Visualized underground pipeline detection device and three-dimensional modeling method

Abstract

The present invention relates to a visualized underground pipeline detection device, comprising: a vehicle body; a moving assembly, arranged under the vehicle body to move the vehicle body; a laser radar, located above the vehicle body and emitting a laser beam to detect aboveground terrain information; and a detection system, arranged on the vehicle body and located below the plane where the laser radar is located, to mark the absolute spatial position of an underground pipeline and detect relevant data information of the underground pipeline. The present invention further provides a visualized underground pipeline three-dimensional modeling method, which can realize three-dimensional visualization of an aboveground object and an underground pipeline, and can realize real-time viewing and browsing of information of the underground pipeline by means of a personal terminal such as a mobile phone or a computer, thereby facilitating management and maintenance of underground pipelines, and having significant practical value.

Description

A Visual Underground Pipeline Detection Device and 3D Modeling Method Technical Field

[0001] This invention relates to the field of pipeline detection technology, specifically to a visual underground pipeline detection device and a three-dimensional modeling method. Background Technology

[0002] Because urban underground pipelines are deeply buried underground, they are highly concealed. Furthermore, as these pipelines age, damage, corrosion, and deformation become difficult to detect. In addition, due to their age, lack of management and maintenance, and the loss of design drawings, it is often difficult to obtain specific information about underground pipelines after an accident. This poses significant challenges to underground pipeline maintenance, resulting in lengthy maintenance processes and considerable inconvenience to residents. Therefore, designing a visual underground pipeline detection device and a 3D modeling method is an urgent problem to be solved. Summary of the Invention

[0003] The purpose of this invention is to provide a visual underground pipeline detection device and a three-dimensional modeling method to achieve real-time visual maintenance of underground pipelines.

[0004] To achieve the above objectives, the present invention provides a visual underground pipeline detection device, comprising: a vehicle body; a movable component disposed below the vehicle body to move the vehicle body; a lidar located above the vehicle body to emit a laser beam to detect ground terrain information; and a detection system disposed on the vehicle body and located below the plane of the lidar to mark the absolute spatial location of the underground pipeline and detect relevant data information of the underground pipeline.

[0005] The lidar is a flat cylindrical structure with multiple laser cameras and a signal receiver mounted on it. The laser cameras are evenly distributed around the horizontal side of the cylinder so that the laser beam can scan a 360° range.

[0006] The detection system integrates a dynamic real-time measurement system and a pipeline detection system.

[0007] Preferably, the moving component includes: a plurality of wheel brackets disposed below the vehicle body, one end of which is connected to the vehicle body; a plurality of wheel hub brackets, one end of which is respectively connected to the other end of each of the wheel brackets; and a plurality of wheels, each respectively connected to the other end of each of the wheel hub brackets.

[0008] Preferably, the visual underground pipeline detection device further includes a power system fixed on the vehicle body; wherein, the power system is equipped with an energy storage device, and the power system is connected to the mobile component, the detection system and the lidar circuit respectively to provide the operating power of the entire detection device.

[0009] Preferably, the visual underground pipeline detection device further includes a telescopic device, one end of which is fixed above the vehicle body and the other end is connected to the lidar, and the height of the lidar can be adjusted by telescopic control.

[0010] Preferably, the visualized underground pipeline detection device further includes an external controller, which is communicatively connected to the signal receiver and the detection device in the lidar.

[0011] This invention also provides a method for visualizing three-dimensional modeling of underground pipelines, comprising the following steps: S1, establishing a three-dimensional model of the above-ground terrain; S2, establishing a three-dimensional model of the underground pipelines; S3, performing 3D rendering processing on the three-dimensional model of the above-ground terrain in S1 and the three-dimensional model of the underground pipelines in S2 respectively; S4, embedding the rendered three-dimensional model of the above-ground terrain and the three-dimensional model of the underground pipelines in S3 into a geographic information system, and matching them with the geographic location information in the geographic information system to achieve spatial coordinate unification; S5, accessing the geographic information system platform through a mobile terminal to view the established three-dimensional model of the above-ground terrain and the three-dimensional model of the underground pipelines in real time.

[0012] Preferably, step S1 includes the following steps: S11, acquiring ground terrain data information through the lidar; S12, performing calculation, deviation correction, clustering, and extraction processing on the ground terrain data information; S13, constructing a three-dimensional model from the ground terrain data processed in S12.

