CN102478150A - Intelligent detection method and device used for landfill leachate discharge guide pipeline - Google Patents
Intelligent detection method and device used for landfill leachate discharge guide pipeline Download PDFInfo
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- CN102478150A CN102478150A CN201010564483XA CN201010564483A CN102478150A CN 102478150 A CN102478150 A CN 102478150A CN 201010564483X A CN201010564483X A CN 201010564483XA CN 201010564483 A CN201010564483 A CN 201010564483A CN 102478150 A CN102478150 A CN 102478150A
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Abstract
The invention relates to a detection method used for a landfill leachate discharge guide pipeline. According to the method, an image is collected in the discharge guide pipeline of a refuse landfill, and the collected image is processed so as to obtain the image of the inner wall of the pipeline. The invention also relates to a device used for realizing the method. The device mainly comprises a ring laser and a camera which are fixed on a movable workbench, wherein the data collected by the camera is connected to an image collecting card through a cable; the image collecting card is connected to a PCI (peripheral component interconnect) slot of a PC (personal computer ) machine, and the collected image data is processed through the PC machine; the movable workbench is provided with wheels, and the wheels are driven by a built-in motor; the movable workbench is provided with a built-in working power supply; a PLC (programmable logic controller) is connected with the PC machine and used for controlling the operation of the movable workbench; and the movable workbench adopts a pull cable to transfer the shot image to an upper computer through a cable.
Description
Technical field
The present invention relates to image recognition and treatment technology in a kind of landfill percolate guide pipeline, relate in particular to a kind of landfill percolate guide method for detecting pipeline.
The invention still further relates to a kind of device of realizing said method.
Background technique
In order to make landfill yard stablize and reduce the destruction of percolate to seepage control system as early as possible, the landfill yard bottom is provided with percolate guide system, so that the percolate of an interior generation is derived the landfill reservoir area as early as possible.Right pipeline is suitable for for a long time the little hole plug of inner-walls of duct can occur, and the situation of line clogging when serious is very necessary so regularly carry out pipeline detection.
Summary of the invention
The object of the present invention is to provide a kind of landfill percolate guide method for detecting pipeline.
Another purpose of the present invention is to provide a kind of device that is used to realize said method.
Be to realize above-mentioned purpose, landfill percolate guide method for detecting pipeline provided by the invention is gathered image and the image of gathering is handled in the guide pipeline of refuse landfill, to obtain the inner-walls of duct image.
Described landfill percolate guide method for detecting pipeline, wherein the image of gathering is analyzed as follows:
Set and judge parameter: the corresponding respectively height confining spectrum data of obstacle, clear are arranged;
If judged obstacle, indicate the particular location data of obstacle, and note;
Preserve the particular location data of obstacle;
Be connected to form 3D rendering by above-mentioned data, and the pipe interior environmental simulation is restored.
The device that is used to realize said method provided by the invention mainly includes:
One ring laser and a camera are fixed on the removable worktable, and the data of camera collection are connected to image pick-up card through cable;
Image pick-up card is connected in PC PCI slot place, through the image data of PC processing collected;
Removable worktable is equipped with wheel, and this wheel is by built-in motoring;
Removable worktable is provided with built-in working power;
Programmable logic controller (PLC) (PLC) is connected with the PC place, controls removable worktable operation;
Removable worktable adopts the towing cable line that the image of taking is spread out of to upper-position unit through cable.
Described device, wherein camera is a pinhole cameras.
Described device, a strut is installed on wherein removable worktable top, and a supporting wheel is installed on the strut, and supporting wheel connects a supported spring, prevents that removable worktable from skidding.
Described device, wherein built-in working power is provided with water-proofing treating.
Described device, wherein the towing cable line of removable worktable adopts ten line systems, and in the towing cable line, adds wire rope.
Description of drawings
Fig. 1 is image recognition of the present invention and treatment technology software realization flow figure.
Fig. 2 is a loop laser imaging schematic diagram of the present invention.
Fig. 3 is the structural representation of the removable worktable of the present invention; Wherein, Fig. 3 a lateral plan, Fig. 3 b are front view.
Embodiment
The present invention be directed to IMAQ launches with handling.
The purpose of this invention is to provide a kind of IMAQ and go out reasonable method, and be used for the required detection facility of said method etc.
The know-why that the present invention adopts is to utilize the loop laser image-forming principle to realize image processing and testing goal.
