CN109027514A - A kind of underground piping detection device and method - Google Patents
A kind of underground piping detection device and method Download PDFInfo
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- CN109027514A CN109027514A CN201810939858.2A CN201810939858A CN109027514A CN 109027514 A CN109027514 A CN 109027514A CN 201810939858 A CN201810939858 A CN 201810939858A CN 109027514 A CN109027514 A CN 109027514A
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- underground piping
- holder
- panorama
- angle
- detection device
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Image Processing (AREA)
Abstract
The present invention provides a kind of underground piping detection device, including pedestal, pedestal two sides are equipped with walking mechanism, pedestal one end is equipped with accommodating groove, adjusting bracket is equipped on the inside of accommodating groove, adjusting bracket one end is equipped with first rotating shaft, first motor is connected in first rotating shaft, the adjusting bracket other end is supported equipped with holder, holder support is equipped with holder, holder includes rotating electric machine and mounting groove, the second shaft is equipped on the inside of mounting groove, second shaft is equipped with centered on camera view and rotatable semicircle wide angle cameras, the second motor is connected in second shaft, holder support two sides are respectively equipped with light compensating lamp, one wing base of accommodating groove is equipped with controller, controller includes microprocessor, inertia detection unit is connected in micro process, power module, wireless communication module, memory module and locating module, it is reasonable with scheme, with panorama The advantage that image, clarity are high, detection efficiency is high and problem flag is accurate.
Description
Technical field
The invention belongs to pipeline inspection technology fields, and in particular to a kind of underground piping detection device and method.
Background technique
Traditional underground piping image monitoring method is the video data that outdoor workers acquisition is checked by interior page personnel, paragraph by paragraph
The problem of checking underground piping.Firstly, entering pipeline by field data collector launches robot, robot is pressed in pipeline
According to design travel route walking, the video collector of carrying carries out data acquisition to front scene.After the completion of collecting work, it will regard
Frequency is according to packet numbering and exports, and interior page data analysis personnel is transferred to carry out data veritification in next day.Interior page personnel pass through viewing
The problem of video is checked wherein pipeline, and problem location screenshot is marked, form pipe detection report.Pipeline rehabilitation personnel pass through
It checks report, goes at related pipe network facilities laying, repair one by one.
This detection mode has the following problems: 1, the video-see time is very long, and the consumption of internal page personnel is very big；2, it sends out
Now net facility, can not accurately located position there are when problem；3, need to re-start the work completely detected after repairing, cost compared with
Greatly.
A kind of underground piping inspection method of patent, device and computer readable storage medium (publication number
CN107507165A), a kind of underground piping inspection method, device and computer readable storage medium, the method packet are disclosed
It includes: when detecting underground piping inspection instruction, obtaining the distributing position of underground piping to be checked；It is generated based on the distributing position
It checks route, controls the unmanned plane and open video camera on the inspection route, and at interval of described in preset time period intake
The image of underground piping；The image of the intake is analyzed, realizes the pipeline conditions for obtaining the underground piping.This programme
It solves in the prior art in prior art pipeline checking process, low efficiency is at high cost, the big technical problem of risk.But
It is that still there are the above problems by the present invention.
Therefore need a kind of scheme rationally, have panoramic picture, clarity are high, detection efficiency is high, use manpower and material resources sparingly and
The accurate underground piping detection device of problem flag and method.
Summary of the invention
The object of the present invention is to provide a kind of underground piping detection device and methods, to solve existing pipeline inspection technology,
Working efficiency is low, wasting manpower and material resources, accurately cannot find the problem and repair after the problems such as detecting heavy workload again.
