Underground roadway space measuring device based on Beidou positioning and orientation

Abstract

The utility model provides an underground roadway space measuring device based on Beidou positioning and orientation, which comprises a centering rod, the top of the centering rod is fixedly provided with a circular level bubble, and the bottom of the centering rod is supported on an underground roadway; the Beidou positioning and orientation module is arranged at the top of the centering rod and comprises a compass and a Beidou GNSS receiver; the data acquisition module is arranged at the bottom of the centering rod and above the water surface in the underground roadway and comprises an underground searchlight, a visible light camera, a range finder and a handheld SLAM scanner, and all the devices are coaxial with a compass; and the telescopic centering supporting rods are provided with three-stage telescopic structures, are arranged in the middle of the centering rod and are supported on the foundation, and the three telescopic centering supporting rods are arranged with the centering rod as the center. The underground roadway space measurement device based on Beidou positioning and orientation can obtain space measurement data and visible light camera videos, and realizes high-precision underground roadway three-dimensional space measurement.

Description

TECHNICAL FIELD

[0001] The utility model belongs to underground engineering surveying and mapping technical field, especially relate to a kind of underground roadway space measuring device based on beidou positioning orientation. BACKGROUND

[0002] Rational development and utilization of urban underground space have become an important means to improve urban carrying capacity, relieve traffic pressure and improve urban environment. Under this background, as an important part of urban underground space, the redevelopment and reconstruction of underground roadway have important significance for promoting urban planning development and national security construction. Therefore, it is necessary to deeply understand the structure and route information of underground roadway engineering.

[0003] However, due to the long construction time, the existing result drawings cannot meet the current construction needs, and it is urgently needed to re-survey the underground roadway. Underground roadway has the characteristics of space airtightness, complex structure, large area and high scene repetition rate. The existing measurement method of underground roadway has large workload and is prone to error, which is difficult to ensure the measurement accuracy. When using underground mobile robot scanning, it cannot adapt to narrow ventilation shaft or drilling operation scene. In addition, due to rainwater backflow and engineering structure seepage, some underground roadways have water storage conditions, which makes it difficult for measurement personnel and scanning robots to safely enter the interior for measurement. Although underwater measurement robots can be used, their operation cost is high and the risk is large. UTILITY MODEL CONTENT

[0004] Therefore, the utility model aims to provide a kind of underground roadway space measuring device based on beidou positioning orientation to solve the problems of low positioning accuracy, poor multi-sensor collaboration and inability to adapt to water storage roadway remote operation of existing underground roadway surveying and mapping device.

[0005] To achieve the above purpose, the technical scheme of the utility model is as follows:

[0006] The utility model provides a kind of underground roadway space measuring device based on beidou positioning orientation, including, centering rod, its top is fixed with round water level bubble, centering rod bottom supports on underground roadway;Beidou positioning orientation module is located at the top of centering rod, including compass and beidou GNSS receiver;Data acquisition module is located at the bottom of centering rod and is placed above water surface in underground roadway, including underground searchlight, visible light camera, range finder and handheld SLAM scanner, each equipment is coaxial with compass;Telescopic centering support rod has three-stage telescopic structure and is supported on foundation in the middle of centering rod, and three telescopic centering support rods are arranged around the centering rod.

[0007] Further, the length of the centering rod is 6±0.5 meters, and the material is carbon fiber.

[0008] Further, the left side of the centering rod is provided with a knob, the right end of the knob penetrates into the inner cavity of the centering rod and is fixed with the slider slot of the inner tube, thereby fixing the Beidou GNSS receiver.

[0009] Further, the spring pin is used to lock the rod bodies of the telescopic centering support rod, and the telescopic stroke is 0.5-1.2 m.

[0010] Further, the bottom of the centering rod is fixed with a magnetic bracket, the magnetic bracket comprises a searchlight bracket, a visible light camera bracket, a range finder bracket and a scanner bracket, the spacing between the magnetic brackets is 10-15 cm, the surface of any magnetic bracket is provided with an antiskid rubber layer, the searchlight bracket is fixed with an underground searchlight, the visible light camera bracket is fixed with a visible light camera, the range finder bracket is fixed with an underground range finder, and the scanner bracket is fixed with a handheld SLAM scanner.

