Manhole inspection apparatus and method

Abstract

The application belongs to the technical field of underground drainage facility detection, and discloses a manhole detection equipment and a manhole detection method. The manhole detection equipment comprises a hanging collection unit, a probe unit and a control unit. The hanging collection unit is placed outside the wellhead of the manhole. The probe unit is connected to the hanging collection unit, can be lowered or recovered into the manhole, and can collect image data in the manhole. The control unit is integrated on the hanging collection unit, and comprises a display module, a data modeling module, a measurement and analysis module, a report output module and a data management module. The manhole detection equipment can realize stable collection of internal space images of the manhole, panoramic imaging, three-dimensional modeling, expansion mapping, defect positioning, defect size measurement and detection report output, and can provide accurate reference for the three-dimensional model, and improve the digitalization, standardization and quantization level of manhole detection operation.

Description

Technical Field

[0001] This invention relates to the field of underground drainage facility testing technology, and in particular to a manhole testing equipment and method. Background Technology

[0002] Inspection wells, as important nodes in underground drainage networks, often suffer from problems such as cracks, corrosion, leakage, structural damage, and abnormal connections. Traditional inspection methods for inspection wells mostly rely on manual observation inside the well or ordinary video recording, which has the disadvantages of high operational risks, reliance on experience for on-site judgment, limited data retention methods, and difficulty in subsequent quantitative verification.

[0003] Existing video acquisition equipment suffers from the following problems: First, the acquisition process lacks stability; the probe is prone to rotation and swaying, making it difficult to obtain continuous and quantifiable well data. Second, the downhole lighting methods are limited, resulting in issues such as bright well walls, dark well bottoms, or localized overexposure due to reflections, leading to poor image integrity and uniformity. Third, detection results often remain at the level of image or video data recording, making it difficult to form high-precision 3D models and unfolded maps. Furthermore, the correlation accuracy between images and well depth is low, failing to achieve a one-to-one correspondence between images and precise well depths frame by frame. This hinders the generation of high-precision 3D point clouds, 3D models, high-resolution unfolded maps, and standardized inspection reports—in short, it is difficult to generate stable, continuous, and well depth-correlated scanning data. Fourth, defect locations and dimensions are difficult to quantify uniformly; the identification methods are limited, and there is a lack of standardized digital object definitions. Fifth, detection results are difficult to automatically convert into standardized reports, which is detrimental to subsequent review, archiving, and repair decisions. Finally, there is a lack of a comprehensive mechanism for handling abnormal operating conditions, and the equipment's adaptability to all scenarios is insufficient.

[0004] Therefore, there is an urgent need for inspection equipment and methods for manholes to solve the above problems. Summary of the Invention

[0005] According to one aspect of the present invention, the object is to provide a manhole inspection equipment that can realize functions such as stable acquisition of manhole internal spatial images, panoramic imaging, three-dimensional modeling, unfolding and mapping, defect location, defect size measurement, and inspection report output. At the same time, it can provide accurate benchmarks for three-dimensional models and improve the digitalization, standardization, and quantification of manhole inspection operations.

[0006] To achieve this objective, the present invention adopts the following technical solution: Inspection equipment for manholes includes: The data acquisition unit is hoisted and placed outside the manhole of the inspection well; The probe unit, connected to the hoisting acquisition unit, can be lowered into or retrieved from the inspection well and acquire image data from the inspection well; The control unit, integrated into the hoisting and acquisition unit, includes a display module, a data modeling module, a measurement and analysis module, a report output module, and a data management module. The display module can display the image data and the corresponding well depth data. The data modeling module can construct a 3D point cloud image and / or a 3D model and / or an unfolded diagram of the inspection well based on the image data and the well depth data. The measurement and analysis module can generate defect measurement data based on defects displayed in the image data. The report output module can generate a report file based on the image data, the well depth data, and the defect measurement data. The data management module can store the image data, the well depth data, the defect measurement data, the 3D point cloud image, the 3D model, and the unfolded diagram.

[0007] As a preferred embodiment of the inspection well detection equipment provided by the present invention, the inspection well detection equipment further includes an information identification unit, which is set at the wellhead of the inspection well. The information identification unit stores the corresponding location information and scale calibration data of the inspection well. The data modeling module can construct a three-dimensional model of the inspection well based on the scale calibration data.

[0008] As a preferred embodiment of the inspection well detection equipment provided by the present invention, the information identification unit includes at least two QR code mark structures. The two QR code mark structures are arranged on opposite sides of the wellhead of the inspection well along the diameter direction. The distance between the two QR code mark structures is measured, and the distance can be used as the scale calibration data input to the control unit. The data modeling module can construct a three-dimensional model of the inspection well based on the scale calibration data.

[0009] As a preferred embodiment of the inspection well detection equipment provided by the present invention, the probe unit can collect the location information of the inspection well and the scale calibration data stored on the information identification unit before entering the inspection well, and transmit them to the control unit.

