阅读说明：本技术 地下有水管涵内窥定位系统及其工作方法 (Underground water pipe culvert endoscopic positioning system and working method thereof ) 是由 江兆南 曹淑上 于 2021-08-16 设计创作，主要内容包括：地下有水管涵内窥定位系统,包括机械船、图像采集模块、数据处理模块、空间定位模块、无线模块、客户端APP和路由器；在机械船上安装有图像采集模块、数据处理模块、空间定位模块和无线模块；数据处理模块的网络端口与路由器相连,路由器与客户端APP通过无线进行通信；图像采集模块的采集端与数据处理模块的第一通信端口相连；数据处理模块将空间数据发送到客户端APP上。利用该产品可实时探测出地下有水管涵或地下暗河的走向,能实时高清显示出探测对象的内部构造,为后续的规划、施工等工作提供技术支撑。特别在治理污水管涵的清淤、破损修复等方面有很高的应用价值。(The underground water pipe culvert endoscopic positioning system comprises a mechanical ship, an image acquisition module, a data processing module, a space positioning module, a wireless module, a client APP and a router; an image acquisition module, a data processing module, a space positioning module and a wireless module are arranged on the mechanical ship; a network port of the data processing module is connected with a router, and the router and the client APP communicate wirelessly; the acquisition end of the image acquisition module is connected with the first communication port of the data processing module; and the data processing module sends the spatial data to the client APP. The product can detect the trend of underground water pipe culverts or underground rivers in real time, can display the internal structure of a detected object in real time in a high-definition manner, and provides technical support for subsequent planning, construction and other work. Particularly has high application value in the aspects of dredging, damage repairing and the like of treating sewage pipe culvert.)

1. There is water pipe culvert peeps positioning system in the underground, its characterized in that: the system comprises a mechanical ship, an image acquisition module, a data processing module, a space positioning module, a wireless module, a client APP and a router;

the mechanical ship is provided with the image acquisition module, the data processing module, the space positioning module and the wireless module;

the network port of the data processing module is connected with the router, and the router and the client APP communicate wirelessly;

the acquisition end of the image acquisition module is connected with the first communication port of the data processing module;

the data processing module sends image data to the client APP;

the communication port of the space positioning module is connected with the second communication port of the data processing module;

and the data processing module sends the spatial data to the client APP.

2. The endoscopic positioning system for underground culvert with water pipe according to claim 1, wherein: the space positioning module adopts a ten-axis inertial navigation positioning module.

3. The endoscopic positioning system for underground culvert with water pipe according to claim 2, wherein:

the mechanical ship comprises a ship body, a power driving motor, a drainage driving motor and a power motor radiator;

the power driving motor, the drainage driving motor and the power motor radiator are respectively arranged on the ship body.

4. The endoscopic positioning system for underground culvert with water pipe according to claim 3, wherein: the ten-axis inertial navigation positioning module comprises an inertial navigation module, an accelerometer, a gyroscope, a storage module, a control module, a mileage calculation module, a transmission module and a power supply system.

5. The endoscopic positioning system for underground culvert with water pipe according to claim 1, wherein: the data processing module is installed on a MYS-6ULX-IOT main board.

6. The endoscopic positioning system for underground culvert with water pipe according to claim 1, wherein: the image acquisition module adopts a camera rotating by 360 degrees.

7. The working method of the underground water pipe culvert endoscopic positioning system is characterized in that: the method comprises the following steps:

s1: placing the mechanical ship at the inlet of the pipeline;

s2: sending a starting command to a processing module through a client APP;

s3: the mechanical ship moves forwards in the pipeline, and a space positioning module measures a course line and a pitch angle of each position in the pipeline;

s4: the space positioning module transmits the space data to the data processing module;

s5: the data processing module transmits the data to the client APP through the router;

s6: the camera captures the internal condition of the pipeline in real time,

s7: the camera transmits the acquired image data to the data processing module through the coding and decoding module;

s8: and after the data processing module performs image processing, the processed image data is transmitted to the client APP through the router.

Technical Field

The invention relates to the field of pipeline detection, in particular to an underground water pipe culvert endoscopic positioning system.

