Urban underground pipeline positioning and monitoring device

Abstract

The utility model discloses an urban underground pipeline positioning and monitoring device, and relates to the field of urban underground pipeline positioning and monitoring. The device comprises a base, the outer ring of the base is provided with a moving mechanism used for controlling the device to move, and the base is further provided with a camera module used for obtaining image information, a three-dimensional information measuring module used for obtaining three-dimensional position information, a storage unit used for storing information and a power source used for supplying power to all the modules. The whole device is driven by the moving mechanism to move in the pipeline, so that position and speed calculation is carried out through the inertial measurement unit, accumulated errors of the inertial measurement unit are calibrated in combination with data obtained by the odometer and the barometer, accurate pipeline position information is obtained, meanwhile, the camera module obtains internal image information of the pipeline, and the position of the pipeline is accurately measured. The system can effectively monitor the internal aging and damage of the pipeline, and can position the aging and damage positions of the pipeline in combination with the position information of the pipeline.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the city underground pipeline positioning, monitoring field, specifically, especially relate to a kind of city underground pipeline positioning monitoring device. BACKGROUND

[0002] With the deepening of urbanization process, underground pipeline demand is strengthened, city underground pipeline large-scale construction, formed the crisscross city underground pipeline system.The mutual insertion between different pipelines, pipeline reconstruction, expansion and other engineering construction lead to city underground pipeline system increasingly complex.At the same time, due to the lack of planning in early construction, city underground pipeline interweave confusion, find out the three-dimensional layout of underground pipeline is the precondition of construction comprehensive pipe gallery.Currently used electromagnetic induction method, geological radar method, acoustic detection method precision is insufficient, difficult to accurately locate underground pipeline accurate position.

[0003] City underground pipeline plays an important role in urban infrastructure, if underground pipeline cannot be repaired in time, pipeline will be damaged due to aging, damage, crack and other reasons, seriously affect the normal life of urban residents.Therefore, monitoring the inside of pipeline, finding pipeline defects and repairing in time, for urban infrastructure has important significance.

[0004] Therefore, a device that can move in the pipeline to obtain underground pipeline position information and three-dimensional data such as buried depth, while monitoring the aging and damage of the pipeline inside is proposed. UTILITY MODEL CONTENT

[0005] In view of the problems in the related art, the utility model provides a kind of city underground pipeline positioning monitoring device to overcome the above technical problems existing in the prior art.

[0006] To solve the above technical problems, the utility model is realized by the following technical scheme:

[0007] The utility model is a kind of city underground pipeline positioning monitoring device, including base, the outer ring of base is equipped with the moving mechanism for controlling device movement, the base is also equipped with the camera module for obtaining image information, three-dimensional information measurement module for obtaining three-dimensional position information, storage unit for storing information and power supply for powering each module.

[0008] Further, the base includes a ring-shaped mounting bracket, and the inner ring of the ring-shaped mounting bracket is fixedly installed with a machine case for installing the camera module, the three-dimensional information measurement module, the storage unit and the power supply.

[0009] Furthermore, the moving mechanism includes a controller and multiple elastic telescopic rods. The controller is fixedly installed inside the housing, and the multiple elastic telescopic rods are circumferentially distributed and installed on the outer ring of the annular mounting frame. A moving wheel is rotatably installed on the outer end of each elastic telescopic rod, and a drive motor that is connected to the moving wheel is also fixedly installed on the outer end of each elastic telescopic rod.

[0010] Furthermore, a V-shaped bracket is fixedly installed on the outer end of the elastic telescopic rod, and the movable wheel is rotatably installed on both ends of the V-shaped bracket. A drive motor that is pulsorily connected to one of the movable wheels is fixedly installed on the outer side of one end of the V-shaped bracket.

[0011] The surface of the movable wheel is provided with transverse anti-slip texture.

[0012] Furthermore, the camera module includes LED lights and a camera, with the LED lights mounted on both sides of the housing and the camera mounted on the top of the housing.

