CN108089188A - A kind of rangefinder and underground utilities mapping method - Google Patents
A kind of rangefinder and underground utilities mapping method Download PDFInfo
- Publication number
- CN108089188A CN108089188A CN201711355402.3A CN201711355402A CN108089188A CN 108089188 A CN108089188 A CN 108089188A CN 201711355402 A CN201711355402 A CN 201711355402A CN 108089188 A CN108089188 A CN 108089188A
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- China
- Prior art keywords
- rangefinder
- pipeline
- shell
- module
- elevation
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Geophysics And Detection Of Objects (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of rangefinder, including：Shell is used for holding electronic component；GPS positioning module is used to detect the longitude and latitude and elevation of corresponding detection well；Ultrasonic distance measures module, and the disturbance device being fixed in ranging on pipeline to be detected is used for including a ultrasonic sensor and one；Microprocessor is used to collecting the acoustic signals that location information from GPS positioning module and processing ultrasonic sensor are collected and finally converses vertical distance between pipeline and rangefinder to be detected；And support device, assembling are used to rangefinder being fixed on the exit of detection well on the shell, the support device is in sliding fit in the horizontal direction with shell, and the elevation of the pipeline is just can be derived that by single rangefinder, facilitates operating personnel's test.
Description
Technical field
The present invention relates to civil engineering construction field, more particularly to a kind of rangefinder and underground utilities mapping method.
Background technology
Underground utilities network system (pipelines such as power supply, coal gas and natural gas, power telecommunication, blowdown) is urban infrastructure
The important component of construction is responsible for transmission information, conveying energy and transports the vital tasks such as house refuse, to urban society
The effect of development holds the balance.Underground utilities are timed with safety detection, promptly and accurately holds pipeline situation and tight to some
Weight defect carries out active maintenance and repairing, and underground accident can be avoided to occur to a certain extent.
First gas piping was buried in Shanghai in 1861, after the City Buried Pipeline record for first opening China, was developed so far,
Underground utilities species is more and more since especially reforming and opening up to the outside world, and the various pipelines for being embedded in underground are as fine as a spider's web.City for a long time
City implementation management is paid attention on the ground, ignoring underground, without a set of science and stringent management, in addition historical reasons, so that archives provide
Expect form disunity, content is incomplete.Due to the gaps and omissions and deviation of underground utilities data, and relevant information precision it is not high or with
Present situation is not inconsistent, it is impossible to clearly reflect underground utilities distribution situation, cause to occur to dig often in construction to break or dig bad underground
Pipeline causes to stop the supple of gas or steam, cut off the water, stopping warming up, the major accidents such as communication disruption, sewage overflow.On the other hand, the existing underground in China is special
The data of industry pipeline records preservation all in the form of physical form etc., using manual type management, inefficiency.With epoch and section
The development of technology, the modernization in city are accelerated increasingly, and urban construction, management, the contradiction of development become increasingly conspicuous.Therefore,
The rapid distribution situation for verifying underground pipe network, measures its plan-position and elevation, draws buried pipe line chart, for urban planning, sets
Meter, construction and management provide necessary foundation, and efficiently manage all kinds of special pipelines in underground using modern technologies and method, meet
The needs of decision-making, administrative department and unit in charge of construction have become a top priority.
The compilation of existing buried pipe line chart needs the pipeline in total more detection wells to scene to survey and draw, staff
It needs to use positioner, rangefinder, data statistics device etc. in mapping, equipment is numerous, cumbersome, and existing can improve
Part.
The content of the invention
The object of the present invention is to provide a kind of rangefinders, have the advantages that avoiding obstacles conveniently measure pipeline elevation.
The present invention above-mentioned technical purpose technical scheme is that：A kind of rangefinder, feature exist
In, including：
Shell is used for holding electronic component；
GPS positioning module is used to detect the longitude and latitude and elevation of corresponding detection well；
Ultrasonic distance measures module, and the disturbance device for being installed with pipeline correspondence position to be detected coordinates with ultrasonic distance
Difference in height between detection mode detection inspection borehole log wellhead and disturbance device position；And
Microprocessor measures module with the GPS positioning module and ultrasonic distance and is connected, for the height according to inspection borehole log wellhead
Journey and the difference in height, obtain the elevation of the disturbance device to indicate the pipeline elevation to be detected.
