CN212718674U - Surveying and mapping robot - Google Patents
Surveying and mapping robot Download PDFInfo
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- CN212718674U CN212718674U CN202020357584.9U CN202020357584U CN212718674U CN 212718674 U CN212718674 U CN 212718674U CN 202020357584 U CN202020357584 U CN 202020357584U CN 212718674 U CN212718674 U CN 212718674U
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Abstract
The application discloses mapping robot. The surveying and mapping robot comprises a moving vehicle body, an image acquisition device, a cable reel, a cable and a controller. The image acquisition device is carried on the motion automobile body, and the motion automobile body is located and image acquisition device electric connection to the one end of cable conductor, and the controller is located through the cable reel to the other end of cable conductor, and controller and cable reel electric connection are received the line and are unwrapped wire with control cable reel. The image acquisition device is used for acquiring image data, transmitting the image data to the controller through the cable, and generating a three-dimensional model according to the image data by the controller. This mapping robot can survey and draw in the pipeline effectively.
Description
Technical Field
The application relates to the technical field of pipeline surveying and mapping, in particular to a surveying and mapping robot.
Background
The existing pipeline detection robot is mainly provided with a standard definition or high definition camera by a motion mechanism, and video or picture information is collected during detection.
In the process of collecting video information by the robot, the defect needs to be judged manually and the fixed-point information collection is carried out on the defect, so that the operation process is labor-consuming and time-consuming. Later stage staff also need carry out manual interpretation to the defect, record the arrangement to the defect condition of pipeline, issue the detection report, need consume a large amount of manpowers and time.
SUMMERY OF THE UTILITY MODEL
The application provides a mapping robot, this mapping robot can survey and draw in the pipeline effectively.
The application provides a mapping robot. The surveying and mapping robot comprises a moving vehicle body, an image acquisition device, a cable reel, a cable and a controller. The image acquisition device is carried on the motion automobile body, and the motion automobile body is located and image acquisition device electric connection to the one end of cable conductor, and the controller is located through the cable reel to the other end of cable conductor, and controller and cable reel electric connection are received the line and are unwrapped wire with control cable reel. The image acquisition device is used for acquiring image data, transmitting the image data to the controller through the cable, and generating a three-dimensional model according to the image data by the controller.
In the scheme, the surveying and mapping robot capable of collecting image data inside the pipeline and generating the corresponding three-dimensional model is provided. The motion automobile body has the function of removing in the pipeline, through the removal of motion automobile body, make image acquisition device can the inside image data of intact collection pipeline, the image data that image acquisition device gathered is transmitted to the controller by the cable conductor in real time simultaneously, the controller can be according to the image data of receiving and through the built-in 3D software generation pipeline three-dimensional model of controller, thereby surveying personnel can make accurate measurement on three-dimensional model, surveying personnel can look over the defect condition in the pipeline directly perceivedly on three-dimensional model, surveying personnel's work efficiency and mapping result's precision have been improved. Because the image acquisition device transmits data through the cable, the controller can control the wire winding and wire releasing actions of the cable reel in the walking process of the moving vehicle body so as to ensure the normal movement of the moving vehicle body.
Optionally, in a possible implementation manner, the rear end of the moving vehicle body is connected to a cable, and the image capturing device is disposed at the front end of the moving vehicle body and electrically connected to the cable through an interface disposed on the moving vehicle body.
Optionally, in one possible implementation, the image acquisition device includes one of a multi-view vision camera and a TOF camera.
Optionally, in a possible implementation manner, the image acquisition device includes a visible light camera and a laser circular scanning device, and the visible light camera and the laser circular scanning device are disposed at the front end of the moving vehicle body and transmit the image data and the point cloud data to the controller through cable wires, respectively.
Optionally, in a possible implementation manner, the image capturing device further includes a rotating cradle head and a lighting device, the rotating cradle head is disposed on the moving vehicle body, and the lighting device and the visible light camera are disposed on the rotating cradle head.
Optionally, in one possible implementation, the cable is electrically connected to the moving body to provide power to the moving body.
Optionally, in one possible implementation, the moving vehicle body is a tracked walking robot.
Alternatively, in one possible implementation, the moving vehicle body is a wheeled walking robot.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a schematic structural diagram of a surveying and mapping robot in this embodiment;
fig. 2 is a schematic structural diagram of another surveying and mapping robot in the embodiment.