Specifically; Device of the present invention is a removable worktable (also can be referred to as pipeline robot); Removable worktable comprises car body 1, and this car body 1 can be the cuboid car body, and the both sides of this car body 1 are installed two front wheels and two rear wheels 2 (seeing also Fig. 3 a and Fig. 3 b) respectively.Driving wheel 2 motor that rotates and the built-in power that work is provided (motor and built-in power be set to known technology, do not mark among the figure) also are installed on the car body 1 drive, car body 1 is advanced simultaneously and retreat.A pinhole cameras 4 and a ring laser 5 of installing at the front end of car body 1.Removable worktable is positioned in the pipeline 7 advances, utilize the laser that has to absorb the pipe interior ambient image, and be transferred to upper-position unit with camera.
Vehicle body upper portion supporting wheel 3 connects a supported spring 6, and supported spring 6 links to each other with the position, middle and upper part of strut 8, the strut 8 terminal supporting wheels 3 that connect, and supporting wheel is a follower.Car body is inner installs a drive motor by top, driving under the not enough situation of frictional force, drives this motor; So that supported spring 6 extends; Impel strut 8 upwards to lift, make end support wheel 3 withstand pipeline 7 over top, supported spring 6 stretches to such an extent that open more; The frictional force that is obtained bigger (this part is a known technology, does not describe in detail).
All three motors all are controlled by PLC, and PLC sends corresponding instruction control by the upper-position unit configuration software; PLC also realizes gathering and indicates the scale of advancing on the cable, and returns to configuration software, and configuration software combine the to advance comprehensive simulation as a result of scale and image processing goes out the 3D rendering of pipe interior environment.
The present invention controls removable worktable and advances to pipeline 7 inside in the percolate from garbage filling field pipeline, and uses the ring laser and the camera that are equipped with on the removable worktable to take image in the pipeline, and the image of taking is spread out of to upper-position unit through cable; After upper-position unit receives image data, utilize image processing software to handle image; Give configuration software with process result, configuration software can be controlled the mode of advancing and the state of robot indirectly according to the image control PLC of processing result and shooting.
On cable, indicate simultaneously the scale of advancing, and gather through PLC and to return to configuration software, configuration software combine the to advance comprehensive simulation as a result of scale and image processing goes out the 3D rendering of pipe interior environment.
Through the image data that above-mentioned collection is come out, analyze as follows:
Set and judge parameter: the height confining spectrum of have, clear is corresponding respectively.
Judge according to gathering the image that comes;
If judged obstacle, in schematic representation, indicate the particular location in image of obstacle, and note through image record and identification system.
Utilize removable workstation control system to calculate removable worktable and get into the distance in the pipeline.
The distance information of advancing removable worktable links with the particular location somewhere of obstacle and deposits in the historical data.
A plurality of above-mentioned link datas couple together the formation 3D rendering, and the pipe interior environmental simulation is restored.
Wherein image processing software carries out image analysis processing, and algorithmic procedure is following:
The image of taking in is loaded in MATLAB (matrix experiment chamber) software, its image primary colours are decomposed,, choose red primary then, carry out the gray level image analysis because laser of the present invention is red;
According to the size of the value of each pixel point in the gray level image, the maximum value of direction is anyhow asked in segmentation, maximum value is belonged to coordinate be indicated in the binary image;
Because internal environment is complicated, the two-value that the image that shooting is come out is got not is the information that laser gets out, and there is assorted some the centre, and the present invention adopts a known wave filter tentatively to filter impurity point to this;
Go binary image behind the impurity point again according to the principle of image imaging; Please combine Fig. 2; Can find out that according to schematic diagram shown in Fig. 2 the point that image is corresponding is mapped to obstacle in the actual pipeline, principle thus according to the pinhole imaging system principle; The formula (formula 1) that finally obtains highly extracting can solve obstacle height, and analytical calculation draws the height value of inner-walls of duct relevant position obstacle;
In the formula 1:
H is the actual height of tested obstacle;
H0 is the imaging height of tested obstacle in institute's pickup image;
H1 is the height value that camera leaves the lower end tube wall;
H3 is the distance that camera leaves laser;
H4 is the height value that laser leaves the epimere tube wall, because laser is in the central position, then can get h
4=h
1+ h
3
X is that obstacle leaves the distance that laser is beaten the circle on tube wall.
By figure intermediate cam shape similarity relation, can draw
Can obtain formula 1 by formula 2 with 3 two formula cancellation x wherein of formula again.Utilize polar coordinates, its tiling is become a plane form, more directly be convenient to observe.