By using above-mentioned technical proposal, the longitude and latitude and height for detecting well present position are measured using GPS positioning module
Journey, since the cable in detection well and pipeline are more complicated, and ultrasonic sensor has the strong effect of penetrability, works as needs
During ranging, disturbance device is mounted on pipeline to be detected, rangefinder is placed in the surface of disturbance device, according to Doppler
Variation by a small margin can occur for the distance of effect, disturbance device and ultrasonic sensor, which is pipeline to be detected
Position, microprocessor are converted into waveform figure by reading the signal that ultrasonic sensor receives, so as to identify disturbance dress
Put and the position of pipeline to be detected, so as to the time returned according to sound wave from disturbance device rebound, finally draw rangefinder with
The elevation of GPS positioning module is subtracted the distance between rangefinder and disturbance device, just can be derived that this by the distance between disturbance device
The elevation of pipeline.
Further, the disturbance device includes：
With the fixed sucker of pipeline to be detected；
The affixed mounting shell with sucker；
The micro-step motor being assemblied in mounting shell, the micro-step motor are driven by the lithium battery being arranged in mounting shell
It is dynamic；And
It is arranged on mounting shell outside and the vane plate affixed with the output shaft of micro-step motor, the vane plate undulate.
By using above-mentioned technical proposal, disturbance device can be fixed on using sucker on pipeline to be detected, by micro-
Type stepper motor can control vane plate to rotate, and vane plate undulate, be covered so as to cause the vane plate of rotation at it
Area in can dipping and heaving, consequently facilitating by ultrasonic sensor detect and go out.
Further, Quick Response Code has been attached on the inner wall of detection well, has been additionally provided with to scan two on the rangefinder
It ties up the Quick Response Code identification module of code and uploads pipeline location and the communication module of mark, the communication module and server process
End, which communicates to connect and can be scanned the two-dimensional code by Quick Response Code identification module, identifies that institute is through piping and electricity in existing detection well
The information of cable, and the location information of instantly the detected pipeline obtained is transferred to server process end with the position before covering
Confidence ceases.
By using above-mentioned technical proposal, 2 D code information, and profit are obtained using the Quick Response Code identification module on rangefinder
With communication module from server process end obtain Quick Response Code it is corresponding it is existing detection well in the information through piping and cable
And existing information is uploaded, to keep the accuracy of server process client information.
Further, it is provided on the shell for rangefinder to be fixed on to the support device in the exit of detection well,
The support device includes：
With the rail rods of shell slidingtype assembling；
It is arranged on rail rods both ends and the spike agreed with detection well exit；And
It is arranged on the locking mechanism for being used for that spike is pushed against to detection well exit between rail rods and spike.
By using above-mentioned technical proposal, since the diameter in the exit of different detection wells can pass through there are slight difference
The exit for being locked in detection well that rail rods can stablize rangefinder with locking mechanism, and rangefinder can be filled according to disturbance
The position put adjusts its horizontal level, so that rangefinder is located at the surface of disturbance device.
Further, the locking mechanism includes：The kidney-shaped bar for being fixed on spike and being assembled with rail rods slidingtype；
Sliding slot that is being opened up along rail rods extending direction and being adapted to kidney-shaped bar；And
Axially-fixed and radial be rotatably connected on sliding slot exit and with the control set of kidney-shaped bar thread fitting.
By using above-mentioned technical proposal, control set is rotated, and the radial position of kidney-shaped bar is by sliding slot /V so that control
Set can relatively rotate with kidney-shaped bar, and kidney-shaped bar and control external threading cooperation, so as to control set that can occur with kidney-shaped bar
Relative displacement, it is final to realize that kidney-shaped bar is moved with spike.
Further, the opening of the sliding slot has been wholely set bulge loop with rail rods, is opened on the inner wall of the control set
Equipped with the annular groove coordinated with bulge loop inlay card.
By using above-mentioned technical proposal, coordinated using the inlay card of bulge loop and annular groove, realize control set and the axis of rail rods
It is rotatably assorted to fixed radial.
Further, it is spaced apart on the ring wall of the bulge loop and is equipped with straight slot.
By using above-mentioned technical proposal, needed when bulge loop is embedded in control set by the reduced diameter of bulge loop again by it
Embedded control set, the final inlay card for realizing bulge loop and control set coordinate.
It is a further object to provide a kind of underground utilities mapping method, with convenient for users to knowing to detect in well
The basic information of pipeline and cable, so as to improve work efficiency.
The present invention above-mentioned technical purpose technical scheme is that：A kind of underground utilities mapping side
Method, based on above-mentioned rangefinder, including：
The elevation of detection inspection borehole log wellhead；
Coordinate with the disturbance device of pipeline correspondence position to be detected installation and inspection borehole log wellhead is detected with ultrasonic distance detection mode
With the difference in height between disturbance device position；
According to the elevation of inspection borehole log wellhead and the difference in height, the elevation of the disturbance device is obtained to indicate the test tube to be checked
Road elevation.
