Multi-purpose underground pipeline detection device and detection method

Abstract

Provided are a multi-purpose underground pipeline detection device and a detection method. The device comprises: a vehicle body (100); a traveling system (200), comprising an upper traveling system and a lower traveling system, so as to perform in-pipe operation and low-altitude flight; a multi-module carrying system, comprising an in-pipe detection and carrying module (301), a radar module (302), a metal detection module (303), and a telemetry module (304), so as to perform information detection; a power system, electrically connected to the traveling system (200) and the multi-module carrying system; an information acquisition and processing system (400), communicatively connected to the detection modules in the multi-module carrying system, so as to collect and process detected information; and an operation and processing platform (500), communicatively connected to the information acquisition and processing system (400), so as to construct a three-dimensional (3D) model of an underground pipeline and generate a condition analysis diagram thereof on the basis of the processed detection information. Detection of various types of pipelines can be implemented. An underground pipeline can be directly detected, a 3D model thereof is formed, and information such as a pipeline position and a buried depth can be directly detected, so that high detection accuracy and efficiency are achieved.

Description

A multi-purpose underground pipeline detection device and detection method Technical Field

[0001] This invention relates to the field of pipeline detector technology, and in particular to a multi-purpose underground pipeline detection device and detection method. Background Technology

[0002] As underground pipelines age, problems such as damage, corrosion, and deformation become increasingly common. Many older pipelines suffer from a lack of management and maintenance, and lost design drawings, making it difficult to obtain detailed information about them. This poses a significant challenge to underground pipeline maintenance; furthermore, once maintenance begins, it is time-consuming, causing considerable inconvenience to residents. Therefore, current technology utilizes underground pipeline detection devices for regular inspection and problem identification of underground pipelines.

[0003] However, existing underground pipeline detection devices also have the following problems;

[0004] 1) It is impossible to construct a three-dimensional model of underground pipelines; the problem is still detected by receiving electromagnetic induction signal data.

[0005] 2) The location and depth information of underground pipelines cannot be collected and obtained in real time;

[0006] 3) It is often only applicable to a specific type of underground pipeline and has poor adaptability to different types of underground pipelines. Summary of the Invention

[0007] The purpose of this invention is to provide a multi-purpose underground pipeline detection device and method, which can solve the problems of not being able to build three-dimensional models, not being able to collect and acquire pipeline information in real time, and not being able to adapt to different types of underground pipelines in underground pipeline detection.

[0008] To achieve the above objectives, the present invention provides a multi-purpose underground pipeline detection device, comprising:

[0009] Vehicle body;

[0010] The walking system includes an upper walking system and a lower walking system, which are respectively fixed to the side of the vehicle body away from the ground and the side close to the ground, so as to realize operation inside the underground pipeline and low-altitude flight above the outside of the underground pipeline.

[0011] The multi-module system includes an in-pipe detection module, a radar module, a metal detection module, and a telemetry module, which are used to detect information about the underground pipeline and the ground above it.

[0012] The power system is electrically connected to the walking system and the multi-module mounting system, providing power to the walking system and electrical energy to the multi-module mounting system;

[0013] The information acquisition and processing system is communicatively connected to the in-pipe detection module, radar module, metal detection module, and telemetry module to acquire and process the detected pipeline information and the ground information above it.

[0014] The operation processing platform is connected to the information acquisition and processing system to construct a three-dimensional model of the underground pipeline and generate a status analysis diagram using the processed underground pipeline information and the ground information above it.

[0015] Optionally, the power system includes an energy storage device, a first motor, and a second motor. One end of the energy storage device is connected to the first motor and the second motor, respectively, and the other end of the energy storage device is electrically connected to the in-pipe detection module, the radar module, the metal detection module, and the telemetry module, respectively, to provide power to these modules.

[0016] Optionally, the upward walking system includes folding blades, which are electrically connected to the first motor. After the first motor is started, it drives the blades to rotate, thereby driving the underground pipeline detection device to fly at low altitude.

