A rapid three-dimensional coordinate positioning auxiliary device for concealed pipelines in installation engineering

Abstract

This invention relates to the technical field of concealed pipeline mapping, and in particular to an auxiliary device for rapid three-dimensional coordinate positioning of concealed pipelines in installation projects. The invention includes a mother drone equipped with a probe and camera mounted on it. A marking nozzle is connected to the mother drone, and the marking nozzle is connected to and installed on a daughter drone. The mother drone connects the marking nozzle and the daughter drone via a flexible hose and power cable. The device uses a mother drone integrating a probe and camera, enabling multi-angle, omnidirectional spatial scanning and image acquisition of concealed pipelines. This achieves rapid and accurate three-dimensional coordinate positioning of the concealed pipelines, significantly improving the accuracy and reliability of the positioning. The mother drone connects the marking nozzle and the daughter drone via a flexible hose and power cable, enabling remote synchronous control. The daughter drone can flexibly move to the pipeline positioning point and automatically complete on-site marking, avoiding errors associated with traditional manual line drawing and improving the accuracy and consistency of the marking.

Description

Technical Field

[0001] This invention relates to the technical field of concealed pipeline mapping, and in particular to an auxiliary device for rapid three-dimensional coordinate positioning of concealed pipelines in installation projects. Background Technology

[0002] Installation engineering refers to the engineering process of arranging, installing, and connecting various pipelines, equipment, and systems in buildings and their ancillary facilities. It encompasses multiple professional fields such as water supply and drainage, electrical, HVAC, fire protection, and communications, and is an important part of building construction. The quality of installation engineering directly affects the functionality, safety, and ease of later maintenance of buildings. Therefore, high precision and standardization are required during construction. Concealed pipelines generally refer to various pipes and cables installed inside walls, floors, ceilings, and suspended ceilings, such as water supply and drainage pipes, power lines, low-voltage wires, and fire protection pipes. After installation, these pipelines are often covered or wrapped, making them impossible to observe or touch directly, and are thus concealed. The reasonable layout and precise positioning of concealed pipelines are of great significance for ensuring the normal operation of buildings, later maintenance, and safety protection.

[0003] Because concealed pipelines are invisible, if their three-dimensional spatial location cannot be accurately determined during construction, it is easy to accidentally damage the pipelines during subsequent renovations, repairs, or drilling through walls, causing safety hazards such as water leaks, power outages, and fires, and even leading to significant economic losses and safety accidents. Therefore, quickly and accurately determining the three-dimensional coordinates of concealed pipelines has become a key technical requirement in installation projects, which helps to improve construction efficiency, ensure construction safety, and extend the service life of pipelines. Currently, the location of concealed pipelines mostly relies on handheld detection instruments combined with manual marking. Operators need to hold the equipment on-site for a long time, which is physically demanding and affects work efficiency and accuracy. Manual recording and marking methods are prone to information transmission errors and make it difficult to achieve digital and intelligent management. Summary of the Invention

[0004] To address the problem of low accuracy in positioning and marking and reduce the intensity of manual labor, this invention provides an auxiliary device for rapid three-dimensional coordinate positioning of concealed pipelines in installation projects.

[0005] The present invention provides an auxiliary device for rapid three-dimensional coordinate positioning of concealed pipelines in installation engineering, which adopts the following technical solution:

[0006] A rapid three-dimensional coordinate positioning auxiliary device for concealed pipelines in installation engineering includes a mother drone, on which a probe and a camera are mounted in a swinging motion. The mother drone is connected to a marking nozzle, which is connected to and installed on a sub-drone. The mother drone connects the marking nozzle to the sub-drone via a flexible hose and / or power cord.

