transmitting antenna continuously emits high-frequency electromagnetic waves into the dam interior, while the receiving antenna captures reflected signals from different underground media interfaces in real time. Based on the received reflected signals, combined with the real-time position information output by the positioning module 4 and the attitude data collected by the tilt sensor, the processing module calculates the planar position and burial depth of the underground anomaly in real time, and simultaneously displays an underground radar profile or three-dimensional perspective image on the touchscreen. When abnormal reflective features resembling suspected dam-dam-damping animal nests or cavities appear in the radar image, the operator can pause movement, bring the physical center point to the ground, and trigger the acquisition command. At this time, the processing module fuses the high-precision coordinates output by the positioning module 4 at the current moment, the tilt sensor data, the laser ranging data, and the underground target depth information detected by the ground penetrating radar to calculate the precise three-dimensional spatial location of the underground hazard point. It then associates and stores this location with information such as radar profile images, surface images, and hazard type descriptions entered by the operator to form a complete hazard point record.

[0075] Finally, after confirming that all information is correct, the operator clicks the save button. At this point, the processing module automatically associates the location information of the trigger moment (the moment the physical midpoint contacts the ground and image acquisition is completed) with the collected attribute data, and merges and stores this associated information into a complete hazard point record. This record not only contains high-precision three-dimensional coordinates, but also multi-dimensional attribute data and on-site imagery. Through the device's built-in wireless communication module, this record can be transmitted back to the cloud-based GIS platform in real time for back-end administrators to summarize and analyze. The cloud platform automatically receives and integrates all survey records, generates survey result maps and statistical reports, and accurately marks the location and detailed information of each hazard point on the electronic map, thereby achieving visualized risk display and refined management.

[0076] At this point, the data collection and recording work for one hazard point inspection is complete, and the operator can continue to the next inspection point to repeat the above process.

[0077] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A portable Beidou high-precision positioning device for inspecting dam hazards, characterized in that, include: A gripping body (1) is provided, and a first accommodating space is formed inside the gripping body (1); The positioning module (4) is housed in the first accommodating space. The positioning module (4) is used to receive satellite signals and output location information. The probe assembly (2) is connected to one end of the holding body (1), and a second accommodating space is formed inside the probe assembly (2); A data acquisition module is housed within the second accommodating space. The data acquisition module is used to acquire attribute data of hazard points, wherein the attribute data includes at least image data. The processing module is housed in the first accommodating space. The processing module is electrically connected to the positioning module (4) and the data acquisition module respectively, and is used to receive and associate the location information and the attribute data. The human-computer interaction module is disposed on the holding body (1). The human-computer interaction module is electrically connected to the processing module and is used to display information and receive user input.

2. The portable Beidou high-precision positioning device for dam hazard inspection according to claim 1, characterized in that, The gripping body (1) includes a support frame (11), which is located in the first accommodating space. The positioning module (4) and the processing module are installed on the support frame (11), and a flange (12) is provided at one end of the support frame (11). The probe assembly (2) is installed on the flange (12).

3. The portable Beidou high-precision positioning device for dam hazard inspection according to claim 2, characterized in that, The probe assembly (2) is connected to the flange (12) of the gripping body (1) via a universal joint structure (3). The universal joint structure (3) includes a universal joint and a locking knob. The universal joint is used to adjust the pitch angle and roll angle of the probe assembly (2) relative to the gripping body (1), and the locking knob is used to lock the universal joint.

4. The portable Beidou high-precision positioning device for dam hazard inspection according to claim 2, characterized in that, The positioning module (4) includes a Beidou high-precision positioning board (41) and an RF shielding plate (42). The Beidou high-precision positioning board (41) is fixed to the RF shielding plate (42) through a shockproof connector (43). The RF shielding plate (42) is installed on the top of the support frame (11), and the area of ​​the holding body (1) corresponding to the antenna of the Beidou high-precision positioning board (41) is made of RF transparent material.

5. The portable Beidou high-precision positioning device for dam hazard inspection according to claim 1, characterized in that, The data acquisition module includes a macro camera, which is housed in the second accommodating space. The lens of the macro camera faces the outside of the probe assembly (2) and is used to acquire macro images of the hazard points. The probe assembly (2) is also provided with a ring light, which surrounds the lens of the macro camera and is used to provide illumination when acquiring images.

6. The portable Beidou high-precision positioning device for dam hazard inspection according to claim 5, characterized in that, The probe assembly (2) has a physical centering point at its bottom and a laser pointer inside. The optical path of the laser pointer is coaxially set with the physical centering point and the optical axis of the macro camera to align the laser point with the center of the hazard point so that the position information recorded when the physical centering point contacts the ground corresponds to the center of the hazard point.

7. The portable Beidou high-precision positioning device for dam hazard inspection according to claim 1, characterized in that, The data acquisition module also includes a laser ranging module, which is used to measure the target distance between the probe assembly (2) and the hazard point; The processing module is electrically connected to the laser ranging module and is used to calculate the relative elevation information of the hazard point based on the target distance and the tilt data collected by the tilt sensor built into the gripping body (1).

8. The portable Beidou high-precision positioning device for dam hazard inspection according to claim 1, characterized in that, The data acquisition module further includes a line laser profile scanner, which is used to perform two-dimensional profile scanning on the hazard point; the processing module is electrically connected to the line laser profile scanner and is used to calculate the aperture or area of ​​the hazard point based on the scanning data of the line laser profile scanner.

9. The portable Beidou high-precision positioning device for dam hazard inspection according to claim 1, characterized in that, The data acquisition module also includes an environmental sensor cluster (5). The probe assembly (2) is provided with a ventilation and dustproof filter (21). The environmental sensor cluster (5) is set at a position corresponding to the ventilation and dustproof filter (21) and is used to collect environmental parameters around the hazard point. The environmental parameters include at least one of temperature, humidity and atmospheric pressure.

10. A portable BeiDou high-precision positioning method for dam hazard inspection, characterized in that, The portable Beidou high-precision positioning device for dam hazard inspection as described in any one of claims 1-9 comprises: The portable Beidou high-precision positioning device for dam hazard inspection is activated, and the current location information is obtained through the positioning module (4), and the location information is displayed through the human-computer interaction module; The attribute data of the hazard points are collected through the data acquisition module. The processing module associates the location information at the trigger time with the collected attribute data, and stores the associated location information and attribute data as a hazard point record.

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