CN117570300A - Novel pipe gallery inspection navigation system and navigation method - Google Patents
Novel pipe gallery inspection navigation system and navigation method Download PDFInfo
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- CN117570300A CN117570300A CN202311470582.5A CN202311470582A CN117570300A CN 117570300 A CN117570300 A CN 117570300A CN 202311470582 A CN202311470582 A CN 202311470582A CN 117570300 A CN117570300 A CN 117570300A
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- pipe gallery
- inspection
- processing unit
- machine vision
- computer processing
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- 238000007689 inspection Methods 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000012545 processing Methods 0.000 claims abstract description 46
- 238000012544 monitoring process Methods 0.000 claims abstract description 9
- 230000002159 abnormal effect Effects 0.000 claims description 9
- 230000007613 environmental effect Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 6
- 238000007405 data analysis Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 230000005856 abnormality Effects 0.000 claims description 5
- 239000007789 gas Substances 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 4
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 3
- 238000005452 bending Methods 0.000 claims description 3
- 238000013500 data storage Methods 0.000 claims description 3
- 239000001301 oxygen Substances 0.000 claims description 3
- 229910052760 oxygen Inorganic materials 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008439 repair process Effects 0.000 description 3
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 231100000817 safety factor Toxicity 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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
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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
- F16L55/40—Constructional aspects of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses a novel pipe gallery inspection navigation system and a navigation method, which relate to the technical field of inspection, and comprise wireless sensor nodes, a computer processing unit and a machine vision recognition unit, wherein the wireless sensor nodes are distributed in the pipe gallery and are used for acquiring the internal environment information of the pipe gallery; the computer processing unit is used for establishing a piping lane map and processing sensor node information; the machine vision recognition unit is used for recognizing and anomaly detecting the internal equipment of the pipe gallery, the pipe gallery inspection navigation system and the navigation method can realize automatic navigation and intelligent monitoring of the pipe gallery, improve inspection efficiency and reduce working risk, can realize recognition and anomaly detection of the internal equipment of the pipe gallery through application of a machine vision technology, improve inspection accuracy and timeliness, and have lower cost compared with a traditional track type inspection system.
Description
Technical Field
The invention relates to the technical field of inspection, in particular to a novel pipe gallery inspection navigation system and a navigation method.
Background
In modern city construction, the underground pipeline system is an indispensable component, and along with the continuous development of cities, the underground pipeline system is more and more large in scale, and the maintenance and management difficulty is also more and more large, so that the pipeline system is ensured to safely run, and regular inspection is required to be carried out on a pipe gallery.
The traditional inspection mode mainly comprises manual inspection, low working efficiency, time and labor waste and certain potential safety hazard, so that the pipe gallery inspection navigation system and the navigation method are developed, inspection efficiency can be improved, working risk is reduced, and the system has very important practical significance. The appearance of the comprehensive pipe gallery inspection robot can realize uninterrupted monitoring and disaster early warning and disposal of the environment, equipment, security protection, access control and the like of the comprehensive pipe gallery, but because the inside of the pipe gallery is long and narrow and has no GPS signal, the robot cannot complete automatic navigation in a mode of building a picture first and then positioning in real time; in addition, scene repetition in the pipe gallery is easy to cause mismatching no matter laser radar or visual positioning is used, so that the accurate position of the robot along the advancing direction of the pipe gallery is difficult to obtain; still some pipe gallery inspection robots adopt a rail mounting mode to enable the robots to move along the rails, and positioning is achieved by additionally mounting RFID tags or bar codes on the rails, but the cost of the rail mounting is far higher than that of the robots per se due to long and narrow pipe gallery. Therefore, a new pipe gallery inspection navigation system and navigation method are needed to solve the above-mentioned problems.
Disclosure of Invention
The invention aims to provide a novel pipe gallery inspection navigation system and a navigation method, which are used for solving the problems in the prior art in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the novel pipe gallery inspection navigation system comprises wireless sensor nodes, a computer processing unit and a machine vision identification unit, wherein the wireless sensor nodes are distributed inside a pipe gallery and used for acquiring internal environment information of the pipe gallery; the computer processing unit is used for establishing a piping lane map and processing sensor node information; the machine vision recognition unit is used for recognizing and detecting abnormality of equipment in the pipe gallery.
Preferably, the wireless sensor node comprises a temperature sensor, a humidity sensor, a gas sensor and an acceleration sensor.
Preferably, the computer processing unit comprises a processor, a memory and a wireless communication module which is communicated with the wireless sensor node and is used for realizing data storage, analysis and communication control of pipe gallery inspection.
