CN106442570B - In-pipeline defect detection device, detection method, and camera opening and setting method - Google Patents
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Abstract
本发明公开了一种管道内缺陷检测装置、检测方法和相机的开启设置方法。包括内飞行器和外飞行器，内飞行器对不同内径的管道进行检测，检测后将数据传送到外飞行器，再经外飞行器传送到云端；采用内飞行器通过布置在环形支架一圈的相机组进行拍摄，采集管道管壁的图像，再将拍摄的图像数据编码压缩后通过超低频的无限射频方式发送给外飞行器，外飞行器通过5G网络上传到云端，云端接收后对图像数据进行处理，识别获得图像中的管道缺陷，进而确定管道内缺陷的位置。本发明主要是针对检测不同内径的管道可以自动调节相机启动个数，实现不同内径管道的检测，并能减少相机的使用，提高能源利用率。The invention discloses a defect detection device in a pipeline, a detection method and a camera opening and setting method. Including the inner aircraft and the outer aircraft, the inner aircraft detects pipes with different inner diameters, after the detection, the data is transmitted to the outer aircraft, and then transmitted to the cloud through the outer aircraft; the inner aircraft is used to shoot through the camera group arranged around the ring bracket, Collect the image of the pipe wall, encode and compress the captured image data, and then send it to the external aircraft through ultra-low frequency wireless radio. The external aircraft uploads to the cloud through the 5G network, and the cloud processes the image data after receiving it. The pipeline defects, and then determine the location of the defects in the pipeline. The invention is mainly aimed at detecting pipelines with different inner diameters and can automatically adjust the number of cameras activated to realize the detection of pipelines with different inner diameters, reduce the use of cameras, and improve energy utilization.
Description
技术领域technical field
本发明涉及压力管道内检测领域，尤其是一种管道内缺陷检测装置、检测方法和相机的开启设置方法，用飞行器来检测管道内部缺陷。The invention relates to the field of internal detection of pressure pipelines, in particular to a detection device, a detection method, and a method for opening and setting a camera for internal defects in a pipeline, and an aircraft is used to detect internal defects of a pipeline.
背景技术Background technique
管道堵塞和腐蚀是压力管道使用过程中的常见状况，影响了压力管道的正常运行和安全性。目前针对管道检测的技术也越来越多，包括漏磁检测、涡流检测、基于光学原理的无损检测、超声检测、基于检测球的泄漏检测等等。但是它们有的造价成本都太高，而且检测速度也很慢；或者是有的检测器适用范围有限。Pipeline blockage and corrosion are common conditions in the use of pressure pipelines, which affect the normal operation and safety of pressure pipelines. At present, there are more and more technologies for pipeline testing, including magnetic flux leakage testing, eddy current testing, nondestructive testing based on optical principles, ultrasonic testing, leak testing based on testing balls, and so on. But some of them cost too much to manufacture, and the detection speed is also very slow; or some detectors have limited scope of application.
发明内容Contents of the invention
本发明的目的在于克服现有技术中的不足，提供一种管道内缺陷检测装置、检测方法和相机的开启设置方法，适用不同内径管道的检测，进行实时缺陷的定位，提升管道检测效率，排除安全隐患。The purpose of the present invention is to overcome the deficiencies in the prior art, to provide a pipeline internal defect detection device, detection method and camera opening and setting method, suitable for detection of pipelines with different inner diameters, real-time defect positioning, improve pipeline detection efficiency, eliminate Security risks.