[0010] As a preferred embodiment of the inspection well detection equipment provided by the present invention, the probe unit includes an image acquisition module and a supplementary lighting module. The image acquisition module is disposed at one end of the supplementary lighting module and is configured to acquire image data in the inspection well. The supplementary lighting module includes a circumferential supplementary lighting structure and a bottom supplementary lighting structure. The circumferential supplementary lighting structure is disposed along the circumference of the probe unit, and the bottom supplementary lighting structure is disposed at the bottom end of the image acquisition module in the axial direction. The supplementary lighting module includes a well wall main scanning mode, a well bottom scanning mode, and an overexposure processing mode. In the wellbore main scanning mode, the brightness of the circumferential supplementary lighting structure is adjusted to a first brightness, the brightness of the bottom supplementary lighting structure is adjusted to a second brightness, and the exposure time of the image acquisition module is the first exposure time; the first brightness is greater than the second brightness. In the bottom-of-well scanning mode, the brightness of the circumferential supplementary lighting structure is adjusted to a third brightness, the brightness of the bottom supplementary lighting structure is adjusted to a fourth brightness, and the exposure time of the image acquisition module is a second exposure time; the third brightness is less than the first brightness, the fourth brightness is greater than the second brightness, and the second exposure time is greater than the first exposure time; In the overexposure processing mode, the brightness of the circumferential supplementary lighting structure is reduced based on the original brightness, and the exposure time of the image acquisition module is the third exposure time, which is shorter than the first exposure time.

[0011] As a preferred embodiment of the inspection well detection equipment provided by the present invention, when the depth h of the probe unit in the inspection well is in the range of 0 < h < H - 50 cm, the supplementary light module operates in the main scanning mode of the well wall, where H is the total depth of the inspection well; When the depth h of the probe unit in the inspection well is within the range of H-50cm≤h<H, the supplementary light module operates in the bottom-of-well scanning mode; When the proportion of highlight areas in the image acquired by the image acquisition module is greater than 20%, the fill light module operates in the overexposure processing mode.

[0012] As a preferred embodiment of the inspection well detection equipment provided by the present invention, the hoisting and acquisition unit includes a mobile trolley, a cable, a cable box, and a cable bracket. The cable box is disposed in the mobile trolley, the cable bracket is connected to the mobile trolley and extends in a direction away from the mobile trolley, the cable is wound in the cable box and extends around the cable bracket, the probe unit is connected to the cable, and the control unit is integrated on the mobile trolley and connected to the probe unit through the cable.

[0013] As a preferred embodiment of the inspection well testing equipment provided by the present invention, the cable bracket includes a centering mechanism and a guide roller. The centering mechanism is movably disposed on the mobile trolley and extends out of the mobile trolley. The centering mechanism is capable of moving so that the movement path of the probe unit coincides with the central axis of the inspection well. The guide roller is disposed at the end of the centering mechanism away from the mobile trolley. The cable extends along the centering mechanism and passes around the guide roller before connecting to the probe unit.

[0014] As a preferred embodiment of the inspection well detection equipment provided by the present invention, the cross-section of the cable is rectangular, and the side with the larger area among the multiple peripheral portions of the cable abuts against the guide roller.

[0015] According to one aspect of the present invention, the object is to provide a method for detecting inspection wells, wherein the method detects inspection wells based on inspection well detection equipment described in any of the above-described schemes, the inspection well detection equipment further comprising an information identification unit storing location information and dimensional calibration data corresponding to the inspection well; the inspection well detection method includes: S10. Arrange the hoisting acquisition unit and the information identification unit at the entrance of the inspection well; S20. The probe unit is used to collect the location information of the inspection well stored in the information identification unit, and the information identification unit is used to verify it. The scale calibration data stored in the information identification unit is also collected and transmitted to the control unit. S30. The probe unit is lowered into the inspection well through the hoisting acquisition unit to collect image data in the inspection well. While collecting the image data, the well depth data corresponding to the probe unit is recorded in real time. The system performs frame-by-frame time synchronization and sequence association between the well depth data and the image data to form an associated data sequence. S40. The data modeling module preprocesses the associated data sequence and calls the scale calibration data to generate a three-dimensional point cloud image and / or a three-dimensional model and / or an unfolded diagram. S50. The measurement and analysis module generates defect measurement data based on the defects displayed in the image data, and the defect measurement data is generated based on the scale calibration data. S60. The report output module generates a report file, which includes defect type, defect size parameters, defect location characteristics, defect severity, and repair suggestions. S70, The data management module stores the image data, the well depth data, the defect measurement data, the three-dimensional point cloud image, the three-dimensional model, and the unfolded diagram.

