Pipeline detection system based on laser SLAM technology
By using a pipeline inspection system based on laser SLAM technology, combined with a 3D scanner and a multi-rotation mechanism, the problems of low accuracy and limited field of view in existing pipeline inspection technologies in dark environments have been solved, achieving high-precision all-around pipeline inspection and improving inspection efficiency and flexibility.
Patent Information
- Application Number
- CN202520317970.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-26
- Publication Date
- 2025-11-21
- Estimated Expiration
- 2035-02-26
AI Technical Summary
Existing pipeline inspection technologies perform poorly in dark environments, have low accuracy, and suffer from limited visibility and blind spots, making it impossible to fully inspect the inside of pipelines.
A pipeline inspection system based on laser SLAM technology is adopted, which combines a 3D scanner and a mobile carrier. It achieves all-round inspection through a supporting rotating unit and multiple rotating mechanisms, and uses laser SLAM technology to build a high-precision 3D map in a dark environment.
It enables high-precision, all-around pipeline inspection in dark environments, improving inspection efficiency and flexibility. The constructed 3D map has strong visibility and provides useful maintenance information.
Smart Images
Figure CN223581041U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to pipeline detection technical field, especially relate to a pipeline detection system based on laser SLAM technique. BACKGROUND
[0002] Pipeline is used for conveying gas, liquid or fluid with solid particles, usually contains three types, namely long distance conveying pipeline (such as oil and gas pipeline), city public pipeline (such as city water supply pipe, sewer), industrial pipeline (such as the pipeline for conveying production raw materials, waste slag etc. in factory). These pipelines are spread in city and suburb, constitute a huge complex underground network, they are the important infrastructure of city, are metaphorically compared as the "lifeline" of city. However, with the passage of time and the influence of external environment, the internal structure and external environment of pipeline can change, so the detection and maintenance of pipeline are crucial.
[0003] At present, pipeline CCTV (Closed Circuit Television) detection technology is usually used to detect pipeline, it is using the crawling robot to carry the camera to shoot the inside of pipeline, records the specific situation inside pipeline, then carries out evaluation and subsequent work. The technology has certain effect, however still has many problems: the effect of camera shooting mode is poor in dark place and complex terrain, the measurement data is inaccurate, the depth and path of pipe network are complex, leading to the limited field of view of camera, etc. Meanwhile, there is certain blind area in the process of camera advancing, cannot guarantee to detect every corner of pipeline.
[0004] Therefore, provide a kind of pipeline detection system that can detect pipeline in dark environment comprehensively, and detection precision is high, flexibility is high, it is the technical problem that the person skilled in the art needs to solve urgently. SUMMARY
[0005] In view of the above-mentioned deficiencies existing in prior art, the purpose of the utility model is to provide a kind of pipeline detection system based on laser SLAM technique, the utility model can detect pipeline in dark environment comprehensively, and detection precision is high, flexibility is high.
[0006] The technical scheme of the utility model is as follows:
[0007] A kind of pipeline detection system based on laser SLAM technique, mobile carrier, three-dimensional scanner and mobile terminal.
[0008] The three-dimensional scanner is arranged at the front end of the mobile carrier by supporting rotating unit, for obtaining internal data of pipeline;The mobile carrier has a positioning module for obtaining the geographical position information of the mobile carrier.
[0009] The three-dimensional scanner and the positioning module are connected with the mobile terminal to transmit the geographic position information and the pipeline internal data to the mobile terminal, and the mobile terminal has a control module for controlling the support rotating unit to adjust the three-dimensional scanner to detect the pipeline internally in all directions.
[0010] Further, the support rotating unit comprises a first rotating mechanism, a second rotating mechanism and a third rotating mechanism; the first rotating mechanism is arranged at the front end of the mobile carrier through a horizontally arranged support rod, and the rotating shaft of the first rotating mechanism is transversely parallel to the mobile carrier; the second rotating mechanism is connected with the first rotating mechanism through a connecting arm, and the second rotating mechanism is arranged parallel to the first rotating mechanism and can rotate with the first rotating mechanism; the three-dimensional scanner is rotatably arranged on the third rotating mechanism and connected with the second rotating mechanism through the third rotating mechanism, so as to rotate with the second rotating mechanism; and the rotating shaft of the third rotating mechanism is perpendicular to the rotating shaft of the second rotating mechanism.