[0013] Furthermore, the three-dimensional information measurement module includes an inertial measurement unit, a barometer, and a wheeled odometer. The inertial measurement unit is installed inside the housing and located at the center of gravity of the device. The barometer is fixedly installed inside the housing and placed parallel to the inertial measurement unit. The wheeled odometer is installed on the outside of the moving wheel.

[0014] Furthermore, the storage unit includes a memory module and a transmission interface. The memory module is installed inside the housing and is signal-connected to the camera module and the 3D information measurement module. The transmission interface is installed on the side of the housing and is signal-connected to the memory module.

[0015] This utility model has the following beneficial effects:

[0016] In this invention, a moving mechanism drives the entire device to move within the pipeline, thereby enabling the inertial measurement unit to calculate position and velocity. Combined with data obtained from the odometer and barometer, the cumulative error of the inertial measurement unit is calibrated to obtain relatively accurate pipeline position information. Simultaneously, the camera module acquires image information of the pipeline interior, enabling effective monitoring of aging and damage within the pipeline. Combined with the pipeline position information, the location of aging and damage in the pipeline can be pinpointed.

[0017] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the utility model embodiments, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For those skilled in the art, the drawings can be obtained from these drawings without creative effort.

[0019] Fig. 1 This is a three-dimensional structural diagram of the pipeline positioning and monitoring device of this utility model;

[0020] Fig. 2 This is a front view of the pipeline positioning and monitoring device of this utility model;

[0021] Fig. 3 This is a schematic diagram of the internal structure of the base of the pipeline positioning and monitoring device of this utility model.

[0022] In the diagram: 1. Base; 2. Moving mechanism; 3. 3D information measurement module; 4. Storage unit; 5. Camera module; 6. Power supply; 11. Ring mounting bracket; 12. Housing; 21. Elastic telescopic rod; 22. Moving wheel; 23. Drive motor; 24. Controller; 31. Inertial measurement unit; 32. Barometer; 33. Wheel odometer; 41. Memory module; 42. Transmission interface; 51. LED light; 52. Camera. Detailed Implementation

[0023] The technical solutions of the utility model embodiments will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the utility model, and not all embodiments. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the utility model.

[0024] In the description of this utility model, it should be understood that the terms "opening", "upper", "lower", "top", "middle", "inner", etc., which indicate orientation or positional relationship, are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the components or elements 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 utility model.

[0025] Please see Figs. 1-3 As shown, this utility model is a positioning and monitoring device for urban underground pipelines, including a base 1. A moving mechanism 2 for controlling the movement of the device is installed on the outer ring of the base 1. A camera module 5 for acquiring image information, a three-dimensional information measurement module 3 for acquiring three-dimensional position information, a storage unit 4 for storing information, and a power supply 6 for supplying power to each module are also installed on the base 1.

[0026] The power supply 6 is connected to the moving mechanism 2, the 3D information measurement module 3, the storage unit 4, and the camera module 5 via wires to power each module. When monitoring the positioning of a pipeline, the device is placed inside the pipeline, and the moving mechanism 2 drives the device to move forward along the inside of the pipeline. At the same time, the 3D information measurement module 3 detects and acquires the 3D position information of the device to perform 3D positioning of the pipeline and obtain relatively accurate pipeline position information. The camera module 5 acquires image information inside the pipeline to monitor aging and damage inside the pipeline and stores the monitoring and positioning information in the storage unit 4. The device is taken out at the end or connection of the underground pipeline, and the storage unit 4 is connected to the computer to receive images and position information. The information from the 3D information measurement module 3 is analyzed to obtain the position information of the underground pipeline. At the same time, based on the position information of the acquired image information, the location of pipeline damage and aging can be located.