Icon: 10-a surveying robot; 10 a-a pipe; 11-a moving vehicle body; 12-an image acquisition device; 13-a cable reel; 14-cable wires; 15-a controller; 120-visible light camera; 121-laser circular scanning device; 122-rotating pan-tilt; 123-lighting means.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present application, it is to be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, refer to the orientation or positional relationship as shown in the drawings, or as conventionally placed in use of the product of the application, or as conventionally understood by those skilled in the art, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present application.
In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The technical solution in the present application will be described below with reference to the accompanying drawings.
The present embodiment provides a surveying robot 10 capable of efficiently surveying and mapping within a pipe 10a by the surveying robot 10.
Referring to fig. 1, fig. 1 shows a specific structure of a surveying and mapping robot 10 in the present embodiment. Note that, fig. 1 shows a pipe 10 a.
The surveying robot 10 includes a moving vehicle body 11, an image pickup device 12, a cable reel 13, a cable line 14, and a controller 15. The image acquisition device 12 is mounted on the moving vehicle body 11, one end of the cable 14 is arranged on the moving vehicle body 11 and electrically connected with the image acquisition device 12, the other end of the cable 14 is arranged on the controller 15 through the cable reel 13, and the controller 15 is electrically connected with the cable reel 13 to control the cable reel 13 to take up and pay off. The image acquisition device 12 is used for acquiring image data, and transmitting the image data to the controller 15 through the cable 14, and the controller 15 generates a three-dimensional model according to the image data.
In the above solution, a surveying and mapping robot 10 capable of acquiring image data of the inside of the pipe 10a and generating a corresponding three-dimensional model is provided. The moving vehicle body 11 has a function of moving in the pipeline 10a, the moving vehicle body 11 moves, the image acquisition device 12 can completely acquire image data inside the pipeline 10a, meanwhile, the image data acquired by the image acquisition device 12 is transmitted to the controller 15 in real time through the cable 14, the controller 15 can generate a three-dimensional model in the pipeline 10a according to the received image data and through 3D software built in the controller 15, a surveying and mapping staff can accurately measure on the three-dimensional model, the surveying and mapping staff can visually check the defect condition in the pipeline 10a on the three-dimensional model, the working efficiency of the surveying and mapping staff and the precision of the surveying and mapping result are improved, it needs to be noted that the controller 15 can also convert the three-dimensional model into a 2D picture, measure and mark on the 2D picture, and further visually check the defect condition, and the artificial intelligence technology can be combined to carry out AI artificial intelligence identification on the defects in the pipeline 10a, so that a detection report is automatically sent out, the later-stage labor and time cost is reduced, and a proposal is given to a defect processing scheme.
Since the image acquisition device 12 transmits data through the cable 14, the controller 15 can control the wire winding and unwinding actions of the cable reel 13 during the traveling process of the moving vehicle body 11, so as to ensure the normal movement of the moving vehicle body 11.
Referring to fig. 1, the rear end of the moving body 11 is connected to a cable 14, and the image capturing device 12 is disposed at the front end of the moving body 11 and electrically connected to the cable 14 through an interface disposed on the moving body 11.
It should be noted that, in this embodiment, the image capturing device 12 is convexly disposed at the front end of the moving vehicle 11, so that in the moving process of the moving vehicle 11, the image data inside the complete pipeline 10a can be captured, and the interference of the moving vehicle 11 on the capturing operation of the image capturing device 12 is avoided. Meanwhile, in other embodiments, the image acquisition device 12 is not limited to be provided at the position of the moving vehicle body 11, and may be provided at any position of the traveling vehicle body, for example, at the top surface, bottom surface, or rear end of the traveling vehicle body.
It should be noted that the image acquisition device 12 includes one of a multi-view vision camera and a TOF camera.
It should be noted that TOF is short for time-of-flight, and a TOF camera is a depth imaging camera, and the TOF camera is used for measuring distance by shining light on a target object and measuring the transmission time of the light between a lens and the object, so that a depth map is realized by multiple light rays, and 3D depth sensing is achieved. The multi-view vision camera can also realize the depth measurement, taking the binocular vision camera as an example: binocular stereo vision is a method for acquiring three-dimensional geometric information of an object from a plurality of images based on the parallax principle. In a machine vision system, in binocular vision, two digital images of surrounding scenery are generally acquired simultaneously from different angles by two cameras, or two digital images of the surrounding scenery are acquired from different angles at different times by a single camera, and three-dimensional geometric information of an object can be recovered based on a parallax principle, so that the three-dimensional shape and position of the surrounding scenery are reconstructed.
When the image acquisition device 12 employs one of a multi-view vision camera and a TOF camera, image data capable of generating a three-dimensional model may be transmitted to the controller 15.