[0011] Further, the mobile carrier is a pipeline robot, and the pipeline robot comprises a caterpillar wheel, a caterpillar belt arranged on the caterpillar wheel and a vehicle body supported on the caterpillar belt.
[0012] Further, the three-dimensional scanner comprises a laser light source and receiving sensors arranged on both sides of the laser light source, and the two receiving sensors are arranged to be inclined to the direction of the laser light source at the same time, so as to receive reflected light.
[0013] Further, the mobile terminal is a computer, a tablet computer or a mobile phone.
[0014] Further, the mobile terminal and the mobile carrier communicate through a wireless network.
[0015] Compared with the prior art, the utility model has the advantages of the following:
[0016] 1. The utility model adopts a three-dimensional scanner to acquire pipeline internal data, and the three-dimensional scanner adopts a laser SLAM technology, can work in a dark environment, can acquire pipeline internal data with high precision and construct a three-dimensional map, can effectively improve the precision of pipeline detection, the three-dimensional map constructed has visibility, can improve detection efficiency, and can provide favorable information for pipeline maintenance.
[0017] 2. The utility model can flexibly control the three-dimensional scanner through the cooperative work of the three rotating mechanisms, can flexibly scan the pipeline internally in multiple visual angles and in all directions, and can improve high-precision and all-directional detection. BRIEF DESCRIPTION OF DRAWINGS
[0018] Figure 1 The utility model discloses a structure schematic diagram.
[0019] Figure 2- a schematic diagram of the distribution of the laser light source and receiving sensor of the three-dimensional scanner.
[0020] Wherein: 1 - track wheel; 2 - vehicle body; 3 - support rod; 4 - first rotating mechanism; 5 - connecting arm; 6 - second rotating mechanism; 7 third rotating mechanism; 8 - three-dimensional scanner; 9 - receiving sensor; 10 laser light source. DETAILED DESCRIPTION
[0021] The utility model will be further explained in detail below in combination with the drawings and specific embodiments.
[0022] Referring to Figure 1 and Figure 2 A pipeline detection system based on laser SLAM technology, a mobile carrier, a three-dimensional scanner 8 and a mobile terminal.
[0023] The three-dimensional scanner 8 is arranged at the front end of the mobile carrier through a support rotating unit and is used to acquire internal data of the pipeline; the mobile carrier is provided with a positioning module for acquiring geographical position information of the mobile carrier.
[0024] The three-dimensional scanner 8 and the positioning module are connected with the mobile terminal to transmit the geographical position information and the internal data of the pipeline to the mobile terminal, and the mobile terminal is provided with a control module for controlling the support rotating unit to adjust the three-dimensional scanner 8 to perform omnibearing detection in the pipeline.
[0025] The three-dimensional scanner 8 comprises a laser light source 10 and receiving sensors 9 arranged on both sides of the laser light source 10, and the two receiving sensors 9 are arranged obliquely towards the laser light source 10 to facilitate the reception of reflected light. The three-dimensional scanner 8 adopts the laser SLAM technology, can work in the dark, can acquire internal data of the pipeline with high precision and construct a three-dimensional map, so as to effectively improve the precision of pipeline detection, and the constructed three-dimensional map has visibility, so as to improve the detection efficiency.
[0026] In specific implementation, the support rotating unit comprises a first rotating mechanism 4, a second rotating mechanism 6 and a third rotating mechanism 7.
[0027] The first rotating mechanism 4 is arranged at the front end of the mobile carrier through a horizontally arranged support rod 3, and the rotating shaft of the first rotating mechanism 4 is transversely parallel to the mobile carrier (here, the front-rear direction of the mobile carrier is the longitudinal direction of the mobile carrier, and the left-right direction is the transverse direction of the mobile carrier), the second rotating mechanism 6 is connected with the first rotating mechanism 4 through a connecting arm 5, the second rotating mechanism 6 is arranged parallel to the first rotating mechanism 6 and can rotate with the first rotating mechanism 4, the three-dimensional scanner 8 is rotatably arranged on the third rotating mechanism 7 and connected with the second rotating mechanism 6 through the third rotating mechanism 7, so as to rotate with the second rotating mechanism 6, and the rotating shaft of the third rotating mechanism 7 is perpendicular to the rotating shaft of the second rotating mechanism 6.