[0013] In S11, the specific process of the lidar acquiring ground terrain data information is as follows: First, the lidar emits laser beams to the surroundings through the laser cameras installed on it; second, the signal receiver receives the reflected beams from each laser beam illuminating each target point in the ground terrain and then reflecting them back, thereby obtaining the time required for the laser beam to illuminating each target point in the ground terrain and then reflecting back; finally, the distance of the lidar to each target point in the ground terrain is calculated by using the laser speed and the time required for reflection.

[0014] Preferably, step S2 includes the following steps: S21, calibrating the geographical location information of underground pipelines through a dynamic real-time measurement system and measuring the data information of underground pipelines through a pipeline detection system; S22, determining the burial depth, size, and direction of underground pipelines based on the underground pipeline data information in S21, and constructing a three-dimensional model of underground pipelines; S23, binding the absolute spatial location information of the underground pipelines calibrated in S21 to the three-dimensional model of underground pipelines.

[0015] In summary, compared with existing technologies, the visual underground pipeline detection device provided by this invention utilizes lidar to acquire above-ground terrain data of the underground pipeline's location, while simultaneously using real-time dynamic measurement technology to record the absolute spatial location information of the underground pipeline. The detection device acquires data such as the burial depth, size, and direction of the underground pipeline, thereby performing 3D modeling and 3D rendering, and finally displaying the constructed 3D model on a mobile terminal. The visual underground pipeline 3D modeling method provided by this invention achieves 3D visualization of above-ground objects and underground pipelines, and allows for real-time viewing and browsing of underground pipeline information via mobile phones or computers, facilitating the management and maintenance of underground pipelines and possessing significant practical value. Attached Figure Description

[0016] Figure 1 is a front view of the detection device of the present invention;

[0017] Figure 2 is a side view of the detection device of the present invention;

[0018] Figure 3 is a top view of the detection device of the present invention;

[0019] In the picture:

[0020] 1. Vehicle body;

[0021] 2. Wheel bracket;

[0022] 3. Wheel hub bracket;

[0023] 4. Wheels;

[0024] 5. Power system;

[0025] 6. Detection system;

[0026] 7. LiDAR;

[0027] 8. Telescopic device. Detailed Implementation

[0028] The present invention will be further described below with reference to Figures 1-3, by detailing a preferred embodiment.

[0029] It should be noted that the accompanying drawings are in a very simplified form and use non-precise proportions. They are only used to facilitate and clarify the purpose of illustrating the embodiments of the present invention, and are not intended to limit the implementation conditions of the present invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationship, or adjustments to the size should still fall within the scope of the technical content disclosed in the present invention, provided that they do not affect the effects and objectives that the present invention can produce.

[0030] It should be noted that, in this invention, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only the expressly listed elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0031] As shown in Figures 1-3, the present invention provides a visual underground pipeline detection device, comprising: a vehicle body 1; a moving component disposed below the vehicle body 1 for moving the vehicle body 1; a lidar 7 located above the vehicle body 1 for emitting a laser beam to detect ground terrain information; a detection system 6 disposed on the vehicle body 1 and located below the plane of the lidar 7 for marking the absolute spatial position of underground pipelines and detecting relevant data information of underground pipelines; and a telescopic device 8, one end of which is fixed above the vehicle body 1 and the other end is connected to the lidar 7, for adjusting the height of the lidar 7 through telescopic control.

[0032] Furthermore, the moving component includes: a plurality of wheel brackets 2 disposed below the vehicle body 1, one end of which is connected to the vehicle body 1; a plurality of wheel hub brackets 3, one end of which is connected to the other end of each wheel bracket 2; and a plurality of wheels 4, one end of which is connected to the other end of each wheel hub bracket 3. It can be understood that the moving component works in conjunction with the vehicle body 1 to control the movement of the entire underground pipeline detection device, thereby obtaining specific data information of the underground pipelines while simultaneously acquiring surface terrain data.

[0033] Furthermore, the lidar 7 is a flat cylindrical structure, on which multiple laser cameras 71 and a signal receiver 72 are mounted.