为解决上述技术问题，本发明提供的技术方案是：In order to solve the problems of the technologies described above, the technical solution provided by the invention is:
一、一种管道内缺陷检测装置，包括内飞行器和外飞行器：1. A defect detection device in a pipeline, including an inner aircraft and an outer aircraft:
所述的内飞行器包括内飞行机架以及安装在内飞行器机架上的内飞行器螺旋桨、内飞行器电机、内飞行器主板和内飞行器电池；内飞行器机架上安装有四只内飞行器螺旋桨，内飞行器螺旋桨分别与各自的内飞行器电机连接，由内飞行器电机带动内飞行器螺旋桨旋转进而带动内飞行器空中飞行；内飞行器机架的机头端安装有用于检测前方物体以壁障的内飞行器超声波传感器，内飞行器机架内部安装有内飞行器主板、速度传感器和内飞行器电池，内飞行器机架的中部安装有环形支架，环形支架的外周面上安装有用于拍摄管道内壁缺陷图像的相机组，内飞行器主板上设有内飞行ARM处理器和低频发射器，内飞行器ARM处理器分别与内飞行器超声波传感器、内飞行器电池、速度传感器和四个内飞行器电机连接，内飞行器主板经低频发射器向外飞行器发射图像检测信号；The inner aircraft includes an inner flight frame and an inner aircraft propeller installed on the inner aircraft frame, an inner aircraft motor, an inner aircraft main board and an inner aircraft battery; four inner aircraft propellers are installed on the inner aircraft frame, and the inner aircraft The propellers are respectively connected with the respective inner aircraft motors, and the inner aircraft motors drive the inner aircraft propellers to rotate and then drive the inner aircraft to fly in the air; The inside of the aircraft frame is equipped with an inner aircraft main board, a speed sensor and an inner aircraft battery. A ring bracket is installed in the middle of the inner aircraft rack. It is equipped with an inner flight ARM processor and a low-frequency transmitter. The inner aircraft ARM processor is connected to the inner aircraft ultrasonic sensor, inner aircraft battery, speed sensor and four inner aircraft motors. The inner aircraft main board transmits images to the outer aircraft through the low-frequency transmitter. detection signal;
所述的外飞行器包括外飞行器机架以及安装在外飞行器机架上的外飞行器螺旋桨、外飞行器电机、外飞行器主板和外飞行器电池；外飞行器机架上安装有四只外飞行器螺旋桨，外飞行器螺旋桨分别与各自的外飞行器电机连接，由外飞行器电机带动外飞行器螺旋桨旋转进而带动外飞行器空中飞行；外飞行器机架的机头端安装有用于检测前方物体以壁障的外飞行器超声波传感器，外飞行器机架内部安装有外飞行器主板和外飞行电池，外飞行器主板上设有5G通信模块、GPRS模块、外飞行器ARM处理器和低频接收器，外飞行器ARM处理器分别与外飞行器超声波传感器、5G通信模块、GPRS模块、外飞行器电池、低频接收器和四个外飞行器电机连接，外飞行器主板经由低频接收器接收来自内飞行器的图像检测信号。The outer aircraft comprises an outer aircraft frame and an outer aircraft propeller, an outer aircraft motor, an outer aircraft main board and an outer aircraft battery installed on the outer aircraft frame; four outer aircraft propellers are installed on the outer aircraft frame, and the outer aircraft propeller They are respectively connected with the motors of the outer aircraft, and the motors of the outer aircraft drive the propellers of the outer aircraft to rotate and then drive the outer aircraft to fly in the air; The main board of the outer aircraft and the outer flight battery are installed inside the frame. The main board of the outer aircraft is equipped with a 5G communication module, a GPRS module, an ARM processor of the outer aircraft and a low-frequency receiver. The ARM processor of the outer aircraft communicates with the ultrasonic sensor of the outer aircraft and the 5G The module, the GPRS module, the battery of the outer aircraft, the low frequency receiver and the four outer aircraft motors are connected, and the main board of the outer aircraft receives the image detection signal from the inner aircraft through the low frequency receiver.
所述内飞行器和外飞行器均采用超声波避障方式。Both the inner aircraft and the outer aircraft adopt ultrasonic obstacle avoidance.
所述的相机组包括多个主要由摄像机和光源组成的相机，相机上沿环形支架外周面的圆周间隔均布安装；每个相机中，摄像机沿径向方向朝外安装，用于照明的光源布置在摄像机。The camera group includes a plurality of cameras mainly composed of cameras and light sources, and the cameras are installed evenly distributed along the circumference of the outer peripheral surface of the ring bracket; in each camera, the cameras are installed radially outwards, and the light source for lighting placed on the camera.
所述相机嵌入安装在环形支架中。The camera is embedded in the ring bracket.
所述的内飞行器与外飞行器之间采用超低频进行通信，将内飞行器采集的图像信息通过低频发射器发送给外飞行器的低频接收器。The inner aircraft and the outer aircraft use ultra-low frequency to communicate, and the image information collected by the inner aircraft is sent to the low-frequency receiver of the outer aircraft through the low-frequency transmitter.