[0016] The beneficial effects of this invention are: The manhole inspection equipment provided by this invention includes a hoisting and acquisition unit, a probe unit, and a control unit. By setting up the hoisting and acquisition unit, the probe unit and control unit can be integrated, facilitating the movement of the entire manhole inspection equipment to the manhole. The probe unit allows for the lowering or retrieval of images into the manhole, achieving stable acquisition and panoramic imaging of the manhole's internal space. The display module in the control unit displays the image data and the corresponding well depth data, providing operators with intuitive access to relevant information. The data modeling module in the control unit can generate a 3D point cloud image and / or a 3D model and / or a unfolded diagram of the manhole. The measurement and analysis module in the control unit generates defect measurement data based on defects displayed in the image data. The report output module in the control unit generates report files, providing guidance for subsequent manhole maintenance. The data management module in the control unit stores the image data, well depth data, defect measurement data, 3D point cloud image, 3D model, and unfolded diagram, thereby improving the digitalization level of manhole inspection operations and facilitating subsequent retrieval and verification by operators. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the inspection equipment for manholes provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the inspection well detection equipment provided in an embodiment of the present invention; Figure 3 This is a partial structural schematic diagram of the suspended data acquisition unit provided in an embodiment of the present invention; Figure 4 This is a flowchart of the inspection well detection method provided in the embodiments of the present invention.

[0019] In the picture: 1. Inspection well; 100. Suspended data acquisition unit; 110. Mobile trolley; 120. Cable; 130. Cable box; 140. Cable bracket; 141. Centering mechanism; 142. Guide roller; 200. Probe unit; 210. Image acquisition module; 220. Illumination module; 221. Circumferential illumination structure; 222. Bottom illumination structure; 300. Control unit; 310. Display module; 320. Data modeling module; 330. Measurement and analysis module; 340. Report output module; 350. Data management module; 400. Information identification unit; 410. QR code logo structure. Detailed Implementation

[0020] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0021] 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.

[0022] 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.

[0023] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0024] In the description of this invention, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0025] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "connect," and "fix" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0026] In this invention, unless otherwise explicitly 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 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 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.

[0027] In this embodiment, the term "and / or" is merely a description of the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this invention, the character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

[0028] 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 elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0029] Figure 1 A schematic diagram of the inspection well detection equipment provided in an embodiment of the present invention is shown; Figure 2 A schematic diagram of the structure of the inspection well detection equipment provided in an embodiment of the present invention is shown. (Refer to...) Figure 1 and Figure 2 This embodiment provides a manhole inspection device. The manhole inspection device includes a hoisting and acquisition unit 100, a probe unit 200, and a control unit 300.

[0030] Specifically, the suspended acquisition unit 100 is placed outside the manhole of the inspection well 1. The probe unit 200 is connected to the suspended acquisition unit 100 and can be lowered or retrieved into the inspection well 1 to acquire image data from within the inspection well 1. The control unit 300 is integrated into the suspended acquisition unit 100. By setting up the suspended acquisition unit 100, the probe unit 200 and the control unit 300 can be integrated, facilitating the movement of the entire inspection well inspection equipment to the inspection well 1. By setting up the probe unit 200, it can be lowered or retrieved into the inspection well 1, achieving stable acquisition and panoramic imaging of the internal space of the inspection well 1.

[0031] More specifically, the control unit 300 includes a display module 310, a data modeling module 320, a measurement analysis module 330, a report output module 340, and a data management module 350. The display module 310 can display the image data and the corresponding well depth data. The data modeling module 320 can construct a three-dimensional point cloud image and / or a three-dimensional model and / or a unfolded diagram of the inspection well 1 based on the image data and the well depth data. The measurement analysis module 330 can generate defect measurement data based on the defects displayed in the image data. The report output module 340 can generate a report file based on the image data, the well depth data, and the defect measurement data. The data management module 350 can store the image data, the well depth data, the defect measurement data, the three-dimensional point cloud image, the three-dimensional model, and the unfolded diagram. Through the display module 310 in the control unit 300, the image data and the corresponding well depth data can be displayed, allowing operators to intuitively obtain relevant information. The data modeling module 320 in the control unit 300 can generate a 3D point cloud image and / or a 3D model and / or a unfolded diagram of the inspection well 1. The measurement analysis module 330 in the control unit 300 can generate defect measurement data based on the defects displayed in the image data. The report output module 340 in the control unit 300 can generate a report file to facilitate subsequent maintenance of the inspection well 1. The data management module 350 in the control unit 300 can store the image data, well depth data, defect measurement data, 3D point cloud image, 3D model, and unfolded diagram, thereby improving the digitalization level of the inspection operation of the inspection well 1 and facilitating subsequent retrieval and verification by operators.

[0032] It should be noted that in this embodiment, the display module 310, data modeling module 320, measurement analysis module 330, report output module 340, and data management module 350 communicate with each other using a dual-mode 5G wireless and wired network communication method, which helps ensure the reliability and accuracy of data interaction. Furthermore, the display module 310, data modeling module 320, measurement analysis module 330, report output module 340, and data management module 350 are all existing modules that can be stored in the same device and perform the aforementioned functions; their specific principles will not be elaborated upon in this embodiment.