Preferably, the method is characterized in that: the machine vision recognition unit comprises a high-definition camera and an image processing algorithm.
Preferably, the computer processing unit further comprises a patrol report generating module for generating a patrol report and storing the report in a database.
The invention also provides a novel pipe gallery inspection navigation method, which comprises the following steps:
s1: establishing a pipe gallery map, and scanning the inside of the pipe gallery through a laser range finder to acquire pipe gallery map information;
s2: planning a routing inspection path, analyzing and processing a pipe gallery map through a computer processing unit, and generating the pipe gallery routing inspection path;
s3: sensor information acquisition, wherein wireless sensor nodes acquire environmental information in a pipe gallery in real time;
s4: path tracking, namely processing and analyzing the wireless sensor node information through a computer processing unit to realize tracking and monitoring of the routing inspection path;
s5: machine vision identification, wherein a machine vision identification unit identifies and abnormally detects equipment in a pipe gallery in real time, and detects whether the condition of pipe breakage and equipment damage exists or not;
s6: abnormal alarming, when the machine vision identifying unit finds abnormal condition, immediately sending an alarming signal to the computer processing unit;
s7: and storing and analyzing the data in the inspection process in real time, storing the data in a memory of a computer processing unit, and obtaining an inspection report through data analysis and processing.
Preferably, the pipe lane map information in S1 includes a pipe position, a length, and a degree of bending.
Preferably, the environmental information in S3 includes temperature, humidity and oxygen content information.
Compared with the prior art, the invention has the beneficial effects that:
1. the pipe gallery inspection navigation system and the navigation method can realize automatic navigation and intelligent monitoring of the pipe gallery, improve inspection efficiency, reduce working risk, and can realize identification and abnormal detection of equipment in the pipe gallery through application of a machine vision technology, improve inspection accuracy and timeliness, and have lower cost compared with the traditional track inspection system.
2. The invention has high reliability, high real-time performance and high flexibility, can meet the inspection requirements in various complex environments, has strong applicability, and can provide detailed information for inspection reports and powerful references for subsequent maintenance and repair.
Drawings
Fig. 1 is a flow chart of the inspection method of the present invention.
Fig. 2 is a schematic structural diagram of the navigation system of the present invention.
Fig. 3 is a schematic diagram of a machine vision recognition unit according to the present invention.
FIG. 4 is a schematic diagram of a computer processing unit according to the present invention.
Detailed Description
The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
Referring to fig. 1-4, the present invention provides the following technical solutions:
the utility model provides a novel navigation is patrolled and examined to piping lane, includes wireless sensor node, computer processing unit and machine vision identification unit, wireless sensor node distributes inside the piping lane for acquire the inside environmental information of piping lane, and handle and store information transmission to computer processing unit, wireless sensor node includes temperature sensor, humidity transducer, gas sensor and acceleration sensor.
The computer processing unit is used for establishing a pipe gallery map and processing sensor node information, and comprises a processor, a memory and a wireless communication module communicated with the wireless sensor node, and is used for realizing data storage, analysis and communication control of pipe gallery inspection, realizing path planning and real-time monitoring of pipe gallery inspection, timely finding and processing problems in the inspection process, and considering safety factors in the pipe gallery during the inspection path planning, so that potential safety hazards in the inspection process are avoided; can real-time supervision piping lane inside environmental change in the process of patrolling and examining, like temperature, humidity, gas etc. in time early warning probably takes place dangerous.
The computer processing unit also comprises a patrol report generation module, wherein the patrol report generation module is used for generating a patrol report and storing the report in a database, and the patrol report can provide detailed information such as a patrol route, abnormal equipment, abnormal time and the like and provide powerful references for subsequent maintenance and repair.
The machine vision recognition unit is used for recognizing and detecting abnormality of equipment in the pipe gallery, the machine vision recognition unit comprises a high-definition camera and an image processing algorithm, and the machine vision recognition unit can also recognize and detect structural changes in the pipe gallery and provide references for subsequent maintenance and repair.