所述的外飞行器根据内飞行器传输的信号实时跟随内飞行器，以保证在信号范围内，实时接收内飞行器传过来的数据。The outer aircraft follows the inner aircraft in real time according to the signal transmitted by the inner aircraft, so as to ensure that the data transmitted by the inner aircraft can be received in real time within the signal range.
所述外飞行器的5G通信模块通过5G通信方式将内飞行器采集到的图像检测信号数据实时传送到云端，通过云端的计算机实时对数据进行处理，检测管道的缺陷，实时得到管道缺陷的位置。The 5G communication module of the outer aircraft transmits the image detection signal data collected by the inner aircraft to the cloud in real time through 5G communication, and the computer in the cloud processes the data in real time, detects the defects of the pipeline, and obtains the position of the pipeline defect in real time.
所述内外飞行器都采用基于ARM+Linux的嵌入式平台。The internal and external aircraft all adopt an embedded platform based on ARM+Linux.
飞行过程中，所述内飞行器四个面相机之间的间隔距离是一定的。所述内飞行器在启动的时候，起动上下左右各两个相机，计算上下左右每个面离管壁的距离，根据摄像机拍摄的视角以及每面应片拍摄弧面的大小，根据双目测距算法，计算每个面应起动多少个相机，以及起动相机的位置，以实现相机自启动和完成360度无死角拍摄。During the flight, the distance between the cameras on the four surfaces of the inner aircraft is constant. When the inner aircraft is started, start up, down, left, and right respectively two cameras, calculate the distance between each of the up, down, left, and right sides from the pipe wall, and according to the angle of view taken by the camera and the size of the curved surface taken by each side, according to the binocular distance measurement Algorithm to calculate how many cameras should be activated on each surface, and the position of the activated cameras, so as to realize self-activated cameras and complete 360-degree shooting without dead angles.
二、一种管道内缺陷检测方法：2. A method for detecting defects in pipelines:
采用上述检测装置，所述的内飞行器通过布置在环形支架一圈的相机组进行拍摄，采集管道管壁的图像，再将拍摄的图像数据编码压缩后通过超低频的无限射频方式发送给外飞行器，外飞行器将接收的图像和包含着外飞行器飞行记录的GPRS信息数据一起通过5G网络上传到云端，云端接收到拍摄的图像信息和包含着外飞行器记录的GPRS信息，采用云计算对图像数据进行处理，识别获得图像中的管道缺陷，进而确定管道内缺陷的位置。Using the above-mentioned detection device, the inner aircraft is photographed by a camera group arranged around the ring bracket to collect images of the pipe wall, and then the captured image data is coded and compressed and sent to the outer aircraft through ultra-low frequency infinite radio frequency The external aircraft uploads the received images and the GPRS information data containing the flight records of the external aircraft to the cloud through the 5G network. Processing, identifying the pipeline defects in the obtained image, and then determining the position of the defects in the pipeline.
本发明最终的云端处理结果可直接反馈给前线检修人员，将处理得到的有缺陷的图像的编号以及对应的距离D和GPRS信息传输给工作人员的便携式手提电脑上，直接进行排查更换新管道，提升了检测效率，快速排除安全隐患。The final cloud processing result of the present invention can be directly fed back to the front-line maintenance personnel, and the serial number of the defective image obtained by processing and the corresponding distance D and GPRS information are transmitted to the portable laptop computer of the staff, and the new pipeline is directly checked and replaced. Improve detection efficiency and quickly eliminate potential safety hazards.
识别到图像中的管道缺陷后，确定管道内缺陷的位置的方式具体为：首先将相机组中的每个相机传输过来图像分别进行解码编号，只要云端检测到对应编号的图像中存在管道缺陷，通过编号找到拍摄该图像时所在的管道内的位置定位出缺陷所在的管道位置，具体地，编号为N的图像对应的管道距离起始点的位置D为：After identifying the pipeline defect in the image, the method of determining the location of the defect in the pipeline is as follows: firstly, the images transmitted by each camera in the camera group are decoded and numbered separately, as long as the cloud detects that there is a pipeline defect in the corresponding numbered image, Find the position in the pipeline where the image was taken by numbering to locate the pipeline position where the defect is located. Specifically, the position D of the pipeline corresponding to the image numbered N from the starting point is:
其中，每秒钟采集的图像是n，飞行器的速度是V。Among them, the image collected per second is n, and the speed of the aircraft is V.