Claims (7)
1. landfill percolate guide method for detecting pipeline is gathered image and the image of gathering is handled in the guide pipeline of refuse landfill, to obtain the inner-walls of duct image.
2. landfill percolate guide method for detecting pipeline according to claim 1, wherein, the image of gathering is analyzed as follows:
Set and judge parameter: the corresponding respectively height confining spectrum data of obstacle, clear are arranged;
If judged obstacle, indicate the particular location data of obstacle, and note;
Preserve the particular location data of obstacle;
Be connected to form 3D rendering by above-mentioned data, and the pipe interior environmental simulation is restored.
3. device of realizing the said method of claim 1 mainly includes:
One ring laser and a camera are fixed on the removable worktable, and the data of camera collection are connected to image pick-up card through cable;
Image pick-up card is connected in PC PCI slot place, through the image data of PC processing collected;
Removable worktable is equipped with wheel, and this wheel is by built-in motoring;
Removable worktable is provided with built-in working power;
Programmable logic controller (PLC) is connected with PC, to control removable worktable operation;
Removable worktable adopts the towing cable line that the image of taking is spread out of to upper-position unit through cable.
4. device according to claim 3, wherein, camera is a pinhole cameras.
5. device according to claim 3, wherein, a strut is installed on removable worktable top, and a supporting wheel is installed on the strut, and supporting wheel connects a supported spring, prevents that movably worktable skids.
6. device according to claim 3, wherein, built-in working power is provided with water-proofing treating.
7. device according to claim 3, wherein, the towing cable line of removable worktable adopts ten line systems, and in the towing cable line, adds wire rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010564483XA CN102478150A (en) | 2010-11-24 | 2010-11-24 | Intelligent detection method and device used for landfill leachate discharge guide pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010564483XA CN102478150A (en) | 2010-11-24 | 2010-11-24 | Intelligent detection method and device used for landfill leachate discharge guide pipeline |
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| CN102478150A true CN102478150A (en) | 2012-05-30 |
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| CN201010564483XA Pending CN102478150A (en) | 2010-11-24 | 2010-11-24 | Intelligent detection method and device used for landfill leachate discharge guide pipeline |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108267457A (en) * | 2017-12-15 | 2018-07-10 | 中国石油天然气第七建设有限公司 | Small-caliber pipeline inner ring seam laser video detecting device |
| CN111749286A (en) * | 2020-06-16 | 2020-10-09 | 中国环境科学研究院 | Leakage detection device |
| CN112950508A (en) * | 2021-03-12 | 2021-06-11 | 中国矿业大学(北京) | Drainage pipeline video data restoration method based on computer vision |
| CN115628859A (en) * | 2022-12-07 | 2023-01-20 | 山东大学 | Leakage detection and leakage repair device for operation and closure refuse landfill and implementation method |
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| CN101320473A (en) * | 2008-07-01 | 2008-12-10 | 上海大学 | Free multi-vision angle, real-time three-dimensional reconstruction system and method |
| CN201973453U (en) * | 2010-11-24 | 2011-09-14 | 中国环境科学研究院 | Detection device for leachate discharge guide pipeline of landfill |
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2010
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101320473A (en) * | 2008-07-01 | 2008-12-10 | 上海大学 | Free multi-vision angle, real-time three-dimensional reconstruction system and method |
| CN201973453U (en) * | 2010-11-24 | 2011-09-14 | 中国环境科学研究院 | Detection device for leachate discharge guide pipeline of landfill |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108267457A (en) * | 2017-12-15 | 2018-07-10 | 中国石油天然气第七建设有限公司 | Small-caliber pipeline inner ring seam laser video detecting device |
| CN111749286A (en) * | 2020-06-16 | 2020-10-09 | 中国环境科学研究院 | Leakage detection device |
| CN112950508A (en) * | 2021-03-12 | 2021-06-11 | 中国矿业大学(北京) | Drainage pipeline video data restoration method based on computer vision |
| CN112950508B (en) * | 2021-03-12 | 2022-02-11 | 中国矿业大学(北京) | Drainage pipeline video data restoration method based on computer vision |
| CN115628859A (en) * | 2022-12-07 | 2023-01-20 | 山东大学 | Leakage detection and leakage repair device for operation and closure refuse landfill and implementation method |
| CN115628859B (en) * | 2022-12-07 | 2023-03-28 | 山东大学 | Leakage detection and leakage repairing device for operation and sealing refuse landfill and implementation method |
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Application publication date: 20120530 |