The present invention provides the following technical solutions:
A kind of underground piping detection device and method, including pedestal, the pedestal two sides are equipped with walking mechanism, the pedestal
One end is equipped with accommodating groove, is equipped with adjusting bracket on the inside of the accommodating groove, and described adjusting bracket one end is equipped with first rotating shaft, and described the
First motor is connected in one shaft, the adjusting bracket other end is supported equipped with holder, and the holder support is equipped with holder,
The holder is cylindrical, and the holder includes rotating electric machine and mounting groove, and the second shaft is equipped on the inside of the mounting groove, described
Second shaft is equipped with centered on camera view and rotatable semicircle wide angle cameras, is connected in second shaft
Second motor, holder support two sides are respectively equipped with light compensating lamp, and pedestal described in the accommodating groove side is equipped with controller, institute
It states controller to be electrically connected with the first motor, second motor, the walking mechanism and the rotating electric machine respectively, institute
Stating controller includes microprocessor, and inertia detection unit is connected in the micro process, power module, wireless communication module, is deposited
Store up module and locating module.
Preferably, the adjusting bracket is parallelogram sturcutre mechanical arm.
Preferably, the walking mechanism is crawl device, and the crawl device is wheeled crawl device or crawler type crawl device.
A kind of underground piping detection method, which comprises the following steps:
S1, the walking path for setting detection device, detection device enter underground piping；
S2, using wide angle cameras relative to holder horizontal position respectively at looking up angle, depression angle and horizontal angle
Degree shoot and by locating module record position information to multiple topographies of the panorama of underground piping；
S3, the obtained each topography of shooting and location information are collected to the end PC and synthesize Planar Compound image and coordinate
Information；
S4, threedimensional model is built according to existing pipeline data information at the end PC, by Planar Compound image and coordinate information into
Row fusion obtains roaming panorama model system, and threedimensional model is matched with roaming panorama model system；
S5, data personnel pass through the roaming panorama model system of underground utilities, read underground piping panorama sketch, pass through comparison
The initial data of underground piping carries out judging that underground piping whether there is problem,
If so, can be labeled by the roaming panorama model system of underground utilities, and obtain location information and position
Panorama sketch is sent to reparation personnel at confidence breath.
If it is not, then entering S7.
S6, reparation personnel reach designated position according to location information and panorama sketch and repair, after the completion of reparation, buried pipe
Road detection device detects specified location again and updates underground piping panorama sketch；
S7, data personnel this operation terminate.
Preferably, the angle of looking up is 0-90 degree, and the depression angle is 0-30 degree, and the level angle is 0-360 degree,
The rotation wide angle cameras looks up angle, the depression angle and the level angle angularly rotary taking panorama described
Topography.
Preferably, described image synthesis includes correcting to the topography, after being sequentially generated correction according to shooting
Picture sequence of pictures, sequence of pictures is aligned using block matching method；Sequence of pictures after splicing alignment.
Preferably, 3-D image is mapped on spherical surface includes attitude angle information according to underground piping detection device holder
The 3-D image is rotated, to correct underground piping detection device because of direction deflection, attitude angle information caused by jolting
It is obtained by inertia detection unit.
Preferably, it is connected in the underground piping three-dimensional management system and server and cloud storage service is locally stored
Device.
The beneficial effects of the present invention are:
A kind of underground piping detection device of the present invention and method, including underground piping detection device, using walking mechanism into
Enter in underground piping and walk, walking mechanism is able to enter in any pipeline, and wide angle cameras carries out image taking, passes through positioning mould
Block obtains location information, generates 3-D image and ultimately generates roaming panorama model system, is reached by inertia detection unit amendment
To higher precision and improve the clarity of image；Data personnel pass through the discovery that roaming panorama model system can be simple and fast
Underground piping there are the problem of, and mark out to obtain location information, save manpower；After underground piping is repaired, detection device is only
Test problems region again is needed, and updates panorama sketch, without all detections again, is used manpower and material resources sparingly.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is underground piping structure of the detecting device schematic diagram of the present invention；
Fig. 2 is underground piping detection method flow diagram of the present invention.
In the figure, it is marked as 1. pedestals, 2. walking mechanisms, 3. accommodating grooves, 4. adjusting brackets, 5. first rotating shafts, 6. holder branch
Support, 7. holders, 71. rotating electric machines, 72. mounting grooves, 8. wide angle cameras, 9. light compensating lamps, 10. controllers.