[0033] Continue to refer to Figure 1 and Figure 2 The inspection well detection equipment also includes an information identification unit 400. This information identification unit 400 is located at the wellhead of the inspection well 1 and stores the corresponding location information and dimensional calibration data of the inspection well 1. The data modeling module 320 can construct a three-dimensional model of the inspection well 1 using this dimensional calibration data as a size reference. In this embodiment, the aforementioned dimensional calibration data specifically refers to the actual diameter of the inspection well 1.

[0034] Specifically, the information identification unit 400 includes at least two QR code marker structures 410. The two QR code marker structures 410 are positioned on opposite sides of the wellhead of the inspection well 1 along the diameter direction. The distance between the two QR code marker structures 410 is measured and input into the control unit 300 as calibration data. The data modeling module 320 can then construct a three-dimensional model of the inspection well 1 using this calibration data as a dimensional reference. In this embodiment, the distance between the two QR code marker structures 410 is the straight-line distance between their geometric centers. In this embodiment, a high-precision measuring tool such as a laser rangefinder is used to measure the distance between the two QR code marker structures 410, i.e., the actual diameter of the inspection well 1. This solves the problem that existing three-dimensional models lack precise dimensional references and can only be relatively quantified, ensuring that the spatial scale of the three-dimensional model matches the actual scale of the inspection well 1. This effectively improves the accuracy of defect measurement data, specifically down to the millimeter level, providing a precise dimensional reference for subsequent repair work.

[0035] More specifically, before entering the inspection well 1, the probe unit 200 can collect the location information and scale calibration data of the inspection well 1 stored on the information identification unit 400, and transmit them to the control unit 300. Through the above settings, a precise actual scale reference can be provided for the three-dimensional modeling program of the data modeling module 320.

[0036] Continue to refer to Figure 2The probe unit 200 includes an image acquisition module 210 and a supplementary lighting module 220. The image acquisition module 210 is located at one end of the supplementary lighting module 220 and is configured to acquire image data from the inspection well 1. The supplementary lighting module 220 includes a circumferential supplementary lighting structure 221 and a bottom supplementary lighting structure 222. The circumferential supplementary lighting structure 221 is arranged circumferentially along the probe unit 200, and the bottom supplementary lighting structure 222 is located at the bottom of the image acquisition module 210 in the axial direction. The supplementary lighting module 220 includes a well wall main scanning mode, a well bottom scanning mode, and an overexposure processing mode. In this embodiment, the circumferential supplementary lighting structure 221 includes 48 circumferential LEDs, and the bottom supplementary lighting structure 222 includes 3 bottom LEDs. The LEDs have a power of 3W / LED and a color temperature of 5500K. The circumferential supplementary lighting structure 221 and the bottom supplementary lighting structure 222 can be independently controlled. In this embodiment, the image acquisition module 210 can specifically employ a panoramic camera from the prior art.

[0037] Specifically, in the main scanning mode of the well wall, the brightness of the circumferential supplementary lighting structure 221 is adjusted to a first brightness, the brightness of the bottom supplementary lighting structure 222 is adjusted to a second brightness, and the exposure time of the image acquisition module 210 is the first exposure time. The first brightness is greater than the second brightness. In this embodiment, the first brightness is 80%, the second brightness is 30%, and the first exposure time is 1 / 60s.

[0038] In this bottom-of-well scanning mode, the brightness of the circumferential supplementary lighting structure 221 is adjusted to a third brightness level, the brightness of the bottom supplementary lighting structure 222 is adjusted to a fourth brightness level, and the exposure time of the image acquisition module 210 is a second exposure time. The third brightness level is less than the first brightness level, the fourth brightness level is greater than the second brightness level, and the second exposure time is greater than the first exposure time. In this embodiment, the third brightness level is 30%, the fourth brightness level is 100%, and the second exposure time is 1 / 30s.

[0039] In this overexposure processing mode, the brightness of the circumferential supplementary lighting structure 221 is reduced by 30% from its original brightness. The exposure time of the image acquisition module 210 is the third exposure time, which is shorter than the first exposure time. In this embodiment, the third exposure time is specifically 1 / 120s.

[0040] More specifically, when the depth h of the probe unit 200 within the inspection well 1 is 0 < h < H - 50 cm, the supplementary lighting module 220 operates in the main scanning mode of the well wall, where H is the total depth of the inspection well 1. When the depth h of the probe unit 200 within the inspection well 1 is H - 50 cm ≤ h < H, the supplementary lighting module 220 operates in the bottom-of-well scanning mode. When the proportion of highlight areas in the image acquired by the image acquisition module 210 is greater than 20%, the supplementary lighting module 220 operates in the overexposure processing mode.