By using above-mentioned technical proposal, just can be obtained by single rangefinder needed for pipeline longitude and latitude with
And elevation, so as to be conveniently operated the three dimensional local information that personnel obtain corresponding pipeline, so as to the drafting moved towards with later stage pipeline.
In conclusion the invention has the advantages that：The distance of disturbance device and ultrasonic sensor can occur small
The variation of amplitude, microprocessor by read ultrasonic sensor obtain waveform figure, so as to identify disturbance device with
And the position of pipeline to be detected, so as to the time returned according to sound wave from disturbance device rebound, finally draw rangefinder and disturbance
Distance between device.Microprocessor can collect latitude and longitude information and elevation from GPS positioning module, which is subtracted
Distance between rangefinder and disturbance device just can be derived that the elevation of the pipeline, finally reflect test tube to be checked on a display screen
The latitude and longitude information and elevation at place are put in the detection well location in road.
Description of the drawings
Fig. 1 is the attachment structure schematic diagram of rangefinder and detection well in the present embodiment；
Fig. 2 is the general assembly structure diagram of rangefinder in the present embodiment；
Fig. 3 is the structure diagram that ultrasonic distance measures module in the present embodiment；
Fig. 4 is the structure diagram of disturbance device in the present embodiment；
Fig. 5 is the attachment structure schematic diagram of spike and slide bar in the present embodiment；
Fig. 6 is the connection structure diagrammatic cross-section of the present embodiment middle orbit bar and kidney-shaped bar；
Fig. 7 is the frame structure schematic diagram of underground utilities mapping method in the present embodiment.
Reference numeral：1st, shell；2nd, circuit board；3rd, GPS positioning module；4th, ultrasonic distance measures module；41st, disturbance dress
It puts；411st, mounting shell；412nd, sucker；413rd, micro-step motor；414th, vane plate；42nd, ultrasonic sensor；5th, Quick Response Code is known
Other module；6th, communication module；7th, display screen；8th, microprocessor；9th, Quick Response Code；10th, server process end；11st, accommodating cavity；12、
Lithium battery；13rd, support device；131st, rail rods；132nd, locking device；1321st, sliding slot；1322nd, kidney-shaped bar；1323rd, control set；
133rd, spike；14th, bulge loop；15th, annular groove；16th, straight slot.
Specific embodiment
The present invention is described in further detail below in conjunction with attached drawing.
With reference to shown in Fig. 1, Fig. 2 and Fig. 3, a kind of underground utilities mapping method, the survey including being mounted on detection well exit
Distance meter is equipped with circuit board 2 in the shell 1 of rangefinder, is integrated with GPS positioning module 3, ultrasonic distance on the circuit board 2
Module 4, Quick Response Code identification module 5, communication module 6, display screen 7 and microprocessor 8 are measured, ultrasonic distance measures module 4
Including a ultrasonic sensor 42 and disturbance device 41, disturbance device 41 can be adsorbed on pipeline to be detected, by rangefinder
The surface of disturbance device 41 is placed in, according to Doppler effect, disturbance device 41 and the distance of ultrasonic sensor 42 can be sent out
Raw variation by a small margin, which is the position of pipeline to be detected, and microprocessor 8 is received by reading ultrasonic sensor 42
To signal be converted into waveform figure, so as to identify the position of disturbance device 41 and pipeline to be detected, so as to according to sound
The time that ripple is returned from the rebound of disturbance device 41, finally draw the distance between rangefinder and disturbance device 41.With reference to shown in Fig. 7,
Microprocessor 8 can collect latitude and longitude information and elevation from GPS positioning module 3, which is subtracted rangefinder with disturbing
Distance between dynamic device 41, just can be derived that the elevation of the pipeline, finally reflects pipeline to be detected in the inspection on display screen 7
Latitude and longitude information and elevation at well logging position.
It is shown referring to Figures 1 and 2, Quick Response Code 9 is attached on the inner wall of detection well, Quick Response Code identification module 5 is to sweep
Camera lens is retouched, 9 information of Quick Response Code is obtained using the scanning lens on rangefinder, and utilizes communication module 6 from server process end 10
Obtain Quick Response Code 9 it is corresponding it is existing detection well in institute the information through piping and cable, with convenient for users to know detection well
Interior pipe arrangement information, so as to improve work efficiency.