Background

The underground pipe culvert belongs to concealed engineering, scientifically finds out the accurate position of the underground pipe culvert, and is an important technical problem in modern city management. In China, the initial research on underground pipe culvert detection technology mainly focuses on the detection of underground pipe culverts by a geophysical method, the exploration and research on the underground pipe culverts by using the method begin in the eighties of the last century, and the heat tide of application is raised in the nineties of the last century in China. Nevertheless, the pipeline detection work is still a starting stage, the number of detected pipelines is less than 1/10 of the total quantity of pipelines, and any pipeline is not detected again. For various reasons, the importance of pipeline detection is not well known by pipeline operation managers, and the hazard of pipeline accidents is not fully recognized. The propaganda of the importance of pipeline detection is strengthened, relevant laws and regulations of pipeline safety detection are made as soon as possible by relevant government departments, a national pipeline detection plan is made according to an optimal scheme, internal detection is strived to be carried out on all pipelines as soon as possible, the pipelines are detected again at regular intervals, a pipeline detection information database is established, and the corrosion rule of the pipelines is found out from the pipeline detection information database, so that the current situation and the future safety situation of the pipelines are subjected to the branch prediction, effective measures are taken, and pipeline accidents are avoided. Meanwhile, the localization pace of the intelligent detector is accelerated, and the advanced level of international pipeline detection is reached as soon as possible.

The detection in the pipeline is an important component of a pipeline safety system and is the most economic and effective method for ensuring the safety of the pipeline. Effective measures should be taken as soon as possible, a road detection standard is formulated, a complete pipeline safety guarantee system is established, intelligent internal detection is carried out on the pipeline step by step according to a plan, and safe and stable operation of the pipeline is guaranteed.

Underground pipelines are regarded as life lines of cities, but underground pipe networks of many cities and enterprises in China are not distributed clearly, file data management is not standard enough, construction and reconstruction of cities, towns, industrial and mining enterprises and use and maintenance of pipelines are difficult, and serious accidents such as damage of pipelines, casualties, water and power failure are caused. The detection of underground pipelines has become an indispensable prerequisite for construction. The underground pipelines in China cities are astonishing in length, for example, the underground pipelines in Beijing and Shanghai are about 10 kilometers in length, the underground pipelines in second-line cities are about 5 kilometers in length, and the underground pipelines in general county cities are over 1000 kilometers in length. The urban underground pipeline exploration industry formed by the method has large market capacity, more exploration teams derived from the urban underground pipeline exploration industry are provided, and the exploration effect difference is large.

Although each method can achieve satisfactory effects under certain limited conditions, the limitations of the methods are obvious. The following points can be summarized presumably: first, each method can only be applied to pipelines of a certain material type, and in practical application, different methods are adopted according to different pipe culvert materials. For example, the metal pipeline adopts an electromagnetic induction method, and the nonmetal pipeline adopts a geological radar method or a seismic wave method. Secondly, the geomagnetic induction method, the electromagnetic wave method, the seismic wave method, the acoustic wave method, and the high-density electrical method are very limited in detection depth according to their principles. Thirdly, the method mainly utilizes the physical property difference between the pipe culvert and the surrounding medium, and is easily influenced by external interference signals, so that the detection precision is low. Fourthly, the degree of automation is low, the data recording mode is relatively original, an experienced technician is needed for identification, and the influence of subjective components is relatively large. Fifthly, the urban area has more structures and narrow sites, and does not have working conditions developed by methods such as a high-density resistivity method and a seismic wave method. In a word, in urban underground pipe culvert detection, the prior art is often difficult to obtain reliable data such as positions, burial depths and the like, and hidden dangers are left for future urban pipe culvert management work.

Disclosure of Invention

Aiming at the defects of the prior art, the invention considers and applies the inertia positioning technology of the underground pipe culvert, and the technology is not influenced by the buried depth, materials, surrounding media and the surface environment of the pipe culvert. And (3) putting the measuring equipment into a pipe culvert through the manhole, and feeding back the position parameters of the measuring equipment in the moving process in real time by using a vector superposition technology.

