CN118465758B - Self-positioning inspection system and method based on limited space gas safety detector - Google Patents
Self-positioning inspection system and method based on limited space gas safety detector Download PDFInfo
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Abstract
The invention provides a self-positioning inspection system and a self-positioning inspection method based on a limited space gas safety detector, which relate to the technical field of foundation pit construction and comprise a host, wherein the host is in signal connection with an inspection module, a personnel positioning module, a monitoring module and a server, and the host comprises a host data transmission module, a radar signal processing module, a gas data integration module and a display module. According to the invention, the single radar wave is collected from different angles and the radar wave is transmitted from different angles for multiple times, so that a large amount of radar wave data can be obtained in a short time, a large amount of data support is provided for the operation of constructing the three-dimensional model based on the radar wave, and compared with the data of the actual foundation pit environment blind area, the three-dimensional model constructed by the invention greatly reduces the image data quality and quantity requirements for improving the model by means of the image data.
Description
Technical Field
The invention relates to the technical field of foundation pit construction, in particular to a self-positioning inspection system and method based on a limited space gas safety detector.
Background
The foundation pit type is divided into three grades according to different requirements, wherein a primary foundation pit with the largest standard is an important engineering or supporting structure serving as a part of a main structure, the excavation depth is greater than 10 meters, the foundation pit is suitable for the conditions that historical relics, modern excellent buildings, important pipelines and the like need to be strictly protected in the foundation pit range, and strict waterproof drainage work and high-standard supporting structures are needed, such as underground continuous walls, column-type bored piles and other protective measures.
The foundation components built in the foundation pit all contain steel structures, so that inspection in the foundation pit is generally realized in a graphic visual mode, and a three-dimensional model, feature monitoring and the like are built by analyzing graphic features in images.
However, the existing means for monitoring the condition in the foundation pit by means of images is often limited by complex environments in the foundation pit, because a large number of structures exist in the foundation pit, imaging view angle blind areas caused by the large number of structures are very large, a plurality of imaging devices at different angle positions are required to be installed, the view angle blind areas of the imaging devices are also changed along with the construction of the foundation pit due to the change of the internal structures, the mode of manual inspection is often not convenient and fast as the mode of manual inspection, but the mode of manual inspection cannot achieve the effect of real-time monitoring, so that the imaging monitoring and the manual inspection are required to be combined together to achieve the effect of inspection monitoring on the condition in the foundation pit under the general condition, and inconvenience exists.
Disclosure of Invention
The invention aims to solve the defects existing in the prior art and the defects of monitoring blind areas existing in the foundation pit through machine equipment at present.
In order to achieve the above purpose, the present invention adopts the following technical scheme: the self-positioning inspection system based on the limited space gas safety detector comprises a host, wherein the host is in signal connection with an inspection module, a personnel positioning module, a monitoring module and a server;
the host comprises a host data transmission module, a radar signal processing module, a gas data integration module and a display module;
The inspection module comprises a plurality of inspection extensions, each inspection extension is numbered, the inspection extension takes a self-propelled robot as a carrier, and a gas safety detector, an extension radar reflection module, an extension radar signal receiving module, an extension camera module and an extension data transmission module are arranged on the inspection extension;
The personnel positioning module comprises a plurality of carrying modules, each carrying module is numbered, and the carrying modules comprise a portable radar reflection module, a portable radar signal receiving module, a voice interaction module and a portable data transmission module;
The monitoring module comprises a plurality of fixed point modules, each fixed point module is numbered, and the fixed point modules comprise a radar transmitting module, a radar echo receiving module, a displacement sensor, a camera shooting module and a fixed point data transmission module;
The server comprises a comprehensive processing module, a data storage module and a basic data set;
the comprehensive processing model comprises a three-dimensional model building module, an image processing module, a radar data processing module, a verification and correction module and a three-dimensional model adjusting module.
As a preferred implementation mode, the inspection extension is arranged in the foundation pit, a gas safety monitor, an extension radar reflection module, an extension radar signal receiving module, an extension camera module and an extension data transmission module in the inspection extension are integrated on the self-propelled robot, the camera module arranged on the inspection extension shoots image data in the walking process of the self-propelled robot, the extension radar reflection module reflects radar waves sent by the radar transmission module, the extension radar signal receiving module is used for receiving the radar waves sent by the radar transmission module, and the extension data transmission module is used for sending gas data, image data and radar signal data to the host data transmission module.
As a preferred embodiment, the carrying module is assembled on the body of a constructor in the foundation pit, and the form of the carrying module includes, but is not limited to: the portable radar signal receiving module is used for receiving radar waves sent by the radar transmitting module, the voice interaction module is used for providing an exchange function between constructors and ground personnel, and the portable data transmission module is used for transmitting radar signals received by the portable radar signal receiving module and transmitting data of the cloud factor interaction module.