另外可再通过外飞行器包含GPRS信息进行二次定位确认。In addition, the secondary positioning confirmation can be carried out through the GPRS information contained in the outer aircraft.
采用上述检测装置中的内飞行器在管道内飞行并通过相机组采集管道内壁的图像数据，所述相机组中，利用相邻两个相机采用双目测距方法获得相机距离管壁的距离和管道的内径，进而使得内飞行器在管道内沿中心轴飞行并优化设置相机组中相机开启的个数，启用最少相机满足360无死角的管道拍摄。The inner aircraft in the above-mentioned detection device is used to fly in the pipeline and the image data of the inner wall of the pipeline is collected through the camera group. Inner diameter, so that the inner aircraft flies along the central axis in the pipeline and optimizes the number of cameras in the camera group to enable the least number of cameras to meet the 360-degree pipeline shooting without dead ends.
所述利用相邻两个相机采用双目测距方法获得相机距离管壁的距离和管道的内径，进而使得内飞行器在管道内沿中心轴飞行并优化设置相机组中相机开启的个数，具体为：The distance between the camera and the pipe wall and the inner diameter of the pipe are obtained by using the binocular ranging method with two adjacent cameras, so that the inner aircraft flies along the central axis in the pipe and optimizes the number of cameras in the camera group that are turned on, specifically for:
将内飞行器放入待检测的管道，先开启所有相机，将任意相邻两个相机采集到的图像利用双目测距算法计算获得其每个相机距离管道的径向距离di，将每个相机采集到的距离管道壁的距离di取平均值，作为环形支架外壁和待检测管道内壁之间的径向距离，利用该平均值发送飞行控制信号到电机，通过电机控制螺旋桨旋转，进而调整内飞行器的飞行高度和水平位置，使得内飞行器始终位于沿管道内径中心地沿管道飞行；Put the inner aircraft into the pipeline to be detected, first turn on all the cameras, and use the binocular ranging algorithm to calculate the images collected by any two adjacent cameras to obtain the radial distance d i of each camera from the pipeline. The average value of the distance d i from the pipe wall collected by the camera is taken as the radial distance between the outer wall of the ring bracket and the inner wall of the pipe to be detected, and the average value is used to send the flight control signal to the motor, and the motor controls the rotation of the propeller, and then adjusts The flight height and horizontal position of the inner aircraft make the inner aircraft always fly along the pipeline along the center of the inner diameter of the pipeline;
并且采用以下公式获得待检测管道的内半径r2：And use the following formula to obtain the inner radius r 2 of the pipeline to be tested:
r2＝r1+di r 2 =r 1 +d i
其中，r1是环形支架的外半径；Wherein, r 1 is the outer radius of annular support;
再采用以下公式计算单个相机拍摄管道区域的弧长S1和任意相邻两个相机拍摄管道区域之间的重叠弧长S2：Then use the following formula to calculate the arc length S 1 of the pipeline area captured by a single camera and the overlapping arc length S 2 between any two adjacent cameras to capture the pipeline area:
S1＝(r2-r1)·θ1 S 1 =(r 2 -r 1 )·θ 1
S2＝(r2-r1)·θ1-r2·θ2 S 2 =(r 2 -r 1 )·θ 1 -r 2 ·θ 2
其中，θ1为相机的视角，θ2为相邻相机之间的弧度角；Among them, θ 1 is the viewing angle of the camera, and θ 2 is the radian angle between adjacent cameras;
通过S2和S1之间采用以下方式进行比较判断，对所有环形支架上的相机进行开启和关闭的优化设置，从而使得内飞行器在管道内飞行过程中，内飞行器上开启最少的相机能对其同一截面的管道内壁进行完整拍摄：Through the comparison and judgment between S 2 and S 1 in the following way, the optimal setting of opening and closing of all cameras on the ring support is carried out, so that during the flight of the inner aircraft in the pipeline, the camera with the least number of openings on the inner aircraft can Complete shooting of the inner wall of the pipe in the same section:
对于任意相邻两个相机，当时，该相邻两个相机中只需启动其中一个，另一个关闭，否则该相邻两个相机均开启。For any two adjacent cameras, when When , only one of the adjacent two cameras needs to be activated, and the other one is switched off; otherwise, both adjacent cameras are activated.