The specific technical scheme is as follows:

there is water pipe culvert peeps positioning system in the underground, its characterized in that: the system comprises a mechanical ship, an image acquisition module, a data processing module, a space positioning module, a wireless module, a client APP and a router;

the mechanical ship is provided with the image acquisition module, the data processing module, the space positioning module and the wireless module;

the network port of the data processing module is connected with the router, and the router and the client APP communicate wirelessly;

the acquisition end of the image acquisition module is connected with the first communication port of the data processing module;

the data processing module sends image data to the client APP;

the communication port of the space positioning module is connected with the second communication port of the data processing module;

and the data processing module sends the spatial data to the client APP.

To better implement the invention, the following steps can be further carried out: the space positioning module adopts a ten-axis inertial navigation positioning module.

Further: the mechanical ship comprises a ship body, a power driving motor, a drainage driving motor and a power motor radiator;

the power driving motor, the drainage driving motor and the power motor radiator are respectively arranged on the ship body.

Further: the ten-axis inertial navigation positioning module comprises an inertial navigation module, an accelerometer, a gyroscope, a storage module, a control module, a mileage calculation module, a transmission module and a power supply system.

Further: the data processing module is installed on a MYS-6ULX-IOT main board.

Further: the image acquisition module adopts a camera rotating by 360 degrees.

The specific technology of the working method of the underground water pipe culvert endoscopic positioning system is as follows:

the working method of the underground water pipe culvert endoscopic positioning system is characterized in that: the method comprises the following steps:

s1: placing the mechanical ship at the inlet of the pipeline;

s2: sending a starting command to a processing module through a client APP;

s3: the mechanical ship moves forwards in the pipeline, and a space positioning module measures a course line and a pitch angle of each position in the pipeline;

s4: the space positioning module transmits the space data to the data processing module;

s5: the data processing module transmits the data to the client APP through the router;

s6: the camera captures the internal condition of the pipeline in real time,

s7: the camera transmits the acquired image data to the data processing module through the coding and decoding module;

s8: and after the data processing module performs image processing, the processed image data is transmitted to the client APP through the router.

The invention has the beneficial effects that: the invention relates to a set of underground pipe culvert detection positioning system designed aiming at pipe culvert positioning detection in old urban areas. The invention has the following characteristics:

firstly, in the detection and positioning implementation process of the system, detection personnel are not required to carry out subsumption, and the safety of the personnel is fully guaranteed;

secondly, the system feeds back the conditions inside the pipe culvert in real time through video monitoring so as to achieve the function of avoiding obstacles inside the pipe culvert by the mechanical ship, and the obstacle can be displayed in real time and control instructions to be executed smoothly through testing video monitoring;

thirdly, the error of the inertial positioning system is 6.7-8.0 m when the linear path of the system detects the distance of 100 m; the angle error increases with increasing bend angle for a curved path, where the error reaches 7.4 ° for a 90 degree bend. In view of the fact that the existing underground pipe culvert bending angle is generally smaller than 45 degrees and the inspection well is arranged at the bend with the bending angle of 90 degrees, the detection positioning system can provide accurate data for pipe culvert detection positioning within the range of 70 m.

Fourthly, video monitoring can provide video images of sediments, obstacles, pipe culvert damages and the like inside the pipe culvert, and image pictures are provided for structural defect and functional defect evaluation.

The inertial positioning gyroscope has higher precision in underground pipeline detection, can detect the trend of underground water pipe culverts or underground rivers in real time by utilizing the product, can display the internal structure of a detection object in real time with high definition, and provides technical support for subsequent planning, construction and other work. Particularly has high application value in the aspects of dredging, damage repairing and the like of treating sewage pipe culvert.

Drawings

FIG. 1 is a block diagram of the system of the present invention;

fig. 2 is a flow chart of the operation of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1:

the underground water pipe culvert endoscopic positioning system comprises a mechanical ship, an image acquisition module, a data processing module, a space positioning module, a wireless module, a client APP and a router;

the spatial positioning module adopts a ten-axis inertial navigation positioning module, the data processing module is installed on a MYS-6ULX-IOT main board, and the image acquisition module adopts a camera rotating by 360 degrees.