[0007] The device employs a mother drone integrated with a probe and camera, capable of multi-angle, all-around spatial scanning and image acquisition of concealed pipelines. This enables rapid and accurate positioning of the three-dimensional coordinates of concealed pipelines, significantly improving the accuracy and reliability of positioning. Through the autonomous flight and collaborative work of the drones, heavy manual operations are reduced, lowering labor intensity. Detection, positioning, and marking can all be completed automatically, significantly improving work efficiency. The camera and probe work together to collect and analyze on-site data in real time, assisting construction personnel in intuitively understanding the pipeline distribution and providing a scientific basis for subsequent construction and maintenance. The mother drone connects the marking nozzles to the sub-drones via hoses and power cables, enabling remote synchronous control. The sub-drones can flexibly move to the pipeline positioning points and automatically complete on-site marking, avoiding errors associated with traditional manual line drawing and improving the accuracy and consistency of marking. Data collected by the drones can be directly imported into a digital management platform, enabling electronic archiving of pipeline coordinates and distribution maps, facilitating subsequent querying, maintenance, and management, and promoting the informatization and intelligent development of installation projects.

[0008] Furthermore, the mother drone is equipped with an obstacle avoidance sensor and a navigation light, which are connected to the mother drone's control and processing system via control wires.

[0009] Obstacle avoidance sensors can monitor obstacles in the flight environment in real time, promptly detect potential collision risks, assist the UAV in autonomously avoiding obstacles, prevent equipment damage or positioning interruption due to collisions, and improve overall operational safety. Navigation lights provide clear visual markings in complex environments or under low light conditions, helping operators and other equipment to accurately identify the UAV's position and flight status, ensuring precise control of the flight path, and guaranteeing the successful completion of positioning tasks. The obstacle avoidance sensors and navigation lights are tightly connected to the control processing system through control wires, enabling instant feedback and processing of perceived information, giving the mother UAV autonomous obstacle avoidance and intelligent navigation capabilities, reducing reliance on human intervention, improving operational efficiency and stability, and enhancing the applicability and reliability of the device in complex environments.

[0010] Furthermore, a locator is installed inside the mother drone, and the locator is communicatively connected to the remote control component.

[0011] The locator provides high-precision location information, which helps drones navigate and locate accurately in complex construction environments, ensuring that the probe and camera can effectively cover the target area and achieve rapid location of concealed pipelines. Based on the location information, the remote control component can precisely control the drone's flight path and actions, adjust the flight strategy in a timely manner, avoid flight deviations and safety hazards, and improve the stability and safety of the operation process.

[0012] Furthermore, the mother drone is equipped with a mounting interface, which includes a mounting end for a probe and a mounting end for a camera, and the mother drone is equipped with support legs at its bottom.

[0013] The mounting interface design allows for the simultaneous installation of both sensors and cameras, enabling the mother drone to integrate multiple functional modules. The mounting interface provides a standardized installation platform for different types of sensors and operating equipment, allowing for the quick replacement or upgrading of external devices such as sensors and cameras according to actual needs. The support leg structure at the bottom of the mother drone provides stable support for the drone and its mounted equipment during takeoff, landing, and when stationary on the ground, preventing damage to the equipment due to tilting or falling, and improving the overall safety and reliability of operation.

[0014] Furthermore, the probe head is equipped with an electromagnetic sensor and an ultrasonic detector, which are respectively connected to a data conversion system. The probe head is mounted on the mother UAV by a swinging gimbal.

[0015] Electromagnetic sensors can effectively detect the metallic composition and electromagnetic properties of underground concealed pipelines, while ultrasonic detectors can collect acoustic wave reflection signals from pipelines and surrounding media. The combination of the two forms a multi-modal detection method, which significantly improves the accuracy and reliability of pipeline positioning. The probe head is controlled by a swinging gimbal, which allows the probe head to flexibly adjust the detection angle and range according to mission requirements, enhance detection coverage, ensure comprehensive detection in complex environments, avoid blind spots, and improve detection results.

[0016] Furthermore, the oscillating gimbal includes a rotary table and an oscillating frame. The rotary table is mounted on the mother UAV and rotates along a vertical axis, while the oscillating frame is mounted on the rotary table and oscillates along a horizontal axis.

[0017] By rotating the turntable around the vertical axis and swinging the swing frame around the horizontal axis, the swing gimbal has two independent degrees of freedom of motion, which can realize flexible adjustment of the probe in the horizontal and vertical directions, greatly expanding the detection angle and coverage. The dual-axis linkage design enables the probe to quickly and accurately position itself to the predetermined angle, realize real-time dynamic adjustment, and effectively adapt to flight attitude adjustment, complex terrain and environmental changes.