[0041] With the above settings, suitable illumination can be provided for the image acquisition module 210 at different depths in the inspection well 1, ensuring the imaging effect and clarity of the image acquisition module 210, realizing imaging optimization of the entire inspection process, and improving the brightness uniformity of the images on the well wall and bottom to over 90%, effectively solving the problem of uneven lighting in existing equipment, and significantly improving imaging quality and defect recognition rate.

[0042] More specifically, the supplementary lighting module 220 also includes a QR code supplementary lighting mode. In the QR code supplementary lighting mode, the brightness of the circumferential supplementary lighting structure 221 is adjusted to 70%, the bottom supplementary lighting structure 222 is turned off, and the exposure time of the image acquisition module 210 is 1 / 50s, which can ensure that the QR code image is clear, glare-free, and blur-free, with a 100% recognition success rate.

[0043] Figure 3 A partial structural schematic diagram of the suspended data acquisition unit provided in an embodiment of the present invention is shown. (Refer to...) Figure 2 and Figure 3 The suspended acquisition unit 100 includes a mobile trolley 110, a cable 120, a cable box 130, and a cable bracket 140. The cable box 130 is disposed in the mobile trolley 110, the cable bracket 140 is connected to the mobile trolley 110 and extends in a direction away from the mobile trolley 110, the cable 120 is wound in the cable box 130 and extends around the cable bracket 140, the probe unit 200 is connected to the cable 120, and the control unit 300 is integrated on the mobile trolley 110 and connected to the probe unit 200 through the cable 120.

[0044] Specifically, the cable support 140 includes a centering mechanism 141 and a guide roller 142. The centering mechanism 141 is movably disposed on the mobile trolley 110 and extends out of the mobile trolley 110. The centering mechanism 141 is operable to align the movement path of the probe unit 200 with the central axis of the inspection well 1. The guide roller 142 is disposed at the end of the centering mechanism 141 away from the mobile trolley 110. The cable 120 extends along the centering mechanism 141, passes around the guide roller 142, and then connects to the probe unit 200. In this embodiment, the centering mechanism 141 is rotatably mounted on the mobile trolley 110 via a hinge. A screw-operated component is provided at the hinge of the centering mechanism 141. This component can lock the centering mechanism 141 and the hinge shaft to fix the centering mechanism 141. The screw-operated component can also be loosened to allow the centering mechanism 141 to rotate about the hinge shaft, enabling fine-tuning of the position of the guide roller 142. When it is necessary to fine-tune the position of the guide roller 142 to center the probe unit 200 relative to the inspection well 1, the screw-operated component can be loosened, the position of the probe unit 200 adjusted to coincide with the axis of the inspection well 1, and then the centering mechanism 141 and the hinge shaft can be locked again.

[0045] More specifically, the cable box 130 is equipped with a winding and unwinding structure and a directional cable routing control mechanism. The cable 120 is wound onto the winding and unwinding structure, and the directional cable routing control mechanism is used to drive the winding and unwinding structure to realize the unwinding and rewinding of the cable 120, thereby realizing the lowering and retrieval of the probe unit 200. The aforementioned directional cable routing control mechanism is prior art, and its specific structure will not be described in detail in this embodiment.

[0046] Preferably, an arc-shaped guide structure can be provided at the opening of the inspection well 1. After the cable 120 extends and abuts against the arc-shaped guide structure, it extends into the inspection well 1, thereby reducing the degree of twisting of the cable 120.

[0047] More specifically, the cable 120 has a rectangular cross-section, and the side with the larger area among the multiple peripheral portions of the cable 120 rests against the guide roller 142. In other words, the cable 120 is specifically a flat wire, which can improve reliability and prevent twisting.

[0048] Figure 4 A flowchart illustrating the inspection well detection method provided in an embodiment of the present invention is shown. (Refer to...) Figure 4 This embodiment also provides a method for inspecting manholes. This method uses the manhole inspection equipment provided in this embodiment to inspect manhole 1. The method specifically includes the following steps: Step S10: Arrange the hoisting acquisition unit 100 and the information identification unit 400 at the entrance of the inspection well 1.

[0049] Specifically, step S10 includes the following steps: S11. Select symmetrical points on both sides of the wellhead diameter of inspection well 1 as calibration positions, ensuring that the line connecting the two points passes through the center of the wellhead and is not obstructed by the well wall or debris. Set the two QR code marker structures 410 at the corresponding two points, with the QR codes on the QR code marker structures 410 facing the inside of the wellhead, and ensure that the center of the QR code is at the same height from the ground.

[0050] S12. Use a laser rangefinder to measure the actual distance between the two QR code marker structures 410. Take three measurements and average the results. If the measurements are 850.2mm, 850.3mm, and 850.2mm respectively, take the average of 850.2mm as the calibration data.