[0034] The laser cameras 71 are evenly distributed around the horizontal side of the cylinder to enable the laser beam to scan a 360° range. The lidar 7 emits laser beams to the surrounding area through each of the laser cameras 71, and receives the reflected beams from each laser beam hitting target points on the ground terrain through the signal receiver 72. This allows the lidar to calculate the time required for the laser beam to hit each target point and reflect back, and thus calculate the distance from the lidar 7 to each target point on the ground terrain. In a preferred embodiment of the invention, there are four laser cameras 71, evenly distributed at 90° intervals around the horizontal side of the lidar 7 cylinder.

[0035] Understandably, as the vehicle moves continuously, each laser camera 71 acquires millions of ground terrain data points during rapid and repeated detection. Based on the cloud of these ground terrain data points, a complex "map," or point cloud map, of the ground terrain surface being measured can be constructed. After joint calculation, bias correction, clustering, and extraction, a digital 3D spatial model easily distinguishable by human vision can be constructed. Simultaneously, 3D graphics rendering can be performed to further enhance the aesthetics of the graphics.

[0036] Furthermore, the detection system 6 integrates a Real-time Kinematic (RTK) system 61 and a pipeline detection system 62. The RTK system 61 is used to mark the absolute spatial location of underground pipelines, and the pipeline detection system 62 is used to measure data such as the burial depth, size, and direction of underground pipelines.

[0037] Furthermore, the telescopic device 8 has a telescopic function, which can control the height of the lidar 7 by telescopic movement, enabling operation in different spaces.

[0038] Furthermore, the visual underground pipeline detection device also includes a power system 5, which is fixed above the vehicle body 1; wherein, the power system 5 is equipped with an energy storage device, and the power system 5 is connected to the moving component, the detection system 6 and the lidar 7 respectively to provide the operating power of the entire detection device.

[0039] Furthermore, the visualized underground pipeline detection device also includes an external controller (not shown in the figure), which is communicatively connected to the signal receiver 72 in the lidar 7 to receive the surface terrain data information scanned by the lidar 7; and the external controller is communicatively connected to the detection system 6 to receive the underground pipeline related data information detected by the pipeline detection system 62 and the absolute spatial location information of the underground pipeline recorded by the RTK system 61.

[0040] This invention also provides a method for visualizing three-dimensional modeling of underground pipelines, specifically including the following steps:

[0041] S1. Establish a three-dimensional model of the terrain above ground;

[0042] S2. Establish a three-dimensional model of underground pipelines;

[0043] S3. Perform 3D rendering processing on the above-ground terrain 3D model in S1 and the underground pipeline 3D model in S2 respectively;

[0044] S4. Embed the rendered 3D model of the above-ground terrain and the 3D model of the underground pipeline into the geographic information system, and match them with the geographic location information in the geographic information system to achieve spatial coordinate unification.

[0045] S5. Access the geographic information system via mobile terminal to view the established 3D models of the above-ground terrain and underground pipelines in real time.

[0046] Furthermore, S1 specifically includes the following steps:

[0047] S11. Obtain ground terrain data information through the lidar 7;

[0048] S12. Perform calculation, deviation correction, clustering, and extraction processing on the above-ground terrain data information;

[0049] S13. Construct a three-dimensional model from the processed ground terrain data in S12.

[0050] In S11, the specific process by which the lidar acquires ground terrain data information is as follows: First, the lidar 7 emits laser beams to the surroundings through the laser cameras 71 mounted on it; second, the signal receiver 72 receives the reflected beams from each laser beam that illuminates each target point in the ground terrain and then reflects them back, thereby obtaining the time required for the laser beam to illuminate each target point in the ground terrain and then reflect back; finally, the distance from the lidar 7 to each target point in the ground terrain is calculated using the laser speed and the time required for reflection.

[0051] Furthermore, S2 specifically includes the following steps:

[0052] S21. The absolute spatial location information of underground pipelines is determined by the dynamic real-time measurement system 61, and the underground pipeline data information is measured by the pipeline detection system 62.

[0053] S22. Determine the burial depth, size and direction of the underground pipelines based on the underground pipeline data information in S21, and construct a three-dimensional model of the underground pipelines.

[0054] S23. Bind the absolute spatial location information of the underground pipeline marked in S21 to the three-dimensional model of the underground pipeline.