Specific embodiment
As shown in Figure 1, a kind of underground piping detection device and method, including pedestal, pedestal two sides are equipped with walking mechanism, bottom
Seat one end is equipped with accommodating groove, and adjusting bracket is equipped on the inside of accommodating groove, and adjusting bracket one end is equipped with first rotating shaft, connects in first rotating shaft
It is connected to first motor, the adjusting bracket other end is supported equipped with holder, and holder support is equipped with holder, and holder is cylindrical, holder
Including rotating electric machine and mounting groove, be equipped with the second shaft on the inside of mounting groove, the second shaft be equipped with centered on camera view and
Rotatable semicircle wide angle cameras is connected with the second motor in the second shaft, and holder support two sides are respectively equipped with light compensating lamp,
One wing base of accommodating groove is equipped with controller, and controller is electromechanical with first motor, the second motor, walking mechanism and electric rotating respectively
Property connection, controller includes microprocessor, and inertia detection unit is connected in micro process, power module, wireless communication module, is deposited
Store up module and locating module.
Specifically, adjusting bracket is parallelogram sturcutre mechanical arm, walking mechanism is crawl device, and crawl device is wheeled climbs
Row device or crawler type crawl device.
As shown in Fig. 2, a kind of underground piping detection method, which comprises the following steps:
S1, the walking path for setting detection device, detection device enter underground piping；
S2, using wide angle cameras relative to holder horizontal position respectively at looking up angle, depression angle and horizontal angle
Degree shoot and by locating module record position information to multiple topographies of the panorama of underground piping；
S3, the obtained each topography of shooting and location information are collected to the end PC and synthesize Planar Compound image and coordinate
Information；
S4, threedimensional model is built according to existing pipeline data information at the end PC, by Planar Compound image and coordinate information into
Row fusion obtains roaming panorama model system, and threedimensional model is matched with roaming panorama model system；
S5, data personnel pass through the roaming panorama model system of underground utilities, read underground piping panorama sketch, pass through comparison
The initial data of underground piping carries out judging that underground piping whether there is problem,
If so, can be labeled by the roaming panorama model system of underground utilities, and obtain location information and position
Panorama sketch is sent to reparation personnel at confidence breath.
If it is not, then entering S7.
S6, reparation personnel reach designated position according to location information and panorama sketch and repair, after the completion of reparation, buried pipe
Road detection device detects specified location again and updates underground piping panorama sketch；
S7, data personnel this operation terminate.
Specifically, looking up angle is 0-90 degree in S2, depression angle is 0-30 degree, and level angle is 0-360 degree, and rotation is wide
In the topography for looking up angle, depression angle and level angle angularly rotary taking panorama, S3, image closes angle video camera
At including correcting to topography, the sequence of pictures of the picture after correction is sequentially generated according to shooting, using Block- matching side
Sequence of pictures is aligned by method；Sequence of pictures after splicing alignment, in S5, it includes according to underground that 3-D image, which is mapped on spherical surface,
The attitude angle information of pipe detection device holder rotates 3-D image, is led with correcting underground piping detection device because jolting
The direction of cause deflects, and attitude angle information is obtained by inertia detection unit, and local deposit is connected in underground piping three-dimensional management system
Store up server and cloud storage server.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, although referring to aforementioned reality
Applying example, invention is explained in detail, for those skilled in the art, still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features.It is all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of underground piping detection device, which is characterized in that including pedestal, the pedestal two sides are equipped with walking mechanism, described
Pedestal one end is equipped with accommodating groove, and adjusting bracket is equipped on the inside of the accommodating groove, and described adjusting bracket one end is equipped with first rotating shaft, institute
It states and is connected with first motor in first rotating shaft, the adjusting bracket other end is supported equipped with holder, and the holder support is equipped with
Holder, the holder is cylindrical, and the holder includes rotating electric machine and mounting groove, is equipped with second turn on the inside of the mounting groove
Axis, second shaft is equipped with centered on camera view and rotatable semicircle wide angle cameras, second shaft
On be connected with the second motor, holder support two sides are respectively equipped with light compensating lamp, and pedestal described in the accommodating groove side is equipped with
Controller, the controller are electromechanical with the first motor, second motor, the walking mechanism and the electric rotating respectively
Property connection, the controller includes microprocessor, and inertia detection unit, power module, channel radio are connected in the micro process
Interrogate module, memory module and locating module.