[0051] Step S20: Use the probe unit 200 to collect the location information of the inspection well 1 stored in the information identification unit 400, verify it, collect the scale calibration data stored in the information identification unit 400, and transmit the scale calibration data to the control unit 300.

[0052] In step S20, the operator enters the display settings through a tablet computer or other device on the control unit 300, inputs the scale calibration data into the interface, and enters information such as the inspection well number, calibration time, and QR code spacing. The system then binds and stores these data with the inspection well project.

[0053] Specifically, the control probe unit 200 is lowered to 20cm above the wellhead, the QR code recognition mode is activated, the circumferential supplementary lighting structure 221 is automatically adjusted to 70% brightness, the image acquisition module 210 acquires the QR code image, the system successfully recognizes two QR codes, completes the calibration verification, and enters the subsequent acquisition stage.

[0054] It should be noted that during the subsequent 3D modeling process of the data modeling module 320, 850.2mm is used as the core scale benchmark to calibrate all spatial feature data to ensure that the scale of the 3D model is consistent with the actual scale of the wellhead.

[0055] Step S30: The probe unit 200 is lowered into the inspection well 1 through the hoisting acquisition unit 100 to acquire image data in the inspection well 1. While acquiring the image data, the well depth data corresponding to the probe unit 200 is recorded in real time. The system performs frame-by-frame time synchronization and sequence association between the well depth data and the image data to form an associated data sequence.

[0056] It should be noted that during the image data acquisition process, the control unit 300 can monitor the motion state and image quality of the probe unit 200, as well as parameters such as the tension of the cable 120, in real time. If an abnormal operating condition is detected, the corresponding processing mechanism will be activated immediately. In this embodiment, the above-mentioned processing mechanism specifically includes shutdown, alarm, and abnormal status category display.

[0057] Furthermore, during the lowering of the probe unit 200, well depth data is recorded in real time with an accuracy of 1 mm. The image acquisition module 210 acquires images at 30 frames per second. The system synchronizes each frame of image with the corresponding well depth data frame by frame to generate a data sequence, and associates it with the wellhead scale calibration data (850.2 mm).

[0058] Step S40: The data modeling module 320 preprocesses the associated data sequence and calls the scale calibration data to generate a three-dimensional point cloud image and / or a three-dimensional model and / or unfolded map.

[0059] Specifically, in step S40, the data modeling module 320 performs image denoising and stitching preprocessing on the data sequence, extracts spatial features such as well wall, well bottom and well wall interface, calls the stored scale calibration data as a benchmark, and performs scale calibration and normalization processing on the spatial feature data.

[0060] Then, a 3D point cloud data with a resolution of 1mm is generated by a 3D reconstruction algorithm. A 3D model is constructed based on the calibrated point cloud data. The wellhead diameter of the model is restored according to the scale calibration data. At the same time, a unfolded coordinate system with the wellhead as the origin is established to generate a high-definition unfolded map. The scale ratio of the unfolded map is consistent with the actual wellhead, realizing a two-way accurate mapping between the unfolded map and the 3D model.

[0061] Through the above steps, this embodiment achieves millimeter-level precise correlation between image data and well depth data. Combined with the scale calibration data of the wellhead, it completes the actual scale restoration of the model. The generated three-dimensional model and unfolded diagram have high spatial accuracy and can be directly used for precise absolute measurement and verification of defects. Compared with existing equipment, its modeling accuracy and reference value are greatly improved.

[0062] Step S50: The measurement and analysis module 330 generates defect measurement data based on the defects displayed in the image data. The defect measurement data is generated with the scale calibration data as a reference.

[0063] Specifically, after the data modeling is completed, the measurement and analysis module 330 calls the inspection well defect feature library and uses deep learning algorithms to perform AI automatic defect identification on the panoramic image, unfolded diagram and scale-calibrated 3D model, marking suspected crack areas; Then, the operators manually review the AI ​​recognition results using tablets or other devices, correct any misjudged areas, and complete the final defect marking. Then, based on the scale calibration data, the system accurately measures the marked defects. For example, the defect well depth is 3.250m, the circumferential position is 120°, the fracture length is 1.205m, the width is 5.1mm, and the area is 6.1455cm². 2 Meanwhile, the relative distance between the crack and the well wall interface was recorded as 0.302m.

[0064] Then, the control unit 300 represents the crack as a unified digital object, assigns a unique identification code, associates it with the corresponding image frame, unfolded area and three-dimensional model spatial position, and binds the wellhead scale calibration data (850.2mm). Finally, based on the defect type (crack), the precise dimensions after dimensional calibration (width 5.1mm, length 1.205m), and location (near the well wall interface, stress concentration area), the control unit 300 automatically assessed the severity of the defect as "severe" and generated repair recommendations. The repair recommendations were: "Perform grooving treatment on the crack, with a recommended grooving width of 10mm and a recommended depth of 8mm, and reinforce the well wall interface area."