As a preferred implementation mode, the fixed point module is fixedly arranged on a supporting structure in the foundation pit, the radar transmitting module, the radar echo receiving module, the displacement sensor, the fixed point camera module and the fixed point data transmission module are all integrated on a holder of the camera module, the radar transmitting module is used for transmitting radar waves with specific frequencies, the radar echo receiving module receives radar echoes reflected by the extension radar reflecting module and the portable radar transmitting module, the displacement sensor is used for monitoring displacement data of the fixed point module, the camera module is used for shooting image data in the foundation pit, and the fixed point data transmission module is used for transmitting the image data, the radar echo data and the displacement data to the host data transmission module.
As a preferred embodiment, the data storage module of the server is configured to store data transmitted by the host, where the basic data set classifies the data transmitted by the host, and the same type of data is assigned to the same data set, and then is provided to the integrated processing module for three-dimensional modeling processing, where the integrated processing module includes a three-dimensional model rendering module, an image processing module, a radar data processing module, a verification and correction module, and a three-dimensional model adjustment module.
A self-positioning inspection method based on a limited space gas safety detector comprises the following steps:
s1, firstly, determining the installation positions of fixed point modules according to the shape of a foundation pit, so that radar transmitting modules and radar echo receiving modules of different fixed point modules face the center of a foundation pit space;
S2, setting starting time of radar transmitting modules in different fixed point modules, keeping the starting time interval the same, when the radar transmitting module of one fixed point module transmits radar waves, keeping the radar transmitting modules in the other fixed point modules in a closed state, keeping radar echo receiving modules of the radar transmitting modules of all the fixed point modules on at the same time, receiving radar echoes, marking the radar wave transmitting time, and time-marking image data shot by the fixed point shooting modules in the same time;
S3, the host receives and processes the inspection data from the inspection module, the positioning data of the personnel positioning module and the monitoring data of the monitoring module;
s4, the host transmits the classified data set to the server through the data transmission module;
S5, the server performs image processing and radar data processing on the received classified data set, and builds a primary tone three-dimensional model according to radar data and fixed-point camera shooting data;
S6, verifying and checking the three-dimensional model by using the image data to obtain a complete three-dimensional model;
And S7, the server transmits the constructed complete three-dimensional model to the host, the display module of the host displays the complete three-dimensional model, the positions of the inspection machine and the carrying module are displayed in the complete three-dimensional model in real time according to the analysis of the subsequent radar signals, and the positions of the inspection machine and constructors in the foundation pit are determined.
In a preferred embodiment, in the step S5, the specific steps of creating the initial three-dimensional model according to the radar data are as follows:
s5.1, firstly verifying radar echo data of all fixed point modules, and establishing an independent three-dimensional model unit;
S5.2, adjusting the angles of the three-dimensional models according to the installation positions and the orientations of the radar echo receiving modules in the foundation pit, analyzing and matching the features in the three-dimensional models, determining the orientation angles and the positions of the three-dimensional models according to the same three-dimensional structure, and then fusing the three-dimensional models to obtain initial three-dimensional models;
S5.3, adjusting the view angle of the three-dimensional model according to the shooting angle of the image data shot by the fixed point shooting module, extracting the characteristics of the image data shot by the fixed point shooting module according to the characteristics in the initial three-dimensional model, and checking the difference between the three-dimensional model and the image data under the same view angle;
S5.4, adjusting the initial three-dimensional model according to the difference, and adding a foundation pit nonmetallic structure into the initial three-dimensional model to obtain an initial three-dimensional model.
In a preferred embodiment, in the step S6, the specific steps of verifying and checking the three-dimensional model using the image data to obtain the complete three-dimensional model are as follows:
S6.1, because the position of the steel structure is fixed, the distance between the steel structure and the fixed point module is fixed, and the echo frequency reflected by the reflecting module can be measured in advance to be a known quantity, so that the corresponding frequency signal changed in the radar echo can be judged to be the radar echo of the extension radar reflecting module and the portable radar reflecting module;
s6.2, judging whether the signal is the echo of the extension radar reflection module or the echo of the portable radar reflection module according to the distance between the signal and the bottom of the foundation pit in the initial adjustment model, screening the echo of the extension radar reflection module, and positioning the extension position;
S6.3, determining the number of the extension according to the time data in the echo of the corresponding extension radar reflection module, and calling the image shot by the extension shooting module with the corresponding number;
s6.4, adjusting the observation visual angle movement path of the primary-tone three-dimensional model according to the change of the image inclination angle, and analyzing the difference between the image shot by the extension camera module and the primary-tone three-dimensional model under the same visual angle;
S6.5, adjusting the three-dimensional model according to the difference to obtain a usable complete three-dimensional model.
