Underground pipeline intelligent detection robot and underground pipeline intelligent detection method

Abstract

The invention discloses an underground pipeline intelligent detection robot and an underground pipeline intelligent detection method. The underground pipeline intelligent detection robot comprises a mobile robot main body and a plurality of sensors. The underground pipeline intelligent detection method disclosed by the invention comprises the steps of: firstly calibrating relative positions and posture information between the sensors and the sensors and between the sensors and the mobile robot main body; then causing the mobile robot main body to move autonomously in a pipeline space, and obtaining, by the sensors, data in real time; calculating a precise position of the mobile robot main body in a data collection movement process; calculating data spatial positions of the sensors according to the position of the mobile robot main body and the relative positions and posture information of the sensors, and registering and fusing the data of different sensors to obtain fused multi-sourcespace data of the pipeline space; and finally intelligently identifying and extracting a geometrical shape and attribute status information of a pipeline from the fused multi-source sensor data, andmarking spatial positions for these information. The underground pipeline intelligent detection robot disclosed by the invention realizes automatic collection of underground pipeline status detectiondata and intelligent identification and extraction process of pipeline status information.

Description

technical field [0001] The invention belongs to the field of special surveying and mapping technical equipment, and relates to an intelligent detection robot and an intelligent detection method for underground pipelines, in particular to an integrated pipeline intelligent detection robot and intelligent detection method that utilizes Beidou GNSS satellite positioning, inertial navigation and environmental perception sensors to integrate . Background technique [0002] Underground pipes (such as urban drainage pipe network) are "urban veins", the basis for safe and stable operation of the city, and an important part of smart city construction. One of the signs. Pipeline detection is the premise of fine management and preventive repair of underground pipelines. It is very necessary to maintain the normal operation of urban functions and ensure the safety of life and property. For example, sewage and rainwater pipelines undertake the tasks of urban sewage collection and rainw...

AI Technical Summary

Problems solved by technology

However, from the perspective of the pipeline inspection service industry, the existing pipeline inspection technology and equipment have two major defects, which cannot meet:

[0004] 1) The degree of intelligence is low, mainly relying on human eyes to interpret data (such as CCTV video (Closed-Circuit Television)), pipeline inspection is time-consuming and labor-intensive, it takes a long time to suspend the use of pipelines, and even needs to excavate the road surface ;

[0005] 2) There is no precise reference position under the framework of the global geographic coordinate system in the pipeline, the detection data cannot be spatially positioned, and it cannot be automatically integrated with other "smart city" systems or thematic GIS systems, which reduces the effective use of data and the overall performance of the system Play (such as support efficiency and degree of automation for decision-making)

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