2. a kind of underground piping detection device according to claim 1, which is characterized in that the adjusting bracket is parallel four
Side shape construction machine arm.
3. a kind of underground piping detection device according to claim 1, which is characterized in that the walking mechanism is to creep
Device, the crawl device are wheeled crawl device or crawler type crawl device.
4. a kind of underground piping detection method, which comprises the following steps:
S1, the walking path for setting detection device, detection device enter underground piping；
S2, using wide angle cameras relative to holder horizontal position respectively at looking up angle, depression angle and level angle pair
Multiple topographies of the panorama of underground piping shoot and by locating module record position information；
S3, the obtained each topography of shooting and location information are collected to the end PC and synthesize Planar Compound image and coordinate letter
Breath；
S4, threedimensional model is built according to existing pipeline data information at the end PC, Planar Compound image and coordinate information is melted
Conjunction obtains roaming panorama model system, and threedimensional model is matched with roaming panorama model system；
S5, data personnel pass through the roaming panorama model system of underground utilities, underground piping panorama sketch are read, under contrastively
The initial data of pipeline carries out judging that underground piping whether there is problem,
If so, can be labeled by the roaming panorama model system of underground utilities, and obtain location information and position letter
Panorama sketch is sent to reparation personnel at breath.
If it is not, then entering S7.
S6, reparation personnel reach designated position according to location information and panorama sketch and repair, after the completion of reparation, underground piping inspection
Device is surveyed to detect specified location again and update underground piping panorama sketch；
S7, data personnel this operation terminate.
5. a kind of underground piping detection method according to claim 4, which is characterized in that the angle of looking up is 0-90
Degree, the depression angle be 0-30 degree, the level angle be 0-360 degree, the rotation wide angle cameras it is described look up angle,
The topography of the depression angle and the level angle angularly rotary taking panorama.
6. a kind of underground piping detection method according to claim 4, which is characterized in that described image synthesis includes to institute
It states topography to be corrected, the sequence of pictures of the picture after correction is sequentially generated according to shooting, will be schemed using block matching method
The alignment of piece sequence；Sequence of pictures after splicing alignment.
7. a kind of underground piping detection method according to claim 4, which is characterized in that 3-D image is mapped to spherical surface
On include according to inertia detection unit detection holder attitude angle information the 3-D image is rotated, to correct buried pipe
Road detection device is deflected because of direction caused by jolting.
8. a kind of underground piping detection method according to claim 4, which is characterized in that the underground piping three-dimensional management
It is connected in system and server and cloud storage server is locally stored.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810939858.2A CN109027514A (en) | 2018-08-17 | 2018-08-17 | A kind of underground piping detection device and method |
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| CN201810939858.2A CN109027514A (en) | 2018-08-17 | 2018-08-17 | A kind of underground piping detection device and method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109900250A (en) * | 2019-03-09 | 2019-06-18 | 深圳市厚德检测技术有限公司 | Dark channelized course automatic tour inspection system |
| CN110031864A (en) * | 2019-05-14 | 2019-07-19 | 北京恒通国盛环境管理有限公司 | A kind of pipe detection device |
| CN112944105A (en) * | 2021-01-28 | 2021-06-11 | 武汉中仪物联技术股份有限公司 | Intelligent pipeline defect detection method and system |
| CN114636050A (en) * | 2022-05-20 | 2022-06-17 | 武汉理工大学 | Structured light scanning type pipeline flaw detection robot and method |
| CN115541612A (en) * | 2022-10-02 | 2022-12-30 | 重庆蕴明科技股份有限公司 | Data acquisition terminal |
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