In step S5.1, the radar reflection modules and the radar echo receiving modules in each fixed point module form a radar array, and during operation, the radar wave emitted by a single radar reflection module adjusts the beam direction in a physical and electronic manner, so that the beam direction is fan-shaped in the foundation pit and faces the center of the foundation pit, the radar echo is received by the radar echo receiving modules in different positions and in a fixed direction, when the three-dimensional model is built, the radar echo in the foundation pit received by all the radar echo receiving modules is built into a corresponding three-dimensional model, and then the model features in the three-dimensional model are supplemented according to the radar wave data of other radar echo receiving modules, so as to obtain the three-dimensional model unit corresponding to the position of the fixed point module.
Compared with the prior art, the invention has the advantages and positive effects that:
1. According to the invention, a large amount of radar wave data can be obtained in a short time by collecting single radar waves from different angles and transmitting radar waves from different angles for multiple times, a large amount of data support is provided for the operation of constructing a three-dimensional model based on the radar waves, and compared with the data of the dead zone of the actual foundation pit environment, the three-dimensional model constructed by the invention greatly reduces the image data quality and quantity requirements for perfecting the model by means of image data.
2. According to the invention, the image data in the foundation pit is obtained through the fixed point module and the camera equipment on the inspection extension, the characteristics of constant visual angle and multiple angles of the image data of the fixed point module are utilized, the effect of reducing the image characteristic check on the primarily perfected three-dimensional model is achieved, the calculated amount of the image is reduced, the characteristics of multiple image data characteristics and the camera track of the inspection extension are utilized, the effect of further reducing the calculated amount of the image is achieved on the further perfected three-dimensional model, and the time-consuming effect of reducing the construction of the three-dimensional model is achieved under the cooperation of the fixed point module and the camera equipment.
3. In the invention, multi-azimuth image angle adjustment data support can be provided when the three-dimensional model is subjected to detail supplementation through the image data, and the requirement of image data processing is reduced, so that the data calculation load is reduced, the time is saved, and the three-dimensional model constructed by the invention still has timeliness in a foundation pit construction environment.
Drawings
FIG. 1 is a block diagram of a self-positioning inspection system based on a limited space gas safety detector according to the present invention;
FIG. 2 is a diagram showing the construction of a fixed point module of a self-positioning inspection system based on a limited space gas safety detector;
FIG. 3 is a diagram showing the constitution of a carrying module of the self-positioning inspection system based on the gas safety detector in the limited space;
FIG. 4 is a view showing the constitution of an inspection machine of the self-positioning inspection system based on a limited space gas safety detector;
FIG. 5 is a diagram showing the construction of a comprehensive processing model of a self-positioning inspection system based on a limited space gas safety detector;
FIG. 6 is a flow chart of a self-positioning inspection method based on a limited space gas safety detector according to the present invention;
FIG. 7 is a data transmission flow chart of a self-positioning inspection method based on a limited space gas safety detector;
FIG. 8 is a flow chart of the initial three-dimensional model construction of the self-positioning inspection method based on the limited space gas safety detector;
FIG. 9 is a flow chart of a complete three-dimensional model construction of a self-positioning inspection method based on a limited space gas safety detector;
fig. 10 is a schematic diagram showing the distribution of modules in a foundation pit according to the self-positioning inspection method based on the gas safety detector in a limited space.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1: as shown in fig. 1, the present invention provides a technical solution: the self-positioning inspection system based on the limited space gas safety detector comprises a host, wherein the host comprises a host data transmission module, a radar signal processing module, a gas data integration module and a display module, the host is in signal connection with an inspection module, a personnel positioning module, a monitoring module and a server, and the server comprises a comprehensive processing module, a data storage module and a basic data set;
the host data transmission module is used for receiving the inspection data of the inspection module, the positioning data of the personnel positioning module, the monitoring data of the monitoring module and the three-dimensional model data of the server, sending a walking control instruction to the inspection module, uploading a gas data set, an extension radar signal data set, a portable radar signal data set, a radar echo data set, a displacement data set and an image data set to the server, and sending display data to the display module;
when a radar signal processing module receives a radar echo signal and a radar signal, noise is filtered from the signal, and preliminary processing of signal data is completed;
The gas data integration module integrates the gas detection data of each gas safety detector and unifies the gas detection data into the same data set;
In this embodiment, the server, the inspection module, the personnel positioning module and the monitoring module use the host as the signal transfer station, and the host classifies and integrates the received inspection data, positioning data and monitoring data to generate multiple groups of data sets, so that the server can directly call corresponding data according to the data sets when processing multiple signals, and the data can be screened and classified without an additional algorithm, thereby saving resources.