The invention also provides a novel pipe gallery inspection navigation method, which comprises the following steps:
s1: establishing a pipe gallery map, and scanning the inside of the pipe gallery through a laser range finder to obtain pipe gallery map information, wherein the pipe gallery map information comprises the position, the length and the bending degree of a pipeline;
s2: planning a routing inspection path, analyzing and processing a pipe gallery map through a computer processing unit, and generating the pipe gallery routing inspection path;
s3: the method comprises the steps of collecting sensor information, and collecting environmental information in a pipe gallery in real time by a wireless sensor node, wherein the environmental information comprises temperature, humidity and oxygen content information;
s4: path tracking, namely processing and analyzing the wireless sensor node information through a computer processing unit to realize tracking and monitoring of the routing inspection path;
s5: machine vision identification, wherein a machine vision identification unit identifies and abnormally detects equipment in a pipe gallery in real time, and detects whether the condition of pipe breakage and equipment damage exists or not;
s6: abnormal alarming, when the machine vision identifying unit finds abnormal condition, immediately sending an alarming signal to the computer processing unit;
s7: and storing and analyzing the data in the inspection process in real time, storing the data in a memory of a computer processing unit, and obtaining an inspection report through data analysis and processing.
The method comprises the following steps of establishing a pipe gallery map, namely acquiring pipe gallery structure information and drawing the pipe gallery map, planning a routing inspection path, namely determining a starting point and an ending point, selecting an inspection strategy and generating an inspection route, acquiring sensor information, namely monitoring and recording temperature, humidity, gas, acceleration and other information in real time, tracking the path, namely processing sensor node information and comparing map information through a computer processing unit, realizing real-time monitoring and tracking of the routing inspection path, recognizing equipment in the pipe gallery by machine vision, detecting abnormality, giving an alarm prompt in time when the abnormality of the equipment is found, and storing and analyzing data, namely generating and storing inspection reports, counting and analyzing inspection data and the like.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The novel pipe gallery inspection navigation system is characterized by comprising wireless sensor nodes, a computer processing unit and a machine vision recognition unit, wherein the wireless sensor nodes are distributed in the pipe gallery and used for acquiring the internal environment information of the pipe gallery; the computer processing unit is used for establishing a piping lane map and processing sensor node information; the machine vision recognition unit is used for recognizing and detecting abnormality of equipment in the pipe gallery.
2. The novel pipe gallery routing navigation system of claim 1, wherein: the wireless sensor node comprises a temperature sensor, a humidity sensor, a gas sensor and an acceleration sensor.
3. The novel pipe gallery routing navigation system of claim 1, wherein: the computer processing unit comprises a processor, a memory and a wireless communication module which is communicated with the wireless sensor node and is used for realizing data storage, analysis and communication control of pipe gallery inspection.
4. The novel pipe gallery routing navigation system of claim 1, wherein: the machine vision recognition unit comprises a high-definition camera and an image processing algorithm.
5. A novel pipe gallery inspection navigation system as claimed in claim 3, wherein: the computer processing unit further includes a patrol report generating module for generating a patrol report and storing the report in a database.
6. The novel pipe gallery inspection navigation method is characterized by comprising the following steps of:
s1: establishing a pipe gallery map, and scanning the inside of the pipe gallery through a laser range finder to acquire pipe gallery map information;
s2: planning a routing inspection path, analyzing and processing a pipe gallery map through a computer processing unit, and generating the pipe gallery routing inspection path;
s3: sensor information acquisition, wherein wireless sensor nodes acquire environmental information in a pipe gallery in real time;
s4: path tracking, namely processing and analyzing the wireless sensor node information through a computer processing unit to realize tracking and monitoring of the routing inspection path;
s5: machine vision identification, wherein a machine vision identification unit identifies and abnormally detects equipment in a pipe gallery in real time, and detects whether the condition of pipe breakage and equipment damage exists or not;
s6: abnormal alarming, when the machine vision identifying unit finds abnormal condition, immediately sending an alarming signal to the computer processing unit;
s7: and storing and analyzing the data in the inspection process in real time, storing the data in a memory of a computer processing unit, and obtaining an inspection report through data analysis and processing.
7. The novel pipe lane inspection navigation apparatus of claim 6 wherein the pipe lane map information in S1 comprises pipe position, length and degree of bending.
8. The novel pipe gallery routing navigation method of claim 6, wherein the environmental information in S3 includes temperature, humidity and oxygen content information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311470582.5A CN117570300A (en) | 2023-11-07 | 2023-11-07 | Novel pipe gallery inspection navigation system and navigation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311470582.5A CN117570300A (en) | 2023-11-07 | 2023-11-07 | Novel pipe gallery inspection navigation system and navigation method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117570300A true CN117570300A (en) | 2024-02-20 |
Family
ID=89863469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311470582.5A Pending CN117570300A (en) | 2023-11-07 | 2023-11-07 | Novel pipe gallery inspection navigation system and navigation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117570300A (en) |
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2023
- 2023-11-07 CN CN202311470582.5A patent/CN117570300A/en active Pending
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