With reference to shown in Fig. 7, to keep the accuracy of 10 information of server process end, microprocessor 8 can also pass through communication
The location information of instantly the detected pipeline obtained is transferred to server process end 10 and is believed with the position before covering by module 6
Breath.It is final to obtain then by the mapped point line by the information gathering of multiple coordinate points of pipeline approach to be detected in city
The pipeline to be detected is in city incity distribution map.
With reference to shown in Fig. 3 and Fig. 4, for ease of carrying disturbance device 41, offer to place disturbance dress in 1 one side of shell
Put 41 accommodating cavity 11.Disturbance device 41 include mounting shell 411, be installed in it is on mounting shell 411 and fixed with pipeline to be detected
Sucker 412, the micro-step motor 413 being assemblied in mounting shell 411 and the leaf mounted on 413 output terminal of micro-step motor
Sheet 414 is additionally provided with the lithium battery powered to micro-step motor 413 and rotated with driving blade plate 414 in mounting shell 411
12, it detects disturbance device 41 for ease of ultrasonic sensor 42, vane plate 414 is set into waviness, so as to increase blade
Oscillation Amplitude in 414 slewing area of plate.
With reference to shown in Fig. 1 and Fig. 2, for ease of by rangefinder be fixed on detection well exit, shell 1 with detection well it
Between be provided with support device 13, support device 13 include with the rail rods 131 of 1 slidingtype of shell assembling, be arranged on rail rods 131
Both ends are simultaneously used for detecting the spike 133 agreed in well exit and being arranged between rail rods 131 and spike 133 by spike
133 are pushed against the locking mechanism in detection well exit.
With reference to shown in Fig. 5 and Fig. 6, locking mechanism includes one with the affixed kidney-shaped bar 1322 of spike 133, along rail rods 131
Sliding slot 1321 that is that extending direction opens up and being adapted to kidney-shaped bar 1322 and be arranged on 1321 exit of sliding slot and with kidney-shaped bar
The control set 1323 of 1322 thread fittings, and the opening in sliding slot 1321 has been wholely set bulge loop 14 with rail rods 131, controls
Cover the annular groove 15 for offering on 1323 inner walls and being adapted to bulge loop 14 so that control set 1323 can pass through bulge loop 14 and rail rods
131 axially-fixed and radials are rotatablely connected, and so as to rotate control set 1323, and the radial position of kidney-shaped bar 1322 is limited by sliding slot 1321
Position so that control set 1323 can relatively rotate with kidney-shaped bar 1322, and kidney-shaped bar 1322 is matched somebody with somebody with control 1323 screw threads of set
It closes, it is final to realize that kidney-shaped bar 1322 is moved with spike 133 so as to control set 1323 and kidney-shaped bar 1322 that relative displacement can occur
It is dynamic.For the ease of bulge loop 14 is covered 1323 in embedded control, it is spaced apart on the ring wall of bulge loop 14 and is equipped with straight slot 16.
The course of work is summarized：When surveying and drawing pipe-line figure, the detection well being distributed in along pipeline to be detected selected first,
When information is obtained, surveying instrument by adjusting control set 1323 will be fixed on to the exit of detection well first, then will
Disturbance device 41 is adsorbed on pipeline to be detected, in order to which ultrasonic sensor 42 detects pipeline to be detected to pipeline to be detected
The distance between, microprocessor 8 can collect latitude and longitude information and elevation from GPS positioning module 3, which is subtracted
Distance between rangefinder and disturbance device 41 just can be derived that the elevation of the pipeline, finally reflect on display screen 7 to be detected
Pipeline puts the latitude and longitude information and elevation at place in the detection well location.
This specific embodiment is only explanation of the invention, is not limitation of the present invention, people in the art
Member can as needed make the present embodiment the modification of no creative contribution after this specification is read, but as long as at this
It is all protected in the right of invention be subject to Patent Law.
Claims (8)
1. a kind of rangefinder, which is characterized in that including：
Shell (1), is used for holding electronic component；
GPS positioning module (3) is used to detect the longitude and latitude and elevation of corresponding detection well；
Ultrasonic distance measures module (4), and the disturbance device (41) for being installed with pipeline correspondence position to be detected coordinates with super
Sound wave detects the difference in height between inspection borehole log wellhead and disturbance device (41) position apart from detection mode；And
Microprocessor (8) measures module (4) with the GPS positioning module (3) and ultrasonic distance and is connected, for according to detection
The elevation of well well head and the difference in height, obtain the elevation of the disturbance device (41) to indicate the pipeline elevation to be detected.