Example 2: as shown in fig. 2, the monitoring module includes a plurality of fixed point modules, each fixed point module is numbered, and the fixed point modules include a radar transmitting module, a radar echo receiving module, a displacement sensor, a camera module and a fixed point data transmission module;
the radar transmitting module is used for transmitting radar waves with specific frequencies, the radar echo receiving module is used for receiving radar echoes reflected by the extension radar reflecting module and the portable radar transmitting module, the displacement sensor is used for monitoring displacement data of the fixed point module, the camera shooting module is used for shooting image data in the foundation pit, and the fixed point data transmission module is used for transmitting the image data, the radar echo data and the displacement data to the host data transmission module;
Specifically, the fixed point modules are installed on the supporting structure in the foundation pit, and the radar transmitting modules of different fixed point modules can be set to different frequencies so as to distinguish radar waves transmitted by each fixed point module, thereby providing convenience for data classification and effectively preventing data disorder.
Example 3: as shown in fig. 3, the personnel positioning module includes a plurality of carrying modules, each carrying module is numbered, and the carrying modules include a portable radar reflection module, a portable radar signal receiving module, a voice interaction module and a portable data transmission module;
Further, the carrying module is assembled on the body of constructors in the foundation pit, and forms of the carrying module include, but are not limited to: the portable radar reflection module reflects radar waves sent by the radar transmission module, the portable radar signal receiving module receives the radar waves sent by the radar transmission module, the voice interaction module is used for providing an exchange function between constructors and ground personnel, and the portable data transmission module is used for transmitting radar signals received by the portable radar signal receiving module and transmitting data of the cloud interaction module;
In this embodiment, because personnel are constructed in the foundation pit, personnel's security needs to be ensured, adopts personnel to carry portable radar reflection module and portable radar signal receiving module.
Example 4: as shown in fig. 4, the inspection module includes a plurality of inspection extensions, each inspection extension is numbered, the inspection extension uses a self-propelled robot as a carrier, and a gas safety detector, an extension radar reflection module, an extension radar signal receiving module, an extension camera module and an extension data transmission module are installed on the inspection extension;
Further, the inspection extension is arranged in the foundation pit, a gas safety monitor, an extension radar reflection module, an extension radar signal receiving module, an extension camera module and an extension data transmission module in the inspection extension are integrated on the self-propelled robot, the camera module arranged on the inspection extension shoots image data in the walking process of the self-propelled robot, the extension radar reflection module reflects radar waves sent by the radar transmission module, the extension radar signal receiving module is used for receiving the radar waves sent by the radar transmission module, and the extension data transmission module is used for sending gas data, image data and radar signal data to the host data transmission module;
in this embodiment, the inspection extension mainly plays the function of gas safety detection, and it detects the gas data of everywhere in the foundation ditch in the walking process to judge the gas safety condition by gas safety detector, constantly by extension radar reflection module reflection radar wave in the in-process of inspection, and by extension radar signal receiving module receipt radar wave, shoot the interior image of foundation ditch by extension camera module simultaneously, at last with extension data transmission module with radar signal, image signal and gas safety signal transmission for the host computer.
Example 5: as shown in fig. 5, the comprehensive processing model comprises a three-dimensional model building module, an image processing module, a radar data processing module, a verification and correction module and a three-dimensional model adjusting module;
The three-dimensional model building module builds a corresponding three-dimensional model according to radar echo data, so that a moving cube algorithm can be adopted, a radar wave can pass through a concrete structure for building a three-dimensional model building target of a steel structure in a foundation pit, the position of the steel structure can be accurately detected, the design drawing and image data of the foundation pit are combined, the position of a fixed point module is known data, the relative position between the fixed point module and the steel structure can be very conveniently calculated through the specific position data and the design drawing of the steel structure detected by the radar, the position of the fixed point module and the position of the steel structure are used as reference coordinates, a three-dimensional model unit under the angle of the corresponding fixed point module is built according to the radar wave data of the steel structure, an initial three-dimensional model is obtained after the three-dimensional model units are supplemented and fused, the position relation between a nonmetallic structure and the reference coordinates in an image can be rapidly calculated when the image is processed by taking the reference coordinates as a basis, the image data of the fixed point camera module is combined, the initial three-dimensional model is built, and the initial three-dimensional model is further refined and supplemented according to the image data of the extension camera module to obtain a complete three-dimensional model;
Furthermore, because the steel structure is changed in the foundation pit construction process, the complete three-dimensional model is adjusted by the three-dimensional model adjusting module based on the complete three-dimensional model by combining the continuously detected steel structure radar wave data, the image data shot by the extension camera module, the image data shot by the fixed point camera module and the foundation pit design drawing.