Please refer to fig. 2, wherein fig. 2 shows a specific structure of another surveying and mapping robot 10 in this embodiment.
The surveying robot 10 in fig. 2 includes an image capturing device 12, the image capturing device 12 includes a visible light camera 120, a laser scanning device 121, a rotating pan-tilt 122, and a lighting device 123, the rotating pan-tilt 122 is disposed on the moving vehicle body 11, and the lighting device 123 and the visible light camera 120 are disposed on the rotating pan-tilt 122. It should be noted that the laser ring scan device 121 may employ CE30 solid-state lidar.
The horizontal and pitch angles of the visible light camera 120 can be adjusted by rotating the cradle head 122, so as to expand the range of the captured image of the visible light camera. The lighting device 123 provides illumination for the visible light camera 120 so that the visible light camera 120 captures a clear image.
The visible light camera 120 and the laser circular scanning device 121 are disposed at the front end of the moving vehicle 11, and transmit image data and point cloud data (point cloud data) to the controller 15 through the cable 14, respectively, where the point cloud data refers to scanning data recorded in the form of points, each point includes three-dimensional coordinates, and some points may include color information (RGB) or reflection Intensity information (Intensity).
The controller 15 may generate a three-dimensional model within the pipeline 10a from image data collected by the visible light camera 120 and point cloud data collected by the laser scanning device 121.
In the present embodiment, the moving vehicle body 11 is electrically connected to the cable 14, and the electric power is supplied to the moving vehicle body 11 through the cable 14. The moving vehicle 11 may be a pipeline robot in the prior art, and may be controlled by the controller 15, or may automatically plan a moving path to perform autonomous movement by using a topographic map generated by the controller 15.
In this embodiment, the moving vehicle body 11 is a wheeled walking robot. In other embodiments, the moving vehicle body 11 may also be a crawler type walking robot in order to obtain good obstacle surmounting capability.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (6)
1. A mapping robot, comprising:
the device comprises a moving vehicle body, an image acquisition device, a cable reel, a cable and a controller;
the image acquisition device is carried on the moving vehicle body, one end of the cable is arranged on the moving vehicle body and is electrically connected with the image acquisition device, the other end of the cable is arranged on the controller through the cable reel, and the controller is electrically connected with the cable reel so as to control the cable reel to take up and pay off;
the image acquisition device comprises a visible light camera and a laser annular scanning device, the visible light camera and the laser annular scanning device are arranged at the front end of the moving vehicle body and respectively transmit image data and point cloud data to the controller through the cable wire, and the controller generates a three-dimensional model according to the image data and the point cloud data.
2. Mapping robot according to claim 1,
the rear end of the moving vehicle body is connected with the cable, the image acquisition device is arranged at the front end of the moving vehicle body and is electrically connected with the cable through an interface arranged on the moving vehicle body.
3. Mapping robot according to claim 1,
the image acquisition device further comprises a rotating holder and a lighting device, the rotating holder is arranged on the moving vehicle body, and the lighting device and the visible light camera are arranged on the rotating holder.
4. Mapping robot according to claim 1,
the cable is electrically connected with the moving vehicle body to provide electric energy for the moving vehicle body.
5. Mapping robot according to claim 1,
the moving vehicle body is a crawler-type walking robot.
6. Mapping robot according to claim 1,
the moving vehicle body is a wheeled walking robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020357584.9U CN212718674U (en) | 2020-03-19 | 2020-03-19 | Surveying and mapping robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020357584.9U CN212718674U (en) | 2020-03-19 | 2020-03-19 | Surveying and mapping robot |
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| CN212718674U true CN212718674U (en) | 2021-03-16 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113804698A (en) * | 2021-11-17 | 2021-12-17 | 北京蜂盛蜜匀农业科技有限公司 | Self-propelled intelligent pipeline 3D imaging and measuring device and measuring method thereof |
| CN114382994A (en) * | 2021-11-30 | 2022-04-22 | 深圳市勘察研究院有限公司 | Drainage pipeline detection device and method based on three-dimensional laser |
-
2020
- 2020-03-19 CN CN202020357584.9U patent/CN212718674U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113804698A (en) * | 2021-11-17 | 2021-12-17 | 北京蜂盛蜜匀农业科技有限公司 | Self-propelled intelligent pipeline 3D imaging and measuring device and measuring method thereof |
| CN114382994A (en) * | 2021-11-30 | 2022-04-22 | 深圳市勘察研究院有限公司 | Drainage pipeline detection device and method based on three-dimensional laser |
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