[0055] In summary, the present invention provides a visualized underground pipeline detection device that utilizes lidar to acquire above-ground terrain data of the underground pipeline's location, while simultaneously using real-time dynamic measurement technology to record the absolute spatial location information of the underground pipeline. The detection device acquires data such as the burial depth, size, and direction of the underground pipeline, thereby enabling 3D modeling and rendering. Finally, the constructed 3D model is displayed on a mobile terminal. The visualized underground pipeline 3D modeling method provided by this invention achieves 3D visualization of above-ground objects and underground pipelines, and allows for real-time viewing and browsing of underground pipeline information via mobile phones or computers, facilitating the management and maintenance of underground pipelines and possessing significant practical value.

[0056] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A visual underground pipeline detection device, characterized in that, include: Vehicle body; A movable component is disposed below the vehicle body to move the vehicle body; A lidar unit, located above the vehicle body, emits a laser beam to detect terrain information on the ground. The detection system is installed on the vehicle body and located below the plane where the lidar is located, in order to mark the absolute spatial location of the underground pipeline and detect relevant data information of the underground pipeline; The lidar is a flat cylindrical structure with multiple laser cameras and a signal receiver mounted on it. The laser cameras are evenly distributed around the horizontal side of the cylinder so that the laser beam can scan a 360° range. The detection system integrates a dynamic real-time measurement system and a pipeline detection system.

2. The visual underground pipeline detection device as described in claim 1, characterized in that, The mobile component includes: Several wheel brackets are disposed below the vehicle body, with one end connected to the vehicle body; Several hub brackets, one end of which is connected to the other end of each of the aforementioned wheel brackets; Several wheels are connected one-to-one with the other end of each of the aforementioned wheel hub frames.

3. The visual underground pipeline detection device as described in claim 1, characterized in that, It also includes a power system, which is fixed to the vehicle body; The power system includes an energy storage device and is connected to the mobile component, the detection system, and the lidar circuit to provide power for the operation of the entire detection device.

4. The visual underground pipeline detection device as described in claim 1, characterized in that, It also includes a telescopic device, one end of which is fixed above the vehicle body and the other end is connected to the lidar, and the height of the lidar can be adjusted by telescopic control.

5. The visual underground pipeline detection device as described in claim 1, characterized in that, It also includes an external controller, which is communicatively connected to the signal receiver and detection system in the lidar.

6. A method for visualizing three-dimensional modeling of underground pipelines, implemented using the visualizing underground pipeline detection device as described in any one of claims 1 to 5, characterized in that, Includes the following steps: S1. Establish a three-dimensional model of the terrain above ground; S2. Establish a three-dimensional model of underground pipelines; S3. Perform 3D rendering processing on the above-ground terrain 3D model in S1 and the underground pipeline 3D model in S2 respectively; S4. Embed the rendered 3D model of the above-ground terrain and the 3D model of the underground pipeline into the geographic information system, and match them with the geographic location information in the geographic information system to achieve spatial coordinate unification. S5. Access the geographic information system platform via mobile terminal to view the established 3D models of above-ground terrain and underground pipelines in real time.

7. The visual underground pipeline detection device as described in claim 6, characterized in that, S1 includes the following steps: S11. Obtain ground terrain data information through the lidar; S12. Perform calculation, deviation correction, clustering, and extraction processing on the above-ground terrain data information; S13. Construct a three-dimensional model from the processed ground terrain data in S12.

8. The visual underground pipeline detection device as described in claim 7, characterized in that, In S11, the specific process by which the lidar acquires ground terrain data information is as follows: First, the lidar emits laser beams to the surroundings through the various laser cameras mounted on it; Secondly, the signal receiver receives the reflected beams from each laser beam illuminating each target point in the terrain and then reflecting them back, thereby obtaining the time required for the laser beam to illuminating each target point in the terrain and then reflecting back. Finally, by using the laser speed and the time required for the light to reflect back, the distance from the laser radar to each target point in the terrain on the ground is calculated.

9. The visual underground pipeline detection device as described in claim 6, characterized in that, S2 includes the following steps: S21. The geographical location information of underground pipelines is determined by a dynamic real-time measurement system, and the data information of underground pipelines is measured by a pipeline detection system. S22. Determine the burial depth, size and direction of the underground pipelines based on the underground pipeline data information in S21, and construct a three-dimensional model of the underground pipelines. S23. Bind the absolute spatial location information of the underground pipeline marked in S21 to the three-dimensional model of the underground pipeline.

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