[0017] The underground walking system includes multiple wheel hub frames, one end of which is connected to the side of the vehicle body closest to the ground; multiple wheels are set at the other end of each wheel hub frame and electrically connected to the second motor. After the second motor is started, it drives the underground pipeline detection device to run inside the underground pipeline.

[0018] Optionally, the tube detection module is installed in an annular slot on the forward side of the vehicle body. This tube detection module is used to detect and assess the tube conditions ahead of the vehicle.

[0019] Optionally, both the radar module and the metal detection module are located in a rectangular slot at the bottom of the vehicle body, and both the radar module and the metal detection module are used to detect the shape, location and direction information of the underground pipeline;

[0020] The radar module detects the shape, location, and orientation of non-metallic pipelines; the metal detection module detects the shape, location, and orientation of metallic pipelines.

[0021] Optionally, the telemetry module is installed in a rectangular slot at the bottom of the vehicle body to detect information about ground structures and buildings above the underground pipeline.

[0022] Optionally, the vehicle body is equipped with a built-in transmission system, one end of which is communicatively connected to the information acquisition and processing system, and the other end is communicatively connected to the operation processing platform, so as to perform data transmission between the operation processing platform and the information acquisition and processing system.

[0023] Optionally, the operation processing platform includes:

[0024] The 3D model generation system is communicatively connected to the information acquisition and processing system, and generates a 3D model of the underground pipeline after importing and processing information on the pipe's internal condition and shape.

[0025] The GIS system is communicatively connected to the 3D model generation system and the information acquisition and processing system. The GIS system is used to provide standard landmark information and, in combination with the obtained 3D model of underground pipelines and the information on the location, direction, and above-ground structures and buildings of the underground pipelines provided by the information acquisition and processing system, generate a condition analysis map of the underground pipelines.

[0026] The remote control is wirelessly connected to the motor and is used to control the underground pipeline detection device to operate inside the underground pipeline or to fly at low altitude above the underground pipeline.

[0027] The condition analysis diagram of the underground pipeline includes: a 3D structural diagram, a marking diagram, and a routing diagram.

[0028] The present invention also provides a method for detecting underground pipelines using the aforementioned underground pipeline detection device, comprising the following steps:

[0029] Step S1, Configure and initialize the corresponding detection module: According to the detection task requirements, configure the corresponding radar module or metal detection module, and verify and calibrate the initial working status of the configured radar module or metal detection module through the operation processing platform;

[0030] When the underground pipeline is a non-metallic pipeline, the radar module needs to be configured to detect the shape, location, and direction of the non-metallic pipeline; when the underground pipeline is a metallic pipeline, the metal detection module needs to be configured to detect the shape, location, and direction of the metallic pipeline.

[0031] Step S2: Run the underground pipeline detection device and detect pipeline information and the ground information above it;

[0032] Step S3: The information acquisition and processing system is used to collect and process information on the internal conditions of the underground pipeline, the shape, location and direction of the pipeline, and the ground structures and buildings above the pipeline. The absolute spatial location of the underground pipeline is marked using the RTK system.

[0033] Step S4: Receive all the information from step S3 through the operation processing platform, construct and render the three-dimensional model of the underground pipeline in the three-dimensional model generation system, and finally generate the 3D structure map, marking map and routing map of the underground pipeline through the GIS system.

[0034] Step S5: Export the 3D structural diagram, marking diagram, and routing diagram of the underground pipeline in real time to detect and analyze the condition of the underground pipeline.

[0035] Optionally, step S2 includes:

[0036] S2.1, The underground pipeline detection device is operated by a remote control to move from one end of the underground pipeline to the other end of the pipeline. The internal conditions of the underground pipeline ahead of the pipeline, as well as the shape, position and direction information of the pipeline, are detected by the pipeline detection module and the radar module or metal detection module.

[0037] S2.2 After the internal detection of the pipeline is completed, the blades are activated so that the underground pipeline detection device flies from a low altitude above one end of the pipeline to a low altitude above the other end of the pipeline and detects the ground structures and buildings above the underground pipeline.