[0011] Further, the underground searchlight is an LED lamp, and has a multi-grade brightness adjusting function.

[0012] Further, the Beidou GNSS receiver, the visible light camera, the range finder and the handheld SLAM scanner are connected with a tablet computer through Bluetooth.

[0013] Compared with the prior art, the underground tunnel space measuring device based on Beidou positioning and orientation has the following advantages: the Beidou positioning and orientation, visible light camera, point cloud scanning and underground ranging and other multi-source sensors are combined on a vertical rod with a length of about 6 m, and the visible light video and point cloud data can be effectively obtained by penetrating into the underground tunnel. This not only facilitates the re-mapping of underground space, significantly reduces the labor cost, but also ensures the safety of the measurement personnel. In addition, the device provides accurate data support for urban planning and development and national security construction, and is conducive to the re-planning and reconstruction of underground tunnels. BRIEF DESCRIPTION OF DRAWINGS

[0014] The drawings constituting a part of the present application are used to provide a further understanding of the present application, and the schematic embodiments of the present application and the description thereof are used to explain the present application, and do not constitute an improper limitation on the present application.

[0015] In the drawings:

[0016] Fig. 1 The shaft measurement schematic view of the underground tunnel space measuring device based on Beidou positioning and orientation is shown in the drawings;

[0017] Fig. 2 The tablet computer display schematic view of the underground tunnel space measuring device based on Beidou positioning and orientation is shown in the drawings;

[0018] Fig. 3 The application scenario schematic diagram of the underground tunnel space measurement device based on Beidou positioning orientation is described in the embodiments of the present application.

[0019] Marked with the following reference numerals:

[0020] 1, vertical rod; 2, round bubble level; 3, compass; 4, inner tube; 5, Beidou GNSS receiver; 6, antenna; 7, centering support rod; 8, searchlight bracket; 9, visible light camera bracket; 10, range finder bracket; 11, scanner bracket; 12, underground searchlight; 13, visible light camera; 14, range finder; 15, SLAM scanner; 16, knob. DETAILED DESCRIPTION

[0021] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0022] In the description of the present application, it should be understood that the orientation or position relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" and the like are only for description purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features limited by "first", "second" and the like can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0023] In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0024] The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0025] Reference is made to Figs. 1-3As shown, the embodiment provides a underground tunnel space measuring device with Beidou positioning and orientation function, mainly including, Beidou positioning and orientation module and data acquisition module, both are fixed on a length of 6±0.5 meters material for carbon fiber centering rod 1, and the scanning direction of the data acquisition module is coaxial with the direction indicated by the compass 3. The Beidou positioning and orientation module is fixed on the top of the centering rod 1, including Beidou GNSS receiver 5 and compass 3 two parts, to ensure the direction and direction of the device. The data acquisition module is fixed on the bottom of the centering rod 1, including searchlight 12, range finder 14, visible light camera 13 and handheld SLAM scanner 15 four parts, and is placed above the water surface in the underground tunnel, the distance between each part of the data acquisition module is 10-15 cm, and is connected with the tablet through Bluetooth, so as to accurately obtain the three-dimensional space condition of the underground tunnel.

[0026] Specifically, in the embodiment, the left side of the centering rod 1 is provided with a knob 16, the right end of the knob 16 penetrates into the inner cavity of the centering rod 1 and is fixed with the sliding block groove of the inner tube 4, so as to fix the Beidou GNSS receiver 5.

[0027] The top of the centering rod 1 is fixed with a circular water level bubble 2, the bottom of the centering rod 1 is supported on the underground tunnel, the middle of the centering rod 1 is supported on the telescopic centering support rod 7 provided on the foundation and having a three-stage telescopic structure, the telescopic centering support rod 7 is provided with three telescopic centering support rods 7 around the centering rod 1, the telescopic centering support rod 7 is locked by spring pin, and the telescopic stroke is 0.5-1.2m. Fig. 3 As known, in the face of underground tunnel water storage, which causes the measuring personnel to be unable to directly enter, the device can be used by means of ventilation shaft, or drilling hole on the top of the underground tunnel, starting up each equipment of the device and then going deep into the underground, adjusting the vertical rod through the telescopic centering support rod, so that the circular water level bubble is in the balanced state.