The mechanical ship comprises a ship body, a camera, a router, a power driving motor, a drainage driving motor, a power motor radiator and an inertial navigation positioning module;

the camera, the router, the power driving motor, the drainage driving motor, the power motor radiator and the inertial navigation positioning module are arranged on the ship body;

the inertial navigation positioning module comprises an accelerometer, a gyroscope, a sensor, a storage module, a control module, a mileage calculation module, a transmission module and a power supply system.

The network port of the data processing module is connected with the router, and the router and the client APP communicate wirelessly;

the acquisition end of the camera is connected with the first communication port of the data processing module;

the data processing module sends image data to the client APP;

the communication port of the inertial navigation positioning module is connected with the second communication port of the data processing module;

and the data processing module sends the spatial data to the client APP.

The principle of the inertial navigation in the pipeline positioning adopted by the invention is that an inertial navigation system (INS, Iner)TIal navigator System), also known as an inertial reference System, is an autonomous NavigaTIon System that does not rely on external information, nor radiates energy to the outside (as in radio NavigaTIon). The working environment of the device not only comprises the air and the ground, but also can be underwater. The basic working principle of inertial navigation is based on Newton's law of mechanics, and by measuring the acceleration of a carrier in an inertial reference system, integrating the acceleration with time and transforming the acceleration into a navigation coordinate system, information such as speed, yaw angle and position in the navigation coordinate system can be obtained.

The inertial gyroscope is used for positioning the pipeline, namely, a measuring module provided with a course and attitude sensor is placed in the pipeline and moves along the pipeline, and the course and the pitch angle of each position of the pipeline are measured. And combining the course information, the attitude information and the mileage information to calculate the three-dimensional coordinates of the pipeline.

And a gyroscope and an accelerometer in the measuring module respectively measure three rotation angular velocities and three linear accelerations of the locator relative to an inertial space along the components of the coordinate system of the locator, the acceleration information is converted into the acceleration along the navigation coordinate system through coordinate transformation, and the position, the velocity, the direction and the horizontal attitude of the locator are calculated. Among these, the commonly used coordinate systems are mainly: an inertial coordinate system, a terrestrial coordinate system, a geographic coordinate system, a gyroscopic coordinate system, and a motion reference coordinate system.

The inertial gyroscope positioning system comprises an accelerometer, a gyroscope, a sensor, a storage and control module, a mileage calculation and transmission module, a power supply system and the like.

The main objective of the pipeline positioning system is to complete the acquisition and storage of inertial parameters. The gyroscope can measure angular velocities of three axes perpendicular to each other, and the accelerometer can measure acceleration of an X axis and a Y axis of a geodetic plane and acceleration of a vertical geodetic direction. Thus, 6 parameters required for measuring the displacement are all available.

Gyroscopes are the main elements of inertial systems. A gyroscope is generally a rotor mounted in a gimbal and rotating at a high speed, and the rotor can simultaneously precess around one axis or two axes perpendicular to a rotation axis, where the former is called a single-degree-of-freedom gyroscope and the latter is called a two-degree-of-freedom gyroscope. The gyroscope has the characteristics of axis fixation and precession, and a rate gyroscope sensitive to angular velocity and a position gyroscope sensitive to angular deviation are manufactured by utilizing the characteristics. Since technologies such as optics and MEMS are introduced to the development of gyroscopes, it is now customary to collectively refer to devices capable of performing gyroscopic functions as gyroscopes. The gyroscope is various in types and can be divided into a two-degree-of-freedom gyroscope and a single-degree-of-freedom gyroscope according to the precession degree of freedom of a main shaft of a gyroscope rotor; the supporting system can be divided into a ball bearing supporting gyroscope, a liquid floating gyroscope, an air floating gyroscope and a magnetic floating gyroscope, a flexible gyroscope (a dynamic tuning type flexible gyroscope) and an electrostatic gyroscope; the method is divided into a rotor type gyroscope which works by utilizing the physical characteristics of a high-speed rotating body according to the physical principle, and a hemispherical resonance gyroscope, a micromechanical gyroscope, a ring laser gyroscope, a fiber optic gyroscope and the like which work by utilizing other physical principles.