[0038] Step S4 includes:

[0039] S4.1 After importing the received pipeline information into the three-dimensional model generation system, the three-dimensional model generation system constructs a three-dimensional model of the underground pipeline after preprocessing, clustering and extraction, and performs 3D image rendering.

[0040] S4.2 After acquiring the three-dimensional model of the underground pipeline and the location, direction and marking information of the underground pipeline, the GIS system, in conjunction with its own standard landmark information, generates a 3D structural map, marking map and direction map of the underground pipeline.

[0041] In summary, compared with the prior art, the present invention has the following beneficial effects:

[0042] 1. The present invention provides a multi-purpose underground pipeline detection device and detection method, which can meet the detection needs of various types of pipelines through a multi-module mounting system including an in-pipe detection module, a radar module, a metal detection module and a telemetry module.

[0043] 2. The multi-purpose underground pipeline detection device and method provided by the present invention, through the three-dimensional model generation system and GIS (Geographic Information) system in the operation processing platform, as well as the RTK (Real-Time Kinematic) system integrated in the information acquisition and processing system, can intuitively and vividly obtain the 3D model and rendering of the underground pipeline, and form the 3D structure map, marking map and routing map of the underground pipeline, so as to better detect and analyze the condition of the underground pipeline in all aspects.

[0044] Attached Figure Description

[0045] Figure 1 is a schematic diagram of the underground pipeline detection device of the present invention;

[0046] Figure 2 is a flowchart of the detection method of the present invention. Detailed Implementation

[0047] The technical content, structural features, objectives and effects of the present invention will be described in detail below with reference to Figures 1 and 2, through preferred embodiments.

[0048] 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.

[0049] In the description of this invention, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element 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 this invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0050] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0051] This invention provides a multi-purpose underground pipeline detection device, as shown in Figure 1. The device includes: a vehicle body 100; a walking system 200, comprising an upper walking system and a lower walking system, the upper and lower walking systems being fixed to the side of the vehicle body 100 away from the ground and the side closer to the ground, respectively, to enable operation inside the underground pipeline and low-altitude flight above the underground pipeline; a multi-module mounting system, including an in-pipe detection module 301, a radar module 302, a metal detection module 303, and a telemetry module 304, etc., to detect information about the underground pipeline and the ground above it; and a moving... A power system, electrically connected to the walking system 200 and the multi-module mounting system, is used to provide power to the walking system 200 and electrical energy to the multi-module mounting system; an information acquisition and processing system 400 is communicatively connected to the in-pipe detection mounting module 301, radar module 302, metal detection module 303, and telemetry module 304 to acquire and process the detected pipeline information and the ground information above it; an operation processing platform 500 is communicatively connected to the information acquisition and processing system 400 to construct a three-dimensional model of the underground pipeline and generate a status analysis diagram using the processed underground pipeline information and the ground information above it.

[0052] The power system includes an energy storage device and a motor. One end of the energy storage device is connected to the motor, and the other end of the energy storage device is electrically connected to the in-tube detection module 301, radar module 302, metal detection module 303, and telemetry module 304, respectively, to provide power to these modules. Furthermore, the motor includes a first motor and a second motor.

[0053] The upper travel system includes folding propellers electrically connected to the first motor. Upon startup of the first motor, the propellers rotate, thereby propelling the underground pipeline detection device into low-altitude flight. The lower travel system includes multiple wheel hubs, one end of which is connected to the ground-facing side of the vehicle body 100. Multiple wheels are located at the other end of each wheel hub and electrically connected to the second motor. Upon startup of the second motor, the underground pipeline detection device can operate within the underground pipeline.

[0054] Specifically, the undercarriage system of the present invention includes four wheel hubs and four wheels connected to the four wheel hubs.

[0055] The tube detection module 301 is installed in the annular slot on the forward side of the vehicle body 100. The tube detection module 301 is used to detect and evaluate the tube conditions in front of the vehicle.