2. rangefinder according to claim 1, which is characterized in that the disturbance device (41) includes：
With the fixed sucker of pipeline to be detected (412)；
The mounting shell (411) affixed with sucker (412)；
The micro-step motor (413) being assemblied in mounting shell (411), the micro-step motor (413) is by being arranged on peace
Fill lithium battery (12) driving in shell (411)；And
Mounting shell (411) outside and the vane plate (414) affixed with the output shaft of micro-step motor (413) are arranged on, it is described
Vane plate (414) undulate.
3. rangefinder according to claim 2, which is characterized in that attached Quick Response Code (9), institute on the inner wall of detection well
It states and the Quick Response Code for scanning the two-dimensional code (9) (9) identification module (5) is additionally provided on rangefinder and uploads pipeline location with marking
The communication module (6) of knowledge, the communication module (6) communicate to connect with server process end (10) and can pass through Quick Response Code (9)
Identification module (5) scan the two-dimensional code (9) identification it is existing detection well in the information through piping and cable.
4. rangefinder according to claim 3, which is characterized in that be provided with to consolidate rangefinder on the shell (1)
The support device (13) in the exit of detection well is scheduled on, the support device (13) includes：
With the rail rods (131) of shell (1) slidingtype assembling；
It is arranged on rail rods (131) both ends and the spike (133) agreed with detection well exit；And
It is arranged on the locking machine for being used for that spike (133) is pushed against to detection well exit between rail rods (131) and spike (133)
Structure.
5. rangefinder according to claim 4, which is characterized in that the locking mechanism includes：It is fixed on spike (133)
And the kidney-shaped bar (1322) assembled with rail rods (131) slidingtype；
Sliding slot (1321) that is being opened up along rail rods (131) extending direction and being adapted to kidney-shaped bar (1322)；And
Axially-fixed and radial be rotatably connected on sliding slot (1321) exit and with the control set of kidney-shaped bar (1322) thread fitting
(1323)。
6. rangefinder according to claim 5, which is characterized in that the opening and rail rods of the sliding slot (1321)
(131) bulge loop (14) has been wholely set, the ring with the cooperation of bulge loop (14) inlay card is offered on the inner wall of the control set (1323)
Slot (15).
7. rangefinder according to claim 6, which is characterized in that be spaced apart on the ring wall of the bulge loop (14) and be equipped with straight slot
(16)。
8. a kind of underground utilities mapping method, which is characterized in that including such as claim 1-7 any one of them rangefinder, inspection
Quick Response Code (9) has been attached on the inner wall of well logging, has been additionally provided with to scan the two-dimensional code the Quick Response Code (9) of (9) on the rangefinder
Identification module (5) and communication module (6), the communication module (6) communicate to connect and can lead to server process end (10)
Cross Quick Response Code (9) identification module (5) scan the two-dimensional code (9) identification it is existing detection well in the information through piping and cable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711355402.3A CN108089188B (en) | 2017-12-16 | 2017-12-16 | Distance meter and underground pipeline surveying and mapping method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711355402.3A CN108089188B (en) | 2017-12-16 | 2017-12-16 | Distance meter and underground pipeline surveying and mapping method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108089188A true CN108089188A (en) | 2018-05-29 |
| CN108089188B CN108089188B (en) | 2020-02-07 |
Family
ID=62176569
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711355402.3A Active CN108089188B (en) | 2017-12-16 | 2017-12-16 | Distance meter and underground pipeline surveying and mapping method |
Country Status (1)
| Country | Link |
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| CN (1) | CN108089188B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114167426A (en) * | 2021-10-23 | 2022-03-11 | 上海惟堪建筑工程技术有限公司 | Underground pipeline measurement and three-dimensional modeling analysis method, device and medium based on unmanned aerial vehicle |
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| CN106803052A (en) * | 2016-11-29 | 2017-06-06 | 西安科技大学 | The device and method of buried pipeline position is obtained based on ciphering two-dimension code identification |
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|---|---|---|---|---|
| CN102118440A (en) * | 2011-02-01 | 2011-07-06 | 北京清大博海科技有限公司 | Centralized monitoring system of cable inspection well |
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| CN104612236A (en) * | 2014-12-18 | 2015-05-13 | 重庆多邦科技发展有限公司 | Urban road water-logging early warning and automatic treatment system based on technology of internet of things |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114167426A (en) * | 2021-10-23 | 2022-03-11 | 上海惟堪建筑工程技术有限公司 | Underground pipeline measurement and three-dimensional modeling analysis method, device and medium based on unmanned aerial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108089188B (en) | 2020-02-07 |
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