[0018] Furthermore, the marking nozzle is connected to an ink cartridge via a flexible hose, the ink cartridge is mounted on the mother drone, and a piezoelectric motor is installed inside the marking nozzle.

[0019] A piezoelectric motor is installed inside the marking printhead, which enables precise control of ink volume and printing frequency. The piezoelectric motor has a fast response speed and high control accuracy. The printing parameters can be flexibly adjusted according to actual needs, making the printed markings clearer and more uniform, and meeting the high-quality marking needs of different application scenarios.

[0020] Furthermore, a laser emitter is installed on the marking nozzle, the laser emitter comprising two sets of laser emitting heads, which emit lasers respectively and intersect on the spray path of the marking nozzle.

[0021] The lasers emitted by two sets of laser emitters intersect on the printhead's spray path to form optical reference points or lines, which can intuitively and accurately indicate the actual printing position of the printhead. This allows operators or systems to calibrate and adjust the printing trajectory in real time, thereby improving printing accuracy.

[0022] Furthermore, the camera is equipped with a night vision lens, which is connected to a night vision system. The camera is mounted on the mother drone via a control gimbal, which is mounted on the mother drone via a rotary table.

[0023] Night vision lenses, combined with night vision systems, can effectively capture image information in low-light or even no-light environments, greatly enhancing the visual reconnaissance and monitoring capabilities of drones in complex environments such as nighttime, tunnels, and dense fog, ensuring the continuity and reliability of operations. The camera is mounted via a control gimbal, which has pitch and rotation functions. Combined with the rotation of the turntable, it achieves 360-degree all-around field of view coverage. This structure allows the camera to flexibly adjust its observation direction, accurately capture targets, and improve the monitoring range and flexibility.

[0024] Furthermore, the mother drone, marking nozzle, daughter drone, probe, and camera are all wirelessly connected to a remote controller, which is equipped with a display and a communicator.

[0025] Wireless communication enables the mother drone, daughter drones, marking nozzles, detectors, and cameras to maintain a stable connection with the remote controller simultaneously, achieving synchronous remote control and coordinated operation of multiple devices. This greatly improves operational efficiency and system linkage capabilities. The display on the remote controller can show images and status information from the mother drone and its auxiliary equipment in real time, allowing the operator to intuitively understand the flight attitude, detection data, and printing status, facilitating timely adjustment of task parameters and ensuring accurate and safe operation.

[0026] In summary, the present invention has the following beneficial technical effects:

[0027] 1. The probe integrates an electromagnetic sensor and an ultrasonic detector, and achieves multimodal data fusion through a data conversion system, thereby improving the detection sensitivity and three-dimensional positioning accuracy of concealed pipelines.

[0028] 2. The tilting gimbal design allows the probe head to swing flexibly along the vertical and horizontal axes, expanding the detection field of view and enabling comprehensive scanning in complex environments.

[0029] 3. The marking nozzle is equipped with a piezoelectric motor and a laser emitter. The two sets of lasers emit in a cross pattern to ensure precise positioning of the spray path, ensuring the accuracy and visibility of the marking of concealed pipelines, and facilitating subsequent construction reference.

[0030] 4. The marking nozzle is connected to the ink cartridge via a hose, and the ink cartridge is installed on the mother drone to ensure the continuity and stability of ink supply and improve the continuous capability of the printing operation.

[0031] 5. The camera is equipped with a night vision lens and night vision system to achieve clear imaging in low light or nighttime environments, ensuring the time flexibility and safety of pipeline detection and marking operations.

[0032] 6. The mother drone, marking nozzles, daughter drones, detectors, and cameras are all wirelessly connected to the remote controller. The remote controller is equipped with a display and a communicator, which facilitates real-time monitoring and management by the operator, and enables high efficiency in multi-device collaborative operation.

[0033] 7. The obstacle avoidance sensor monitors the surrounding environment in real time, and the navigation light improves flight visibility. The two are connected to the control processing system through control wires to ensure the safe flight of the mother UAV in complex construction site environments.