The single degree of freedom gyroscope senses angular velocity, and the two degree of freedom gyroscope senses angular displacement. In order to convert angular velocity and angular displacement into signals usable in inertial systems, gyroscopes require signal sensors to be installed. In order to control the gyroscope to precess according to a certain rule, a torquer is required to be installed.

The accelerometer is one of the core elements of the inertial navigation system, and is used for measuring the contrast force to complete the tasks of determining the position and the speed of a carrier and generating a tracking signal by the inertial navigation system. The measurement of the acceleration of the carrier must be carried out very accurately and in a reference frame stabilized by a gyro. In an inertial navigation system without altitude control, only two accelerometers can accomplish the above task, otherwise there should be three accelerometers.

The accelerometer is classified into a common type, an integral type and a quadratic integral type according to the relation between input and output; the system can be divided into a pendulum type accelerometer and a non-pendulum type accelerometer according to the physical principle, wherein the pendulum type accelerometer comprises a pendulum type integral accelerometer, a liquid floating pendulum type accelerometer and a flexible pendulum type accelerometer, and the non-pendulum type accelerometer comprises a vibrating beam accelerometer and an electrostatic accelerometer; the degree of freedom according to the measurement can be divided into single axis, double axis and three axis; according to the measurement accuracy, the method can be divided into high accuracy (better than 10-4m/s2), medium accuracy (10-2m/s 2-10-3 m/s2) and low accuracy (lower than 0.1m/s 2).

The ten-axis inertial navigation sensor is characterized in that a module integrates a high-precision gyroscope, an accelerometer, a geomagnetic field sensor and a GPS module, and the current real-time motion attitude of the module can be rapidly solved by adopting a high-performance microprocessor and an advanced dynamic solution and Kalman dynamic filtering algorithm. By adopting an advanced digital filtering technology, the measurement noise can be effectively reduced, and the measurement precision is improved. An attitude resolver is integrated in the module, and is matched with a dynamic Kalman filtering algorithm, so that the current attitude of the module can be accurately output in a dynamic environment, the attitude measurement precision is static 0.05 degrees and dynamic 0.1 degrees, the stability is extremely high, and the performance is even superior to that of a special inclinometer! The module is internally provided with a voltage stabilizing circuit, the working voltage is 3.3V-5V, the pin level is compatible with a 3.3V/5V embedded system, and the connection is convenient. And the TTL/232 serial port is supported, so that a user can conveniently select the optimal connection mode. The serial port speed is 400 bps-921600 bps adjustable. And synchronously outputting the GPS information and the attitude sensor information. Up to 200Hz data output rate. The input content can be selected at will, and the output rate is adjustable from 0.1 HZ to 200 HZ. The American GPS and the Beidou satellite navigation system are built in, and a high-precision navigation system is adopted, so that the navigation precision is higher and more stable. Because the pipe culvert mostly has no GPS signal, an inertial navigation sensor can be adopted for positioning. Various common hardware interfaces are provided, and 232 and protocol output can be supported, and secondary development of MCU connection can be supported; the GPS positioning system with high precision acquires longitude, latitude, altitude and ground speed through an internal or external GPS antenna, and the internal sensor can output acceleration, angular speed and angle for a client to automatically resolve and assist GPS data. The product integrates an air pressure measuring module, and height data are calculated out through checking air pressure measuring data and precision calculation and are output through a serial port. And displaying the moving distance and the moving direction of the detection boat on the data acquisition software by inputting the coordinates of the starting point.

The inertial gyroscope is used for positioning the pipeline, namely, a measuring module provided with a course and attitude sensor is placed in the pipeline and moves along the pipeline, and the course and the pitch angle of each position of the pipeline are measured. And combining the course information, the attitude information and the mileage information to calculate the three-dimensional coordinates of the pipeline.