[0056] Both the radar module 302 and the metal detection module 303 are housed in a rectangular slot at the bottom of the vehicle body 100. Both modules are used to detect the shape, location, and orientation of the underground pipeline. Furthermore, when the underground pipeline is non-metallic, the radar module 302 detects its shape, location, and orientation; when the underground pipeline is metallic, the metal detection module 303 detects its shape, location, and orientation. Specifically, the shape, location, and orientation information of the underground pipeline includes: the pipeline's wall thickness, inner and outer diameters, burial depth, and orientation undulations.

[0057] The telemetry module 304 is also located in a rectangular slot at the bottom of the vehicle body 100, and is used to detect information about ground structures and buildings above the underground pipeline. Furthermore, when the underground pipeline detection device flies at low altitude driven by the propeller, it can measure information about ground structures and buildings above the underground pipeline in a low-altitude environment.

[0058] The information acquisition and processing system 400 integrates an RTK (Real-Time Kinematic) system to mark the absolute spatial location of the underground pipeline.

[0059] The vehicle body 100 is equipped with a built-in transmission system 101. One end of the built-in transmission system 101 is communicatively connected to the information acquisition and processing system 400, and the other end is communicatively connected to the operation processing platform 500 to perform data transmission between the operation processing platform 500 and the information acquisition and processing system 400.

[0060] The operation processing platform 500 includes: a 3D model generation system, communicatively connected to the information acquisition and processing system 400, which can generate a 3D model of the underground pipeline after importing and processing information on the pipeline's internal condition and shape; a GIS (Geographic Information System), communicatively connected to both the 3D model generation system and the information acquisition and processing system 400, which provides standard landmark information and, combined with the acquired 3D model of the underground pipeline and the absolute spatial location information of the underground pipeline's location, direction, and above-ground structures and buildings provided by the information acquisition and processing system 400, generates a condition analysis map of the underground pipeline; and a remote control, wirelessly connected to the first motor and the second motor, which is used to control the underground pipeline detection device to operate inside the underground pipeline or to fly at low altitude above the underground pipeline. Furthermore, the condition analysis map of the underground pipeline includes: a 3D structural map, a marking map, and a direction map.

[0061] Specifically, after receiving the processed detection information, the operation processing platform 500 imports it into the three-dimensional model generation system. After preprocessing such as joint calculation and deviation correction, clustering and extraction, the three-dimensional model generation system constructs a three-dimensional model of the underground pipeline and performs 3D image rendering.

[0062] As shown in Figure 2, the present invention also provides a method for detecting underground pipelines using the aforementioned underground pipeline detection device, comprising the following steps:

[0063] Step S1: Configure and initialize the corresponding detection modules: According to the detection task requirements, configure the corresponding radar module 302 / metal detection module 303, and verify and calibrate the initial working status of the configured radar module 302 / metal detection module 303 through the operation processing platform 500.

[0064] Specifically, when the underground pipeline is a non-metallic pipeline, the radar module 302 needs to be configured to detect the shape, location, and direction information of the non-metallic pipeline; when the underground pipeline is a metallic pipeline, the metal detection module 303 needs to be configured to detect the shape, location, and direction information of the metallic pipeline.

[0065] Step S2: Run the underground pipeline detection device and detect pipeline information and the ground information above it.

[0066] S2.1, The underground pipeline detection device is operated by a remote control to move from one end of the underground pipeline to the other end of the pipeline. The internal conditions of the underground pipeline ahead of the pipeline, as well as the shape, position and direction information of the pipeline, are detected by the pipeline detection module 301 and the radar module 302 / metal detection module 303.

[0067] S2.2 After the internal detection of the pipeline is completed, the propeller is activated, so that the underground pipeline detection device flies from a low altitude above one end of the pipeline to a low altitude above the other end of the pipeline, and detects the ground structures and buildings above the underground pipeline.

[0068] Step S3: The information acquisition and processing system 400 acquires and processes the pipeline information and the ground information above it, and marks the absolute spatial location of the underground pipeline using the RTK system.