[0027] Specifically, the base 1 includes an annular mounting frame 11. The inner ring of the annular mounting frame 11 is fixedly mounted with a housing 12 for mounting the camera module 5, the 3D information measurement module 3, the storage unit 4, and the power supply 6. The moving mechanism 2 includes a controller 24 and multiple elastic telescopic rods 21. The controller 24 is fixedly mounted inside the housing 12. The multiple elastic telescopic rods 21 are circumferentially distributed and mounted on the outer ring of the annular mounting frame 11. The outer ends of the elastic telescopic rods 21 are rotatably mounted with moving wheels 22. The outer ends of the elastic telescopic rods 21 are also fixedly mounted with a drive motor 23 that is connected to the moving wheels 22.

[0028] The device features an elastic telescopic rod 21 that automatically adjusts the overall outer diameter of the device according to the inner diameter of the pipe, allowing it to be placed inside the pipe. The moving wheels 22 abut against the inner wall of the pipe under the elastic action of the telescopic rod 21. Then, the controller 24 controls multiple drive motors 23 to start synchronously, causing the drive motors 23 to drive each moving wheel 22 to rotate synchronously, thus moving the device forward inside the pipe. The device then moves and positions itself within the pipe for monitoring, driven by the annular mounting frame 11 and the housing 12, which in turn drive the three-dimensional information measurement module 3 and the camera module 5.

[0029] Specifically, a V-shaped bracket is fixedly installed on the outer end of the elastic telescopic rod 21. Two movable wheels 22 are rotatably mounted on both ends of the V-shaped bracket. A drive motor 23, which is connected to one of the movable wheels 22, is fixedly installed on the outer side of one end of the V-shaped bracket. The movable wheels 22 have transverse anti-slip textures on their surfaces. By using a V-shaped bracket to install two movable wheels 22 on the outer end of the elastic telescopic rod 21, the stability of the movable wheels 22 in the pipeline is improved, thereby improving the overall stability of the device's movement within the pipeline. Furthermore, one of the two movable wheels 22 on the V-shaped bracket is connected to the drive motor 23 as the main drive wheel, while the other is not connected to the drive motor 23 and serves as the driven wheel. This reduces the number of drive motors 23 used, lowering equipment costs. The transverse anti-slip textures on the surface of the movable wheels 22 improve their anti-slip performance, preventing them from rubbing and slipping against the inner wall of the pipeline, ensuring stable movement of the device within the pipeline.

[0030] Specifically, the camera module 5 includes an LED light 51 and a camera 52. The LED light 51 is installed on both sides of the housing 12, and the camera 52 is installed on the top of the housing 12. The LED light 51 can illuminate the inside of the pipe, thereby facilitating the camera 52 to capture and obtain image information of the inside of the pipe.

[0031] Specifically, the three-dimensional information measurement module 3 includes an inertial measurement unit 31, a barometer 32, and a wheeled odometer 33. The inertial measurement unit 31 is installed inside the housing 12 and located at the center of gravity of the device. The barometer 32 is fixedly installed inside the housing 12 and placed parallel to the inertial measurement unit 31. The wheeled odometer 33 is installed on the outside of the moving wheel 22.

[0032] Among them, the wheel odometer 33 records mileage information by recording the rotation of the measuring wheel 22; the barometer 32 records depth information by recording changes in air pressure; the inertial measurement unit 31 records the motion acceleration and angular velocity of the device through the built-in accelerometer and gyroscope, and performs integral calculations to obtain changes in position information. The accuracy of position information is improved by combining the information from the wheel odometer 33 and the barometer 32 through analytical calculations.

[0033] Specifically, the storage unit 4 includes a memory module 41 and a transmission interface 42. The memory module 41 is installed inside the housing 12 and is signal-connected to the camera module 5 and the 3D information measurement module 3. The transmission interface 42 is installed on the side of the housing 12 and is signal-connected to the memory module 41. The memory module 41 is used to receive digital image information from the camera module 5 and digital position information from the 3D information measurement module 3. The transmission interface 42 is used to read the information stored in the memory module 41.