[0028] Here, the three-dimensional scanner can rotate around the rotation axis of the third rotating mechanism under the driving of the third rotating mechanism, the whole composed of the three-dimensional scanner and the third rotating mechanism can rotate around the rotation axis of the second rotating mechanism under the driving of the second rotating mechanism, and the whole composed of the three-dimensional scanner, the third rotating mechanism and the second rotating mechanism can rotate around the rotation axis of the first rotating mechanism under the driving of the first rotating mechanism. In this way, when the height of the three-dimensional scanner needs to be adjusted, the first rotating mechanism can be controlled to rotate, and the second rotating mechanism can be controlled to adjust the orientation of the three-dimensional scanner, and when the three-dimensional scanner needs to be adjusted to scan the side surface, the third rotating mechanism is controlled, so that the inside of the pipeline can be flexibly scanned in multiple perspectives and in all directions by adjusting the three rotating mechanisms, thereby improving the high-precision and all-directional detection.
[0029] In specific implementation, the mobile carrier is a pipeline robot, and in the embodiment, the pipeline robot comprises a crawler wheel 1, a crawler belt arranged on the crawler wheel 1 and a vehicle body 2 supported on the crawler belt.
[0030] In specific implementation, the mobile terminal is a computer, a tablet computer or a mobile phone, and the mobile terminal and the mobile carrier communicate through a wireless network (such as a 5G network).
[0031] The positioning module adopts a Beidou satellite positioning system for positioning.
[0032] Finally, it should be noted that the above embodiments of the utility model are only examples for illustrating the utility model, and are not a limitation on the embodiments of the utility model. For ordinary skilled persons in the art, other different forms of changes and variations can be made on the basis of the above description. All the embodiments cannot be exhausted here. Any obvious changes or variations derived from the technical solutions of the utility model still fall within the protection scope of the utility model.
Claims
1. A pipeline inspection system based on laser SLAM technology, characterized in that, Mobile carriers, 3D scanners, and mobile terminals; The 3D scanner is mounted at the front end of the mobile carrier via a supporting rotation unit and is used to acquire data inside the pipe; the mobile carrier has a positioning module for acquiring the geographical location information of the mobile carrier. The 3D scanner and positioning module are connected to a mobile terminal to transmit geographical location information and pipeline internal data to the mobile terminal. The mobile terminal also has a control module to control the support rotation unit to adjust the 3D scanner for omnidirectional inspection of the pipeline.
2. The pipeline inspection system based on laser SLAM technology according to claim 1, characterized in that, The supporting rotation unit includes a first rotation mechanism, a second rotation mechanism, and a third rotation mechanism; The first rotating mechanism is mounted on the front end of the moving carrier via a horizontally arranged support rod, and the rotation axis of the first rotating mechanism is parallel to the moving carrier laterally. The second rotating mechanism is connected to the first rotating mechanism via a connecting arm, and the second rotating mechanism is parallel to the first rotating mechanism and can rotate with the first rotating mechanism. The 3D scanner is rotatably mounted on the third rotating mechanism and connected to the second rotating mechanism via the third rotating mechanism, so that it can rotate with the second rotating mechanism. The rotation axis of the third rotating mechanism is perpendicular to the rotation axis of the second rotating mechanism.
3. A pipeline inspection system based on laser SLAM technology according to claim 1 or 2, characterized in that, The mobile carrier is a pipeline robot, which includes tracked wheels, tracks on the tracked wheels, and a vehicle body supported on the tracks.
4. A pipeline inspection system based on laser SLAM technology according to claim 1 or 2, characterized in that, The 3D scanner includes a laser light source and receiving sensors located on both sides of the laser light source. The two receiving sensors are simultaneously tilted towards the laser light source to receive reflected light.
5. A pipeline inspection system based on laser SLAM technology according to claim 1, characterized in that, The mobile terminal can be a computer, tablet, or mobile phone.
6. A pipeline inspection system based on laser SLAM technology according to claim 1, characterized in that, Mobile terminals and mobile carriers communicate via wireless networks.