Example 6: as shown in fig. 6 to 10, according to the self-positioning inspection system based on a limited space gas safety detector provided by the first embodiment, the present invention provides a technical scheme that: a self-positioning inspection method based on a limited space gas safety detector comprises the following steps:
S1, firstly, determining the installation positions of the fixed point modules according to the shape of the foundation pit, so that the radar transmitting modules and the radar echo receiving modules of different fixed point modules face the center of the foundation pit space: through the design, when the radar transmitting module transmits radar waves, through reflection constructed in the foundation pit, radar echo angles received by all radar echo receiving modules are different, more data references are provided when a three-dimensional model is constructed, the center of the space of the foundation pit is taken as the irradiation direction of the radar waves, so that the radar waves transmitted by a single radar transmitting module can cover the space in the foundation pit as much as possible, and then the installation modes of multiple groups of different positions are combined, so that the space in the foundation pit can be completely covered, and blind spots of radar viewing angles are reduced;
S2, setting starting time of radar transmitting modules in different fixed point modules, keeping the starting time interval the same, when the radar transmitting module of one fixed point module transmits radar waves, keeping the radar transmitting modules in the other fixed point modules in a closed state, keeping radar echo receiving modules of the radar transmitting modules of all the fixed point modules on at the same time, receiving radar echoes, marking the radar wave transmitting time, and time-marking image data shot by the fixed point shooting modules in the same time;
The design can use time as a mark to distinguish radar waves transmitted by each radar transmitting module, radar echo data received at different angles are added, and the transmission design of a single radar transmitter in the same time can also avoid forming a radar phased array: because the environment in the foundation pit is complex, and besides the steel structure, the inspection extension and the radar signal carrying the module are required to be detected, under the condition of multiple targets, the directional beam formed by mutual interference of radar waves of the phased array radar can cause the problem that the detection intensity of partial targets is reduced;
S3, the host receives the inspection data from the inspection module, the positioning data of the personnel positioning module and the monitoring data of the monitoring module, and processes the data: the host classifies the received data into a gas data set, an extension radar signal data set, a portable radar signal data set, a radar echo data set, a displacement data set and an image data set according to the gas data, the extension radar signal, the portable radar signal, the radar echo, the displacement data and the image data;
the displacement data are used for reflecting the displacement data of the fixed point modules, so that the fixed point modules are prevented from being displaced due to foundation pit deformation, the distance between the fixed point modules is changed, the situation that the radar signal processing error is increased is finally caused, the distance data between the fixed point modules are adjusted in real time according to the displacement data, and guarantee is provided for radar signal processing and three-dimensional modeling;
s4, the host transmits the classified data set to the server through the data transmission module;
S5, the server performs image processing and radar data processing on the received classified data set, and builds a primary tone three-dimensional model according to radar data and fixed-point camera shooting data;
S6, verifying and checking the three-dimensional model by using the image data to obtain a complete three-dimensional model;
And S7, the server transmits the constructed complete three-dimensional model to the host, the display module of the host displays the complete three-dimensional model, the positions of the inspection machine and the carrying module are displayed in the complete three-dimensional model in real time according to the analysis of the subsequent radar signals, and the positions of the inspection machine and constructors in the foundation pit are determined.
In the embodiment, unlike the prior art that a three-dimensional model is built through a single radar and an image is used for model correction, radar data of different angles are obtained through a plurality of groups of fixed point modules of different angles, the obtained radar data are multiple in types, the radar data of different types can be mutually verified, the three-dimensional model built based on the radar data has advantages in basic data quantity, the built three-dimensional model is less in vision dead angle, the difficulty in extracting the image data can be reduced when the image model is used for detail supplement and correction, and the radar data quantity is more, but the analysis and feature extraction can be carried out in the same data processing mode, so that the time consumed for completing the three-dimensional model is generally reduced, the effects of short-term building and use can be achieved in a foundation pit construction environment, and convenience is provided for inspection work in the foundation pit construction process;
Further, after the complete three-dimensional model is constructed, the obtained steel structure radar echo data can help the complete three-dimensional model to adjust the model content according to the construction progress, the obtained data of the extension radar signal receiving module can position the inspection extension, the obtained data of the portable radar signal receiving module can position the portable module, the obtained displacement data can be used for adjusting the position of the fixed point module in the complete three-dimensional model in real time, and the obtained image data can be used for providing data support for the radar model for irregular inspection and calibration and also can be used for video monitoring;
in addition, before the three-dimensional model is built by radar data, a foundation pit three-dimensional model can be built in advance according to a foundation pit design drawing, and the foundation pit three-dimensional model can be used as a projection model to correct the three-dimensional model built by radar data, so that the accuracy of the three-dimensional model is further improved.