[0028] Specifically, in the embodiment, the bottom of the centering rod 1 is fixed with a magnetic bracket, the magnetic bracket includes searchlight bracket 8, visible light camera bracket 9, range finder bracket 10 and scanner bracket 11, the distance between each magnetic bracket is 10-15 cm, the surface of any magnetic bracket is provided with an anti-skid rubber layer, the searchlight bracket 8 is fixed with underground searchlight 12. The visible light camera bracket 9 is fixed with visible light camera 13, the range finder bracket 10 is fixed with underground range finder 14, and the scanner bracket 11 is fixed with handheld SLAM scanner 15.

[0029] Specifically, in the embodiment, the underground searchlight 12 is a LED lamp, which has a multi-grade brightness adjustable function.

[0030] Specifically, in the embodiment, the tablet is connected with the Beidou GNSS receiver 5 to obtain the GPS coordinate value of the point.

[0031] Specifically, in the embodiment, the tablet is connected with the visible light camera 13 to obtain the returned visible light video.

[0032] Specifically, in the embodiment, the tablet is connected with the handheld SLAM scanner 15 to obtain the point cloud information of the underground tunnel engineering structure in real time.

[0033] It should be emphasized that the tablet should be connected with the Beidou GNSS receiver 5, the visible light camera 13 and the handheld SLAM scanner 15 and the range finder 14 in sequence, and the positioning data, the visible light camera video and the three-dimensional point cloud scanning data should be obtained in sequence.

[0034] The above only describes the preferred embodiment of the present application, and is not intended to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A device for measuring the space of an underground tunnel based on Beidou positioning and orientation, characterized in that, Including, to the center pole (1), its top is fixed with round bubble (2), the center pole (1) bottom supports on the underground roadway; The Beidou positioning and orientation module is arranged at the top of the centering rod (1) and includes a compass (3) and a Beidou GNSS receiver (5). The data acquisition module is arranged at the bottom of the centering rod (1) and above the water surface in the underground tunnel, and includes an underground searchlight (12), a visible light camera (13), a range finder (14), and a handheld SLAM scanner (15). Each device is coaxial with the compass (3). The telescopic centering support rod (7) has a three-stage telescopic structure and is arranged at the middle of the centering rod (1) and supported on the foundation. The telescopic centering support rod (7) is arranged with three rods around the centering rod (1).

2. The underground tunnel space measuring device based on Beidou positioning orientation according to claim 1, characterized in that, The length of the centering rod (1) is 6±0.5 meters, and the material is carbon fiber.

3. The underground tunnel space measuring device based on Beidou positioning orientation according to claim 2, characterized in that, A knob (16) is arranged on the left side of the centering rod (1). The right end of the knob (16) penetrates into the inner cavity of the centering rod (1) and is fixed with the sliding block groove of the inner tube (4), thereby fixing the Beidou GNSS receiver (5).

4. The underground tunnel space measuring device based on Beidou positioning orientation of claim 1, wherein, The telescopic centering support rod (7) is locked by spring pins between each stage of rod body, and the telescopic stroke is 0.5-1.2m.

5. The underground tunnel space measuring device based on Beidou positioning orientation of claim 1, wherein, The bottom of the centering rod (1) is fixed with a magnetic bracket, which includes a searchlight bracket (8), a visible light camera bracket (9), a range finder bracket (10), and a scanner bracket (11). The spacing between each magnetic bracket is 10-15cm. Each magnetic bracket is provided with an anti-skid rubber layer. The searchlight bracket (8) is fixed with an underground searchlight (12). The visible light camera bracket (9) is fixed with a visible light camera (13). The range finder bracket (10) is fixed with an underground range finder (14). The scanner bracket (11) is fixed with a handheld SLAM scanner (15).

6. The underground tunnel space measuring device based on Beidou positioning orientation of claim 1, wherein, The underground searchlight (12) is an LED lamp with multiple brightness adjustment functions.

7. The underground tunnel space measuring device based on Beidou positioning and orientation according to claim 1, characterized in that, The Beidou GNSS receiver (5), the visible light camera (13), the range finder (14), and the handheld SLAM scanner (15) are connected to a tablet computer through Bluetooth.

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