[0034] 8. The mother UAV is equipped with dedicated mounting points for probes and cameras. The structure is reasonable, which facilitates the rapid installation, disassembly and maintenance of the equipment and improves the modularity and adaptability of the system.

[0035] 9. The mother drone is equipped with support legs at the bottom to improve the stability of the drone during takeoff, landing and when stationary, reduce the risk of equipment damage and ensure operational safety.

[0036] 10. The mother drone has a built-in locator that communicates with the remote control unit to enable precise navigation and control of the drone and its equipment, ensuring the rapid and accurate completion of three-dimensional coordinate positioning tasks. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the installation and usage state of the present invention;

[0038] Figure 2 for Figure 1 Another perspective illustration;

[0039] Figure 3 for Figure 1 A magnified view of part A;

[0040] Figure 4 for Figure 1 A magnified view of part B;

[0041] Figure 5 This is a schematic diagram of the remote control structure of the present invention.

[0042] Explanation of reference numerals in the attached figures:

[0043] 1. Mother UAV; 11. Obstacle avoidance sensor; 111. Positioner; 12. Navigation light; 13. Mounting interface; 131. Support leg; 2. Detector head; 21. Electromagnetic sensor; 22. Ultrasonic detector; 23. Swing gimbal; 231. Rotary table; 232. Swing frame; 3. Marking nozzle; 31. Ink cartridge; 311. Piezoelectric motor; 32. Sub-UAV; 321. Laser emitter; 4. Camera; 41. Night vision lens; 42. Control gimbal; 421. Rotary table; 5. Remote controller; 51. Display; 52. Communicator. Detailed Implementation

[0044] The following will be combined with the appendix Figures 1-5 The technical solutions in the embodiments of the present invention are clearly and completely described herein. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0045] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0046] Example 1:

[0047] This invention discloses an auxiliary device for rapid three-dimensional coordinate positioning of concealed pipelines in installation engineering, referring to... Figure 1 and 5 The system includes a mother drone 1, on which a probe 2 and a camera 4 are mounted in a swinging motion. The mother drone 1 is connected to a marking nozzle 3, which is connected to and installed on a daughter drone 32. The mother drone 1 connects the marking nozzle 3 to the daughter drone 32 via a hose and / or power cord.

[0048] The mother drone 1 serves as the main control platform, equipped with a probe head 2 and a camera 4. It is responsible for detecting and acquiring images of concealed pipelines in the installation project. The probe head 2 is mounted on the mother drone 1 and has the function of non-destructive detection of concealed pipelines. It can collect the spatial coordinate information of the pipelines in real time. The camera 4 is mounted on the mother drone 1 and is used to photograph the site environment and assist in positioning. The marking nozzle 3 is mounted on the sub-drone 32 and is used to spray positioning markings on the ground or wall. The sub-drone 32 carries the marking nozzle 3 and is connected to the mother drone 1 through a hose and power cord to realize the control and power supply of the spraying action.

[0049] Confirm that the mother drone 1 and daughter drone 32 have sufficient power, that the hoses and power cords are securely connected, calibrate the detector head 2 and camera 4 to ensure that the detection and image acquisition functions are normal, and check that the marking nozzle 3 has sufficient spray medium and that the spraying path is unobstructed.

[0050] The operator controls the mother drone 1 to fly along a predetermined path, the probe 2 scans the hidden pipelines in the installation environment in real time, the probe 2 collects the three-dimensional coordinate data of the pipelines, the camera 4 collects the on-site images at the same time, the system automatically processes the detection data and generates a three-dimensional position model of the pipelines.

[0051] Based on the detected coordinate data, the mother drone 1 controls the marking nozzle 3 of the daughter drone 32 to perform precise spraying via a hose and / or power cord. The daughter drone 32 sprays positioning marks at designated locations to assist subsequent construction personnel in identifying pipeline locations. The spraying process is simultaneously monitored by a camera 4 to ensure the spraying effect and accuracy.

[0052] The collected 3D coordinates and image data are uploaded to the ground control station in real time. Operators adjust the flight path and spraying strategy based on the real-time feedback to ensure accurate positioning. After the mission is completed, the equipment is shut down for inspection and maintenance.