[0069] The pipeline information and the ground information above it include: the internal conditions of the underground pipeline in front of its operation; the shape, location and direction of the pipeline; and information on the ground structures and buildings above the pipeline.

[0070] Step S4: The processing platform 500 receives the processed pipeline information, the ground information above the pipeline, and the marking information. The platform constructs and renders a 3D model of the underground pipeline in the 3D model generation system, and finally generates a 3D structural map, marking map, and routing map of the underground pipeline through the GIS system.

[0071] S4.1 After importing the received pipeline information into the three-dimensional model generation system, the three-dimensional model generation system constructs a three-dimensional model of the underground pipeline after preprocessing such as joint solution and deviation correction, clustering and extraction, and performs 3D image rendering.

[0072] S4.2 After obtaining the three-dimensional model of the underground pipeline and the location, direction and marking information of the underground pipeline, the GIS system can combine the standard landmark information of the GIS system itself to generate the 3D structure map, marking map and direction map of the underground pipeline.

[0073] Step S5: Export the 3D structural diagram, marking diagram, and routing diagram of the underground pipeline in real time to conduct comprehensive detection and condition analysis of the underground pipeline.

[0074] In summary, the multi-purpose underground pipeline detection device and method provided by this invention can detect various types of pipelines through a multi-module system. At the same time, the detection results such as pipeline routing diagrams, 3D structural diagrams, and marking diagrams can be directly generated through the operation and processing platform without the need for post-interpretation, thereby improving the detection accuracy and efficiency of complex underground pipelines.

[0075] 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 invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A multi-purpose underground pipeline detection device, characterized in that, Include: Vehicle body (100); The walking system (200) includes an upper walking system and a lower walking system, which are respectively fixed to the side of the vehicle body (100) away from the ground and the side close to the ground, so as to realize operation inside the underground pipeline and low-altitude flight above the outside of the underground pipeline. The multi-module system includes an in-pipe detection module (301), a radar module (302), a metal detection module (303), and a telemetry module (304) to detect information about the underground pipeline and the ground above it. The power system is electrically connected to the walking system (200) and the multi-module mounting system, providing power to the walking system (200) and electrical energy to the multi-module mounting system; The information acquisition and processing system (400) is communicatively connected to the in-pipe detection module (301), radar module (302), metal detection module (303) and telemetry module (304) to acquire and process the detected pipeline information and the ground information above it. The operation processing platform (500) is connected to the information acquisition and processing system (400) to construct a three-dimensional model of the underground pipeline and generate a status analysis diagram using the processed underground pipeline information and the ground information above it.

2. The underground pipeline detection device as described in claim 1, characterized in that, The power system includes an energy storage device, a first motor, and a second motor. One end of the energy storage device is connected to the first motor and the second motor, respectively, and the other end of the energy storage device is electrically connected to the tube-mounted detection module (301), the radar module (302), the metal detection module (303), and the telemetry module (304), respectively, to provide power to these modules.

3. The underground pipeline detection device as described in claim 2, characterized in that, The upward walking system includes folding blades, which are electrically connected to the first motor. After the first motor is started, it drives the blades to rotate, thereby driving the underground pipeline detection device to fly at low altitude. The underground walking system includes multiple hub frames, one end of each hub frame is connected to the side of the vehicle body (100) near the ground; multiple wheels are set at the other end of each hub frame and electrically connected to the second motor. After the second motor is started, it drives the underground pipeline detection device to run in the underground pipeline.

4. The underground pipeline detection device as described in claim 1, characterized in that, The tube detection module (301) is installed in the annular slot on the forward side of the vehicle body (100). The tube detection module (301) is used to detect and evaluate the tube conditions in front of the vehicle.

5. The underground pipeline detection device as described in claim 2, characterized in that, The radar module (302) and the metal detection module (303) are both located in a rectangular slot at the bottom of the vehicle body (100). The radar module (302) and the metal detection module (303) are both used to detect the shape, location and direction of the underground pipeline. The radar module (302) detects the shape, location, and orientation of non-metallic pipelines; the metal detection module (303) detects the shape, location, and orientation of metallic pipelines.