Example 7: in step S3, the set of extension radar signal data and the set of portable radar signal data are respectively radar wave data acquired by the extension radar receiving module and the portable radar receiving module, and because there is a time difference between the time acquired by the extension radar receiving module and the radar wave data acquired by the portable radar receiving module and the time transmitted by the radar transmitting module, the distance between the inspection extension and the carrying module and the fixed point module can be determined through the time difference, and the distance can be specifically expressed as the specific positions of the inspection extension and the carrying module in the foundation pit in the three-dimensional model of the foundation pit.
Example 8: as shown in fig. 8, in the step S5, the specific steps of establishing the initial three-dimensional model according to the radar data are as follows:
s5.1, firstly verifying radar echo data of all fixed point modules, and establishing an independent three-dimensional model unit;
S5.2, adjusting the angles of the three-dimensional models according to the installation positions and the orientations of the radar echo receiving modules in the foundation pit, analyzing and matching the features in the three-dimensional models, determining the orientation angles and the positions of the three-dimensional models according to the same three-dimensional structure, and then fusing the three-dimensional models to obtain initial three-dimensional models;
S5.3, adjusting the view angle of the three-dimensional model according to the shooting angle of the image data shot by the fixed point shooting module, extracting the characteristics of the image data shot by the fixed point shooting module according to the characteristics in the initial three-dimensional model, and checking the difference between the three-dimensional model and the image data under the same view angle;
s5.4, adjusting the initial three-dimensional model according to the difference, and adding a nonmetallic structure of the foundation pit into the initial three-dimensional model to obtain an initial three-dimensional model;
In the step S5.1, the radar reflection modules and the radar echo receiving modules in each fixed point module form a radar array, and during operation, the radar wave emitted by a single radar reflection module adjusts the beam direction in a physical and electronic manner, so that the beam direction is in a fan shape in the foundation pit and faces to the center of the foundation pit, radar echoes are received by the radar echo receiving modules in different positions and in fixed directions, when a three-dimensional model is built, corresponding three-dimensional models are built by the radar echoes in the foundation pit received by all the radar echo receiving modules, and then the model features in the three-dimensional models are supplemented according to the radar wave data of other radar echo receiving modules, so that a three-dimensional model unit corresponding to the position of the fixed point module is obtained;
In step S5.2, when the angle of the three-dimensional model is adjusted, the data can be distinguished according to the number of the corresponding fixed point module, each initial three-dimensional model is arranged according to the known fixed point module position, the arranged three-dimensional models are subjected to overlapping treatment, and the three-dimensional models are fused according to the feature data in each three-dimensional model.
In the embodiment, the three-dimensional model units are built by radar data of a single radar receiving module, then all the three-dimensional model units are fused, and the radar data obtained by different position fixed point modules are further fused to build a plurality of groups of fused three-dimensional model units, so that the obtained three-dimensional model has less visual angle blind spots, the data of all directions have a large amount of data support, the built three-dimensional model has high reliability, meanwhile, the data of all directions have known and definite coordinate data support, the time consumption of data correction is reduced, meanwhile, errors caused by an algorithm are reduced, and the efficiency and the accuracy of three-dimensional model construction are greatly improved.
Example 9: as shown in fig. 9, in the step S6, the specific steps of verifying and checking the three-dimensional model by using the image data to obtain the complete three-dimensional model are as follows:
S6.1, because the position of the steel structure is fixed, the distance between the steel structure and the fixed point module is fixed, and the echo frequency reflected by the reflecting module can be measured in advance to be a known quantity, so that the corresponding frequency signal changed in the radar echo can be judged to be the radar echo of the extension radar reflecting module and the portable radar reflecting module;
s6.2, judging whether the signal is the echo of the extension radar reflection module or the echo of the portable radar reflection module according to the distance between the signal and the bottom of the foundation pit in the initial adjustment model, screening the echo of the extension radar reflection module, and positioning the extension position;
S6.3, determining the number of the extension according to the time data in the echo of the corresponding extension radar reflection module, and calling the image shot by the extension shooting module with the corresponding number;
s6.4, adjusting the observation visual angle movement path of the primary-tone three-dimensional model according to the change of the image inclination angle, and analyzing the difference between the image shot by the extension camera module and the primary-tone three-dimensional model under the same visual angle;
S6.5, adjusting the three-dimensional model according to the difference to obtain a usable complete three-dimensional model.