[0053] During operation, avoid entanglement of hoses or power cords between the mother drone 1 and the daughter drone 32, which may affect flight safety. The spraying medium should be an environmentally friendly and easy-to-clean material to avoid pollution of the construction environment. The detector head 2 should be calibrated regularly to ensure detection accuracy. In complex environments, the flight path planning should avoid obstacles to ensure the safe flight of the drone. The spraying markings should comply with the construction specifications to avoid misleading information.

[0054] Example 2:

[0055] Based on Example 1, the following is added:

[0056] Reference Figure 1 The mother drone 1 is equipped with an obstacle avoidance sensor 11 and a navigation light 12, which are connected to the control and processing system of the mother drone 1 via control wires.

[0057] Reference Figure 2 The mother drone 1 is equipped with a locator 111, which is connected to the remote control component.

[0058] Reference Figure 1 , Figure 2 and Figure 4 The mother drone 1 is provided with a mounting interface 13, which includes a mounting end for the probe 2 and a mounting end for the camera 4. The mother drone 1 is provided with a support leg 131 at its bottom.

[0059] The mounting end of the probe 2 is set on the bottom surface of the mother drone 1, and the probe 2 is suspended thereon; the mounting end of the camera 4 is set on the top surface of the mother drone 1, and the camera 4 is installed vertically.

[0060] The mother drone 1 is equipped with an obstacle avoidance sensor 11 and a navigation light 12. The obstacle avoidance sensor 11 and the navigation light 12 are connected to the control processing system inside the mother drone 1 through control wires to realize flight safety assistance and visual indication functions. The built-in locator 111 is responsible for obtaining the real-time position of the drone and connecting to the remote control component through wireless communication to realize precise positioning and remote control. A mounting interface 13 is set up, including the mounting end of the probe 2 and the mounting end of the camera 4. The probe 2 and the camera 4 are installed respectively to ensure stable installation and quick replacement of the equipment. The bottom of the mother drone 1 is equipped with support legs 131 for stable support during take-off and landing to prevent equipment damage. The probe 2 is installed on the probe mounting end of the mounting interface 13 of the mother drone 1 and is responsible for the three-dimensional coordinate detection of concealed pipelines. The camera 4 is installed on the camera mounting end of the mounting interface 13 of the mother drone 1 and is used for environmental image acquisition and auxiliary positioning.

[0061] The mother drone 1 is started, the obstacle avoidance sensor 11 starts working and detects obstacles in the surrounding environment, the navigation light 12 turns on to provide flight instructions and status feedback, the locator 111 obtains the current position, the remote control component displays the current positioning information, the status of the detector head 2 and camera 4 is checked to ensure that the detection and shooting functions are normal, the operator controls the mother drone 1 to fly along the predetermined path through the remote control component, the obstacle avoidance sensor 11 monitors the surrounding obstacles in real time and adjusts the flight trajectory automatically or manually, the detector head 2 scans the concealed pipelines in real time and collects three-dimensional coordinate data, the camera 4 simultaneously captures the on-site environment to assist in data analysis, the drone flies back to the takeoff point, the support legs 131 support the drone to land safely, the mission data is uploaded to the ground station for analysis and archiving, the equipment is shut down and maintenance checks are performed.

[0062] Example 3:

[0063] Based on Example 1, the following is added:

[0064] Reference Figure 1The probe head 2 is equipped with an electromagnetic sensor 21 and an ultrasonic detector 22. The electromagnetic sensor 21 and the ultrasonic detector 22 are respectively connected to the data conversion system. The probe head 2 is mounted on the mother UAV 1 by swinging the gimbal 23.

[0065] Reference Figure 1 The swing gimbal 23 includes a rotary table 231 and a swing frame 232. The rotary table 231 is mounted on the mother UAV 1 and rotates along the vertical axis. The swing frame 232 is mounted on the rotary table 231 and swings along the horizontal axis.