[0065] Step S60: The report output module 340 generates a report file, which includes the defect type, defect size parameters, defect location characteristics, defect severity, and repair recommendations.

[0066] Specifically, the report output module 340 automatically generates a standardized PDF inspection report, which includes basic information about the inspection well, inspection parameters, complete information on wellhead scale calibration (QR code spacing 850.2mm, calibration time, and type of measuring tool), precise quantitative information on defects, severity, and repair suggestions. It also inserts labeled panoramic images, unfolded diagrams, and 3D model screenshots. All information in the report is indexed to the defect digital object, allowing for one-click access to view.

[0067] Step S70: The data management module 350 stores the image data, the well depth data, the defect measurement data, the three-dimensional point cloud image, the three-dimensional model, and the unfolded diagram.

[0068] After the inspection is completed, the report output module 340 automatically uploads the complete wellhead scale calibration information, panoramic image data, three-dimensional point cloud data (LAS format), three-dimensional model (STL format), high-definition unfolded diagram (PNG format), defect digital object (JSON format), and inspection report (PDF format) to the data management module 350.

[0069] Then, the data management module 350 establishes a unique digital archive for the inspection well 1, links and stores all results according to the inspection time, generates a unified retrieval code, and uses the above-mentioned scale calibration data as the core basic data of the archive, which is bound to all modeling results and measurement results.

[0070] Then, after a period of time (6 months), the inspection well 1 is re-inspected. In the new inspection process, a laser rangefinder is used to measure the actual distance between the two QR code mark structures 410 again. If the new measurement result is the same as the previous measurement result within the error range, the new inspection result can be uploaded to the same archive.

[0071] Then, the data management module 350 automatically compares the defects in the new and old inspection data and generates a defect development trend analysis table based on the two scale calibration data. For example, the defect development trend analysis table shows that "the original crack width has increased from 5.1 mm to 6.2 mm and the length has increased from 1.205 m to 1.210 m", which can provide accurate data support for the optimization of the repair plan.

[0072] Finally, managers can use the search function of the data management module 350 to enter the inspection well number and view all the scale calibration data, inspection results and defect development trends of inspection well 1 with one click. All data comparisons are based on the scale calibration data of the corresponding inspection stage.

[0073] The manhole inspection method provided in this embodiment realizes the digital management of manhole size calibration data and inspection results, and solves the problems of scattered inspection data, inconsistent scales, and difficulty in traceability and comparison. It provides core support for the digital management of municipal drainage pipe networks.

[0074] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-disclosed concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

[0075] 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 will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. 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. Inspection equipment for manholes, characterized in that, include: The data acquisition unit (100) is hoisted and placed outside the manhole of the inspection well (1); The probe unit (200), connected to the hoisting acquisition unit (100), is capable of being lowered into or retrieved from the inspection well (1) and acquiring image data from the inspection well (1); The control unit (300), integrated on the hoisting acquisition unit (100), includes a display module (310), a data modeling module (320), a measurement analysis module (330), a report output module (340), and a data management module (350); the display module (310) can display the image data and the well depth data corresponding to the image data; the data modeling module (320) can construct a three-dimensional point cloud image and / or a three-dimensional model and / or an unfolded diagram of the inspection well (1) based on the image data and the well depth data; the measurement analysis module (330) can generate defect measurement data based on the defects displayed in the image data; the report output module (340) can generate a report file based on the image data, the well depth data, and the defect measurement data; The data management module (350) can store the image data, the well depth data, the defect measurement data, the three-dimensional point cloud image, the three-dimensional model, and the unfolded diagram.

2. The inspection equipment for manholes according to claim 1, characterized in that, The inspection well detection equipment also includes an information identification unit (400), which is set at the wellhead of the inspection well (1). The information identification unit (400) stores the location information and scale calibration data of the corresponding inspection well (1). The data modeling module (320) can construct a three-dimensional model of the inspection well (1) based on the scale calibration data.

3. The inspection equipment for manholes according to claim 2, characterized in that, The information identification unit (400) includes at least two QR code marker structures (410). The two QR code marker structures (410) are arranged on opposite sides of the wellhead of the inspection well (1) along the diameter direction. The distance between the two QR code marker structures (410) is measured. The distance can be used as the scale calibration data input to the control unit (300). The data modeling module (320) can construct a three-dimensional model of the inspection well (1) based on the scale calibration data.

4. The inspection equipment for manholes according to claim 2, characterized in that, The probe unit (200) can collect the location information of the inspection well (1) and the scale calibration data stored on the information identification unit (400) before entering the inspection well (1), and transmit them to the control unit (300).