In this embodiment, firstly, according to the difference between the radar echo of the steel structure and the radar echo of the reflection module, the radar echoes of the extension radar reflection module and the portable radar reflection module are screened, and as the distance characteristics can be reflected in the radar echo data, the radar echo belonging to the inspection extension can be determined according to the established initial-tone three-dimensional model, and the motion track of the inspection extension is analyzed according to the distance change of the radar echo of the inspection extension, so that the motion view angle of an observation camera of the initial-tone model is adjusted to be convenient for comparison with the graph inclination angle of the extension camera module.
The present invention is not limited to the above-mentioned embodiments, and any equivalent embodiments which can be changed or modified by the technical content disclosed above can be applied to other fields, but any simple modification, equivalent changes and modification made to the above-mentioned embodiments according to the technical substance of the present invention without departing from the technical content of the present invention still belong to the protection scope of the technical solution of the present invention.
Claims (9)
1. Self-positioning inspection system based on limited space gas safety detector, its characterized in that: the system comprises a host, wherein the host is in signal connection with a patrol module, a personnel positioning module, a monitoring module and a server;
the host comprises a host data transmission module, a radar signal processing module, a gas data integration module and a display module;
The inspection module comprises a plurality of inspection extensions, each inspection extension is numbered, the inspection extension takes a self-propelled robot as a carrier, and a gas safety detector, an extension radar reflection module, an extension radar signal receiving module, an extension camera module and an extension data transmission module are arranged on the inspection extension;
The personnel positioning module comprises a plurality of carrying modules, each carrying module is numbered, and the carrying modules comprise a portable radar reflection module, a portable radar signal receiving module, a voice interaction module and a portable data transmission module;
The monitoring module comprises a plurality of fixed point modules, each fixed point module is numbered, and the fixed point modules comprise a radar transmitting module, a radar echo receiving module, a displacement sensor, a camera shooting module and a fixed point data transmission module;
The server comprises a comprehensive processing module, a data storage module and a basic data set;
The comprehensive processing model comprises a three-dimensional model building module, an image processing module, a radar data processing module, a verification and correction module and a three-dimensional model adjusting module;
The radar transmitting module is used for transmitting radar waves with specific frequency, and the radar echo receiving module is used for receiving radar echoes reflected by the extension radar reflecting module and the portable radar transmitting module; the portable radar reflection module reflects the radar waves sent by the radar transmitting module, and the portable radar signal receiving module receives the radar waves sent by the radar transmitting module; the extension radar reflection module reflects the radar wave sent by the radar transmission module, and the extension radar signal receiving module is used for receiving the radar wave sent by the radar transmission module.
2. The self-locating inspection system based on a limited space gas safety detector of claim 1, wherein: the inspection extension is arranged in the foundation pit, a gas safety monitor, an extension radar reflection module, an extension radar signal receiving module, an extension camera shooting module and an extension data transmission module in the inspection extension are integrated on the self-propelled robot, the camera shooting module arranged on the inspection extension shoots image data in the walking process of the self-propelled robot, and the extension data transmission module is used for transmitting the gas data, the image data and the radar signal data to the host data transmission module.
3. The self-locating inspection system based on a limited space gas safety detector of claim 1, wherein: the carrying module is assembled on the body of constructors in the foundation pit, and forms of the carrying module include, but are not limited to: integrated on the safety helmet and on the waist belt of the constructor, the voice interaction module is used for providing the communication function between constructors and ground personnel, the portable data transmission module is used for transmitting the radar signals received by the portable radar signal receiving module and transmitting the data of the cloud factor interaction module.
4. The self-locating inspection system based on a limited space gas safety detector of claim 1, wherein: the fixed point module is fixedly arranged on a supporting structure in the foundation pit, the radar transmitting module, the radar echo receiving module, the displacement sensor, the fixed point camera module and the fixed point data transmission module are integrated on a holder of the camera module, the displacement sensor is used for monitoring displacement data of the fixed point module, the camera module is used for shooting image data in the foundation pit, and the fixed point data transmission module is used for transmitting the image data, the radar echo data and the displacement data to the host data transmission module.
5. The self-locating inspection system based on a limited space gas safety detector of claim 1, wherein: the data storage module of the server is used for storing data transmitted by a host, the basic data set classifies the data transmitted by the host, the data of the same type are classified in the same data set, and then the data are provided for the comprehensive processing module to perform three-dimensional modeling processing, and the comprehensive processing module comprises a three-dimensional model rendering module, an image processing module, a radar data processing module, a verification and correction module and a three-dimensional model adjusting module.