[0066] The probe head 2 is equipped with an electromagnetic sensor 21 and an ultrasonic detector 22, which are used to collect electromagnetic signals and ultrasonic signals from the pipeline, respectively. Both the electromagnetic sensor 21 and the ultrasonic detector 22 are connected to the data conversion system to realize signal acquisition, conversion and transmission. The probe head 2 can swing at multiple angles through the swing gimbal 23 to enhance the detection coverage and accuracy. The swing gimbal 23 includes two parts: a rotary table 231 and a swing frame 232. The rotary table 231 is installed on the mother UAV 1 along the vertical axis and can achieve 360-degree rotation. The swing frame 232 is installed on the rotary table 231 and swings along the horizontal axis to realize vertical angle adjustment. By combining the rotation and swing actions, the probe head 2 can flexibly adjust the detection direction and adapt to complex environments.

[0067] The remote control component controls the swing gimbal 23 to adjust the rotation angle of the rotary table 231 and the swing angle of the swing frame 232 of the probe head 2, so as to realize pipeline detection in different directions and angles and ensure no blind spots. Under the control of the swing gimbal 23, the probe head 2 continuously scans the target area. The electromagnetic sensor 21 and the ultrasonic detector 22 collect signals. The data conversion system processes the signals in real time and generates pipeline three-dimensional coordinate data. The camera 4 simultaneously collects on-site images to assist in analysis.

[0068] Example 4:

[0069] Based on Example 1, the following is added:

[0070] Reference Figure 1 and Figure 2 The marking nozzle 3 is connected to the ink cartridge 31 via a hose. The ink cartridge 31 is installed on the mother drone 1. The marking nozzle 3 is equipped with a piezoelectric motor 311.

[0071] Reference Figure 3 The marking nozzle 3 is equipped with a laser emitter 321, which includes two sets of laser emitters. The two sets of laser emitters emit lasers respectively and intersect on the spray path of the marking nozzle 3.

[0072] The ink cartridge 31 is connected via a hose and is fixedly installed on the mother drone 1. It is responsible for ink storage and supply. An internal piezoelectric motor 311 drives the printhead to precisely spray ink for high-precision marking. A laser emitter 321 is installed on the printhead. The laser emitter 321 includes two sets of laser emitters that emit laser beams. The laser beams intersect on the spray path to form a positioning reference line. The laser intersection point serves as a precise positioning reference for spraying, assisting the operator or automatic control system in adjusting the spraying position.

[0073] The mother drone 1 is equipped with ink cartridge 31, which is responsible for carrying loads and long-distance movement, and provides ink supply.

[0074] The sub-drone 32 is equipped with a marking nozzle 3, which can flexibly complete on-site marking and painting tasks.

[0075] Connect to the BIM system, import the 3D coordinate data of concealed pipelines at the construction site, and establish a real-time positioning reference.

[0076] The mother drone 1, carrying the daughter drone 32, flies to the predetermined marking point. The detector head 2 detects the location, width, and type of concealed pipelines. The daughter drone 32 is then activated and flies to the detection position of the detector head 2. The laser emitter 321 is activated, and the two sets of laser emitters emit laser beams. The laser beams intersect to form a positioning reference line, which helps to accurately locate the spraying point of the marking nozzle 3. Combined with the three-dimensional coordinates of the pipeline displayed by the BIM system, the real-time position calibration of the spraying point is achieved. By controlling the piezoelectric motor 311 to drive the marking nozzle 3 to spray ink, the marking of the pipeline location is completed. After all marking points are sprayed, the daughter drone 32 is retrieved to the mother drone 1, and then the mother drone 1 returns to the takeoff point and lands safely.

[0077] Example 5:

[0078] Based on Example 1, the following is added:

[0079] Reference Figure 4 The camera 4 is equipped with a night vision lens 41, which is connected to a night vision system. The camera 4 is movably mounted on the mother drone 1 via a control gimbal 42, which is rotatably mounted on the mother drone 1 via a rotary table 421.

[0080] Reference Figure 5 The mother drone 1, the marking nozzle 3, the daughter drone 32, the detector 2 and the camera 4 are all wirelessly connected to the remote controller 5, and the remote controller 5 is connected to a display 51 and a communicator 52.

[0081] A night vision camera 41 is installed, which is connected to a night vision system to achieve clear image acquisition in low light and nighttime environments. The camera 41 is mounted on the mother drone 1 via a control gimbal 42. The control gimbal 42 can adjust the pitch and yaw angles of the camera 4. The control gimbal 42 is mounted on the mother drone 1 via a rotary table 421, which can rotate 360 ​​degrees to improve the field of view of the camera 4.