[0034] The implementation steps of this utility model are as follows:

[0035] The device is placed inside the pipeline. The elastic contraction of the elastic telescopic rod 21 allows multiple moving wheels 22 to effectively press against the inner wall of the pipeline. After placement, the inertial measurement unit 31, barometer 32, and wheeled odometer 33 are leveled, and the initial position information is recorded for subsequent analysis of relative position information to determine the three-dimensional information of the underground pipeline. LED lights 51 are turned on to illuminate the inside of the pipeline, and camera 52 is activated to record images of the pipeline interior. Both the position and image information are stored in storage unit 4. Subsequently, the controller 24 controls the drive motor 23 to rotate the moving wheels 22, causing the entire device to move within the pipeline. This monitors the pipeline and records its position information. The device is retrieved at the end or connection point of the underground pipeline and connected to a computer via transmission interface 42 to receive images and position information. The information from the three-dimensional information measurement module 3 is then analyzed to obtain the underground pipeline's position information. Simultaneously, based on the position information obtained from the acquired images, the location of pipeline damage or aging can be pinpointed.

[0036] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0037] The preferred embodiments of the utility model disclosed above are merely illustrative of the utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the utility model, thereby enabling those skilled in the art to better understand and utilize the utility model.

Claims

1. An urban underground pipe positioning monitoring device comprising a base (1), characterized in that: The outer ring of the base (1) is provided with a moving mechanism (2) for controlling the movement of the device, and the base (1) is further provided with a camera module (5) for acquiring image information, a three-dimensional information measuring module (3) for acquiring three-dimensional position information, a storage unit (4) for storing information, and a power supply (6) for supplying power to each module.

2. The urban underground pipeline positioning monitoring device according to claim 1, characterized in that: The base (1) comprises a ring-shaped mounting rack (11), and the inner ring of the ring-shaped mounting rack (11) is fixedly provided with a casing (12) for mounting the camera module (5), the three-dimensional information measuring module (3), the storage unit (4), and the power supply (6).

3. The urban underground pipeline positioning monitoring device according to claim 2, characterized in that: The moving mechanism (2) comprises a controller (24) and a plurality of elastic telescopic rods (21), the controller (24) is fixedly installed in the interior of the casing (12), and the plurality of elastic telescopic rods (21) are circumferentially distributed and installed on the outer ring of the ring-shaped mounting rack (11), the outer side end of the elastic telescopic rod (21) is rotatably provided with a moving wheel (22), and the outer side end of the elastic telescopic rod (21) is further fixedly provided with a driving motor (23) in transmission connection with the moving wheel (22).

4. The urban underground pipeline positioning monitoring device according to claim 3, characterized in that: The outer side end of the elastic telescopic rod (21) is fixedly provided with a V-shaped support, both ends of the V-shaped support are rotatably provided with the moving wheel (22), and the outer side of one end of the V-shaped support is fixedly provided with a driving motor (23) in transmission connection with one of the moving wheels (22). The surface of the moving wheel (22) is provided with transverse anti-skid lines.

5. The urban underground pipeline positioning monitoring device according to claim 2, characterized in that: The camera module (5) comprises an LED lamp (51) and a camera (52), the LED lamp (51) is installed on both sides of the casing (12), and the camera (52) is installed on the top of the casing (12).

6. The urban underground pipeline positioning monitoring device according to claim 4, characterized in that: The three-dimensional information measuring module (3) comprises an inertial measurement unit (31), a barometer (32), and a wheel odometer (33), the inertial measurement unit (31) is installed in the casing (12) and located at the center of gravity of the device, the barometer (32) is fixedly installed in the interior of the casing (12) and placed in parallel with the inertial measurement unit (31), and the wheel odometer (33) is installed on the outer side of the moving wheel (22).

7. The urban underground pipeline positioning monitoring device according to claim 2, characterized in that: The storage unit (4) comprises a memory bank (41) and a transmission interface (42), the memory bank (41) is installed in the interior of the casing (12) and signal-connected with the camera module (5) and the three-dimensional information measuring module (3), and the transmission interface (42) is installed on the side of the casing (12) and signal-connected with the memory bank (41).

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