5. The inspection equipment for manholes according to claim 1, characterized in that, The probe unit (200) includes an image acquisition module (210) and a supplementary lighting module (220). The image acquisition module (210) is disposed at one end of the supplementary lighting module (220) and is configured to acquire image data in the inspection well (1). The supplementary lighting module (220) includes a circumferential supplementary lighting structure (221) and a bottom supplementary lighting structure (222). The circumferential supplementary lighting structure (221) is disposed along the circumference of the probe unit (200), and the bottom supplementary lighting structure (222) is disposed at the bottom of the image acquisition module (210) in the axial direction. The supplementary lighting module (220) includes a well wall main scanning mode, a well bottom scanning mode, and an overexposure processing mode. In the well wall main scanning mode, the brightness of the circumferential supplementary lighting structure (221) is adjusted to the first brightness, the brightness of the bottom supplementary lighting structure (222) is adjusted to the second brightness, and the exposure time of the image acquisition module (210) is the first exposure time; The first brightness is greater than the second brightness; In the bottom scanning mode, the brightness of the circumferential supplementary lighting structure (221) is adjusted to the third brightness, the brightness of the bottom supplementary lighting structure (222) is adjusted to the fourth brightness, and the exposure time of the image acquisition module (210) is the second exposure time. The third brightness is less than the first brightness, the fourth brightness is greater than the second brightness, and the second exposure time is greater than the first exposure time; In the overexposure processing mode, the brightness of the circumferential supplementary lighting structure (221) is reduced based on the original brightness, and the exposure time of the image acquisition module (210) is the third exposure time, which is less than the first exposure time.

6. The inspection equipment for manholes according to claim 5, characterized in that, When the probe unit (200) is located at a depth h in the inspection well (1) in the range of 0 < h < H - 50 cm, the supplementary light module (220) operates in the main scanning mode of the well wall, where H is the total depth of the inspection well (1); When the probe unit (200) is located at a depth h in the inspection well (1) in the range of H-50cm≤h<H, the supplementary light module (220) operates in the bottom scanning mode; When the proportion of highlight area in the image acquired by the image acquisition module (210) is greater than 20%, the fill light module (220) operates in the overexposure processing mode.

7. The inspection equipment for manholes according to any one of claims 1-6, characterized in that, The suspended acquisition unit (100) includes a mobile trolley (110), a cable (120), a cable box (130), and a cable bracket (140). The cable box (130) is disposed in the mobile trolley (110). The cable bracket (140) is connected to the mobile trolley (110) and extends in a direction away from the mobile trolley (110). The cable (120) is wound in the cable box (130) and extends around the cable bracket (140). The probe unit (200) is connected to the cable (120). The control unit (300) is integrated on the mobile trolley (110) and connected to the probe unit (200) through the cable (120).

8. The inspection equipment for manholes according to claim 7, characterized in that, The cable support (140) includes a centering mechanism (141) and a guide roller (142). The centering mechanism (141) is movably disposed on the mobile trolley (110) and extends out of the mobile trolley (110). The centering mechanism (141) is capable of moving so that the movement path of the probe unit (200) coincides with the central axis of the inspection well (1). The guide roller (142) is disposed at the end of the centering mechanism (141) away from the mobile trolley (110). The cable (120) extends along the centering mechanism (141) and passes around the guide roller (142) before being connected to the probe unit (200).

9. The inspection equipment for manholes according to claim 8, characterized in that, The cable (120) has a rectangular cross-section, and the side with the larger area among the multiple peripheral portions of the cable (120) is attached to the guide roller (142).

10. A method for detecting inspection wells, characterized in that, The inspection well detection method is based on the inspection well detection equipment according to any one of claims 1-9 to detect the inspection well (1), the inspection well detection equipment further includes an information identification unit (400), the information identification unit (400) stores the location information and scale calibration data of the corresponding inspection well (1); the inspection well detection method includes: S10. Arrange the hoisting acquisition unit (100) and the information identification unit (400) at the entrance of the inspection well (1). S20. The probe unit (200) is used to collect the location information of the inspection well (1) stored in the information identification unit (400), and the information identification unit (400) is used to verify it. The scale calibration data stored in the information identification unit (400) is also collected and the scale calibration data is transmitted to the control unit (300). S30. The probe unit (200) is lowered into the inspection well (1) through the hoisting acquisition unit (100) to collect image data in the inspection well (1). While collecting the image data, the well depth data corresponding to the probe unit (200) is recorded in real time. The system performs frame-by-frame time synchronization and sequence association between the well depth data and the image data to form an associated data sequence. S40. The data modeling module (320) preprocesses the associated data sequence and calls the scale calibration data to generate a three-dimensional point cloud image and / or a three-dimensional model and / or an unfolded diagram. S50, The measurement and analysis module (330) generates defect measurement data based on the defects displayed in the image data, and the defect measurement data is generated based on the scale calibration data; S60, the report output module (340) generates a report file, the report file including defect type, defect size parameters, defect location characteristics, defect severity and repair suggestions; S70, the data management module (350) stores the image data, the well depth data, the defect measurement data, the three-dimensional point cloud image, the three-dimensional model and the unfolded diagram.

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