[0082] The remote controller 5 controls the pan-tilt unit 42 to adjust the tilt angle of the camera 4 and the rotation angle of the rotary table 421 to obtain the required viewing angle. At night or when the light is insufficient, the night vision lens 41 and the night vision system are activated to achieve clear nighttime monitoring. The position of the camera 4 is adjusted according to the on-site situation to achieve comprehensive monitoring of the target area.

[0083] The above description is merely an example and illustration of the structure of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the scope defined by the structure of the invention, and all such modifications and additions should fall within the protection scope of the present invention.

Claims

1. A kind of installation engineering concealed pipeline three-dimensional coordinate fast positioning auxiliary device, it is characterized by: Includes a mother drone (1), on which a probe (2) and a camera (4) are mounted in a swinging motion. The mother drone (1) is connected to a marking nozzle (3), which is connected to and installed on a sub-drone (32). The mother drone (1) is connected to the marking nozzle (3) and the sub-drone (32) via a hose and / or power cord.

2. The installation engineering concealed pipeline three-dimensional coordinate fast positioning auxiliary device according to claim 1, characterized in that: The mother drone (1) is equipped with an obstacle avoidance sensor (11) and a navigation light (12), which are connected to the control processing system of the mother drone (1) via control wires.

3. The installation engineering concealed pipeline three-dimensional coordinate fast positioning auxiliary device according to claim 2, characterized in that: The mother drone (1) is equipped with a locator (111), which is connected to the remote control component.

4. The installation engineering concealed pipeline three-dimensional coordinate fast positioning auxiliary device according to claim 3, characterized in that: The mother drone (1) is provided with a mounting interface (13), which includes a mounting end for the probe (2) and a mounting end for the camera (4). The mother drone (1) is provided with a support leg (131) at the bottom.

5. The auxiliary device for rapid three-dimensional coordinate positioning of concealed pipelines in installation engineering according to claim 1, characterized in that: The probe (2) is equipped with an electromagnetic sensor (21) and an ultrasonic detector (22). The electromagnetic sensor (21) and the ultrasonic detector (22) are respectively connected to the data conversion system. The probe (2) is mounted on the mother drone (1) by swinging the gimbal (23).

6. The auxiliary device for rapid three-dimensional coordinate positioning of concealed pipelines in installation engineering according to claim 5, characterized in that: The swing gimbal (23) includes a rotary table (231) and a swing frame (232). The rotary table (231) is mounted on the mother UAV (1) in a rotating manner along the vertical axis, and the swing frame (232) is mounted on the rotary table (231) in a swing manner along the horizontal axis.

7. The auxiliary device for rapid three-dimensional coordinate positioning of concealed pipelines in installation engineering according to claim 1, characterized in that: The marking nozzle (3) is connected to the ink cartridge (31) via a hose. The ink cartridge (31) is installed on the mother drone (1). The marking nozzle (3) is equipped with a piezoelectric motor (311).

8. The auxiliary device for rapid three-dimensional coordinate positioning of concealed pipelines in installation engineering according to claim 7, characterized in that: The marking nozzle (3) is equipped with a laser emitter (321), which includes two sets of laser emitters. The two sets of laser emitters emit lasers respectively and cross each other on the spray path of the marking nozzle (3).

9. The auxiliary device for rapid three-dimensional coordinate positioning of concealed pipelines in installation engineering according to claim 1, characterized in that: The camera (4) is equipped with a night vision lens (41), the night vision lens (41) is connected to a night vision system, the camera (4) is mounted on the mother drone (1) by means of a control gimbal (42), and the control gimbal (42) is mounted on the mother drone (1) by means of a rotary table (421).

10. A rapid three-dimensional coordinate positioning auxiliary device for concealed pipelines in installation engineering according to any one of claims 1-9, characterized in that: The mother drone (1), the marking nozzle (3), the daughter drone (32), the probe (2) and the camera (4) are all wirelessly connected to the remote controller (5), and the remote controller (5) is equipped with a display (51) and a communicator (52).

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