6. The self-positioning inspection method based on the limited space gas safety detector, according to any one of claims 1 to 5, is characterized in that: the method comprises the following steps:
s1, firstly, determining the installation positions of fixed point modules according to the shape of a foundation pit, so that radar transmitting modules and radar echo receiving modules of different fixed point modules face the center of a foundation pit space;
S2, setting starting time of radar transmitting modules in different fixed point modules, keeping the starting time interval the same, when the radar transmitting module of one fixed point module transmits radar waves, keeping the radar transmitting modules in the other fixed point modules in a closed state, keeping radar echo receiving modules of the radar transmitting modules of all the fixed point modules on at the same time, receiving radar echoes, marking the radar wave transmitting time, and time-marking image data shot by the fixed point shooting modules in the same time;
S3, the host receives and processes the inspection data from the inspection module, the positioning data of the personnel positioning module and the monitoring data of the monitoring module;
s4, the host transmits the classified data set to the server through the data transmission module;
S5, the server performs image processing and radar data processing on the received classified data set, and builds a primary tone three-dimensional model according to radar data and fixed-point camera shooting data;
S6, verifying and checking the three-dimensional model by using the image data to obtain a complete three-dimensional model;
And S7, the server transmits the constructed complete three-dimensional model to the host, the display module of the host displays the complete three-dimensional model, the positions of the inspection machine and the carrying module are displayed in the complete three-dimensional model in real time according to the analysis of the subsequent radar signals, and the positions of the inspection machine and constructors in the foundation pit are determined.
7. The self-positioning inspection method based on the limited space gas safety detector as claimed in claim 6, wherein the method comprises the following steps: in the step S5, the specific steps of establishing the initial-tuning three-dimensional model according to the radar data are as follows:
s5.1, firstly verifying radar echo data of all fixed point modules, and establishing an independent three-dimensional model unit;
S5.2, adjusting the angles of the three-dimensional models according to the installation positions and the orientations of the radar echo receiving modules in the foundation pit, analyzing and matching the features in the three-dimensional models, determining the orientation angles and the positions of the three-dimensional models according to the same three-dimensional structure, and then fusing the three-dimensional models to obtain initial three-dimensional models;
S5.3, adjusting the view angle of the three-dimensional model according to the shooting angle of the image data shot by the fixed point shooting module, extracting the characteristics of the image data shot by the fixed point shooting module according to the characteristics in the initial three-dimensional model, and checking the difference between the three-dimensional model and the image data under the same view angle;
S5.4, adjusting the initial three-dimensional model according to the difference, and adding a foundation pit nonmetallic structure into the initial three-dimensional model to obtain an initial three-dimensional model.
8. The self-positioning inspection method based on the limited space gas safety detector as claimed in claim 6, wherein the method comprises the following steps: in the step S6, the specific steps of verifying and checking the three-dimensional model by using the image data to obtain the complete three-dimensional model are as follows:
S6.1, because the position of the steel structure is fixed, the distance between the steel structure and the fixed point module is fixed, and the echo frequency reflected by the reflecting module can be measured in advance to be a known quantity, so that the corresponding frequency signal changed in the radar echo can be judged to be the radar echo of the extension radar reflecting module and the portable radar reflecting module;
s6.2, judging whether the signal is the echo of the extension radar reflection module or the echo of the portable radar reflection module according to the distance between the signal and the bottom of the foundation pit in the initial adjustment model, screening the echo of the extension radar reflection module, and positioning the extension position;
S6.3, determining the number of the extension according to the time data in the echo of the corresponding extension radar reflection module, and calling the image shot by the extension shooting module with the corresponding number;
s6.4, adjusting the observation visual angle movement path of the primary-tone three-dimensional model according to the change of the image inclination angle, and analyzing the difference between the image shot by the extension camera module and the primary-tone three-dimensional model under the same visual angle;
S6.5, adjusting the three-dimensional model according to the difference to obtain a usable complete three-dimensional model.
9. The self-positioning inspection method based on the limited space gas safety detector as claimed in claim 7, wherein the method comprises the following steps: in step S5.1, the radar reflection modules and the radar echo receiving modules in each fixed point module form a radar array, and during operation, the radar wave emitted by the single radar reflection module adjusts the beam direction in a physical and electronic manner, so that the beam direction is fan-shaped in the foundation pit and faces towards the center of the foundation pit, the radar echo is received by the radar echo receiving modules in different positions and in fixed directions, when a three-dimensional model is built, the radar echoes in the foundation pit received by all the radar echo receiving modules are built into a corresponding three-dimensional model, and then the model features in the three-dimensional model are supplemented according to the radar wave data of other radar echo receiving modules, so as to obtain the three-dimensional model unit corresponding to the position of the fixed point module.
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