6. The underground pipeline detection device as described in claim 5, characterized in that, The telemetry module (304) is installed in a rectangular slot at the bottom of the vehicle body (100) and is used to detect information about ground structures and buildings above the underground pipeline.

7. The underground pipeline detection device as described in claim 1, characterized in that, The vehicle body (100) is equipped with a built-in transmission system (101). One end of the built-in transmission system (101) is connected to the information acquisition and processing system (400) and the other end is connected to the operation processing platform (500) to perform data transmission between the operation processing platform (500) and the information acquisition and processing system (400).

8. The underground pipeline detection device as described in claim 6, characterized in that, The operation processing platform (500) includes: The three-dimensional model generation system is connected in communication with the information acquisition and processing system (400) and generates a three-dimensional model of the underground pipeline after importing and processing the pipe condition and pipeline shape information; The GIS system is connected to the three-dimensional model generation system and the information acquisition and processing system (400). The GIS system is used to provide standard landmark information and, in combination with the obtained three-dimensional model of the underground pipeline and the information on the location, direction, ground structures and buildings above the pipeline provided by the information acquisition and processing system (400), generate a condition analysis map of the underground pipeline. The remote control is wirelessly connected to the motor and is used to control the underground pipeline detection device to operate inside the underground pipeline or to fly at low altitude above the underground pipeline; wherein, the condition analysis diagram of the underground pipeline includes: 3D structure diagram, marking diagram and routing diagram.

9. A method for detecting underground pipelines, implemented based on the underground pipeline detection device as described in any one of claims 1 to 8, characterized in that, It includes the following steps: Step S1, Configure and initialize the corresponding detection module: According to the detection task requirements, configure the corresponding radar module (302) or metal detection module (303), and verify and calibrate the initial working status of the configured radar module (302) or metal detection module (303) through the operation processing platform (500); When the underground pipeline is a non-metallic pipeline, the radar module (302) needs to be configured to detect the shape, location and direction information of the non-metallic pipeline; when the underground pipeline is a metallic pipeline, the metal detection module (303) needs to be configured to detect the shape, location and direction information of the metallic pipeline. Step S2: Run the underground pipeline detection device and detect pipeline information and the ground information above it; Step S3: The information acquisition and processing system (400) collects and processes the internal conditions of the underground pipeline in front of the pipeline, the shape, location and direction of the pipeline, and the information of the ground structures and buildings above the pipeline, and marks the absolute spatial location of the underground pipeline through the RTK system. Step S4: Receive all information from step S3 through the operation processing platform (500), construct and render the three-dimensional model of the underground pipeline in the three-dimensional model generation system, and finally generate the 3D structure map, marking map and routing map of the underground pipeline through the GIS system; Step S5: Export the 3D structural diagram, marking diagram, and routing diagram of the underground pipeline in real time to detect and analyze the condition of the underground pipeline.

10. The method for detecting underground pipelines as described in claim 9, characterized in that, Step S2 includes: S2.1, The underground pipeline detection device is operated by a remote control to move from one end of the underground pipeline to the other end of the pipeline. The internal conditions of the underground pipeline ahead of the pipeline, as well as the shape, position and direction information of the pipeline, are detected by the pipeline detection module (301) and the radar module (302) or metal detection module (303). S2.2 After the internal detection of the pipeline is completed, the blades are activated so that the underground pipeline detection device flies from a low altitude above one end of the pipeline to a low altitude above the other end of the pipeline and detects the ground structures and buildings above the underground pipeline. Step S4 includes: S4.1 After importing the received pipeline information into the three-dimensional model generation system, the three-dimensional model generation system constructs a three-dimensional model of the underground pipeline after preprocessing, clustering and extraction, and performs 3D image rendering. S4.2 After acquiring the three-dimensional model of the underground pipeline and the location, direction and marking information of the underground pipeline, the GIS system, in conjunction with its own standard landmark information, generates a 3D structural map, marking map and direction map of the underground pipeline.

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