And a gyroscope and an accelerometer in the measuring module respectively measure three rotation angular velocities and three linear accelerations of the locator relative to an inertial space along the components of the coordinate system of the locator, the acceleration information is converted into the acceleration along the navigation coordinate system through coordinate transformation, and the position, the velocity, the direction and the horizontal attitude of the locator are calculated. Among these, the commonly used coordinate systems are mainly: an inertial coordinate system, a terrestrial coordinate system, a geographic coordinate system, a gyroscopic coordinate system, and a motion reference coordinate system.

The ten-axis inertial navigation positioning module mainly comprises an accelerometer, a gyroscope, a sensor, a storage and control module, a mileage calculation and transmission module, a power supply system and the like. The main objective of the pipeline positioning system is to complete the acquisition and storage of inertial parameters. The gyroscope can measure angular velocities of three axes perpendicular to each other, and the accelerometer can measure acceleration of an X axis and a Y axis of a geodetic plane and acceleration of a vertical geodetic direction. Thus, 6 parameters required for measuring the displacement are all available.

The whole algorithm firstly determines an inertial coordinate system and then determines the coordinate N of the initial point of the carrier in the inertial system₀(x₀， y₀，z₀) Since the equipment is in constant motion, soThe device coordinate system will change constantly. Therefore, N is calculated after time t₁(x₁，y₁，z₁) As a new initial point coordinate, N is re-found in the same way₂(x₂，y₂，z₂) As the next initial point. By repeating the calculation, a series of points N can be obtained₀、 N₁、N₂、......N_n. After the measurement is finished, the points are drawn by a computer to obtain the motion trail of the carrier.

The image acquisition module adopts a camera which is a rotatable high-definition camera shooting technology, can transmit the internal condition of the return culvert in real time and provides technical support for controlling the small submarine. And storing the internal image of the pipe culvert in real time by using the control module.

Because the pipe culvert mostly has no GPS signal, an electronic gyroscope can be adopted to carry out positioning by utilizing a vector superposition technology. And displaying the moving distance and the moving direction of the detected submarine on the data acquisition software by inputting the coordinates of the starting point.

The working principle of the invention is as follows:

and (3) putting the mechanical ship into the pipe culvert through the manhole, and feeding back the position parameters of the measuring equipment in the moving process in real time by using a vector superposition technology.

The system comprises a ten-axis inertial navigation space positioning module, a MYS-6ULX-IOT core processor, a camera image capturing and processing module, a wireless network module, a client APP and other main modules.

The ten-axis inertial navigation sensor is used for positioning the pipeline, namely, a measuring module provided with a course and attitude sensor is placed into the pipeline and moves along the pipeline, and the course and the pitch angle of each position of the pipeline are measured. And combining the course information, the attitude information and the mileage information to calculate the three-dimensional coordinates of the pipeline.

And a gyroscope and an accelerometer in the measuring module respectively measure three rotation angular velocities and three linear accelerations of the locator relative to an inertial space along the components of the coordinate system of the locator, the acceleration information is converted into the acceleration along the navigation coordinate system through coordinate transformation, and the position, the velocity, the direction and the horizontal attitude of the locator are calculated.

The ten-axis inertial navigation sensor is combined with the mechanical ship, and then the 360-degree rotation high-definition usb camera shooting technology is adopted, so that the internal condition of the return culvert can be transmitted in real time, and technical support is provided for controlling the small submarine.

And storing the internal image of the pipe culvert in real time by using the control module. Through the network cable connection, the position data acquired by the camera and the circuit module is transmitted back to the mobile phone or the computer APP software in real time. The space shape and the internal condition of the pipe culvert can be effectively determined through the device.

The working method of the underground water pipe culvert endoscopic positioning system comprises the following steps:

s1: placing the mechanical ship at the inlet of the pipeline;

s2: sending a starting command to a processing module through a client APP;

s3: the mechanical ship moves forwards in the pipeline, and a space positioning module measures a course line and a pitch angle of each position in the pipeline;

s4: the space positioning module transmits the space data to the data processing module;

s5: the data processing module transmits the data to the client APP through the router;

s6: the camera captures the internal condition of the pipeline in real time,

s7: the camera transmits the acquired image data to the data processing module through the coding and decoding module;

s8: and after the data processing module performs image processing, the processed image data is transmitted to the client APP through the router.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.