三、一种内飞行器相机组在管道内采集图像的开启设置方法：3. A method for opening and setting the camera group of the inner aircraft to collect images in the pipeline:
采用所述的检测装置中的内飞行器在管道内飞行并通过相机组采集管道内壁的图像数据，所述相机组中，利用相邻两个相机采用双目测距方法获得相机距离管壁的距离和管道的内径，进而使得内飞行器在管道内沿中心轴飞行并优化设置相机组中相机开启的个数，启用最少相机满足360无死角的管道拍摄。The inner aircraft in the detection device is used to fly in the pipeline and the image data of the inner wall of the pipeline is collected through the camera group. In the camera group, two adjacent cameras are used to obtain the distance between the camera and the pipe wall by using the binocular ranging method. And the inner diameter of the pipeline, so that the inner aircraft flies along the central axis in the pipeline and optimizes the number of cameras in the camera group to enable the least number of cameras to meet the 360-degree pipeline shooting without dead ends.
所述利用相邻两个相机采用双目测距方法获得相机距离管壁的距离和管道的内径，进而使得内飞行器在管道内沿中心轴飞行并优化设置相机组中相机开启的个数，具体为：The distance between the camera and the pipe wall and the inner diameter of the pipe are obtained by using the binocular ranging method with two adjacent cameras, so that the inner aircraft flies along the central axis in the pipe and optimizes the number of cameras in the camera group that are turned on, specifically for:
将内飞行器放入待检测的管道，先开启所有相机，将任意相邻两个相机采集到的图像利用双目测距算法计算获得其每个相机距离管道的径向距离di，将每个相机采集到的距离管道壁的距离di取平均值，作为环形支架外壁和待检测管道内壁之间的径向距离，利用该平均值发送飞行控制信号到电机，通过电机控制螺旋桨旋转，进而调整内飞行器的飞行高度和水平位置，使得内飞行器始终位于沿管道内径中心地沿管道飞行；Put the inner aircraft into the pipeline to be detected, first turn on all the cameras, and use the binocular ranging algorithm to calculate the images collected by any two adjacent cameras to obtain the radial distance d i of each camera from the pipeline. The average value of the distance d i from the pipe wall collected by the camera is taken as the radial distance between the outer wall of the ring bracket and the inner wall of the pipe to be detected, and the average value is used to send the flight control signal to the motor, and the motor controls the rotation of the propeller, and then adjusts The flight height and horizontal position of the inner aircraft make the inner aircraft always fly along the pipeline along the center of the inner diameter of the pipeline;
并且采用以下公式获得待检测管道的内半径r2：And use the following formula to obtain the inner radius r 2 of the pipeline to be tested:
r2＝r1+di r 2 =r 1 +d i
其中，r1是环形支架的外半径；Wherein, r 1 is the outer radius of annular support;
再采用以下公式计算单个相机拍摄管道区域的弧长S1和任意相邻两个相机拍摄管道区域之间的重叠弧长S2：Then use the following formula to calculate the arc length S 1 of the pipeline area captured by a single camera and the overlapping arc length S 2 between any two adjacent cameras to capture the pipeline area:
S1＝(r2-r1)·θ1 S 1 =(r 2 -r 1 )·θ 1
S2＝(r2-r1)·θ1-r2·θ2 S 2 =(r 2 -r 1 )·θ 1 -r 2 ·θ 2
其中，θ1为相机的视角，θ2为相邻相机之间的弧度角；Among them, θ 1 is the viewing angle of the camera, and θ 2 is the radian angle between adjacent cameras;
通过S2和S1之间采用以下方式进行比较判断，对所有环形支架上的相机进行开启和关闭的优化设置，从而使得内飞行器在管道内飞行过程中，内飞行器上开启最少的相机能对其同一截面的管道内壁进行完整拍摄：Through the comparison and judgment between S 2 and S 1 in the following way, the optimal setting of opening and closing of all cameras on the ring support is carried out, so that during the flight of the inner aircraft in the pipeline, the camera with the least number of openings on the inner aircraft can Complete shooting of the inner wall of the pipe in the same section:
对于任意相邻两个相机，当时，该相邻两个相机中只需启动其中一个，另一个关闭，否则该相邻两个相机均开启。For any two adjacent cameras, when When , only one of the adjacent two cameras needs to be activated, and the other one is switched off; otherwise, both adjacent cameras are activated.
与现有技术相比，本发明的有益效果是：Compared with prior art, the beneficial effect of the present invention is:
1、外飞行器采用5G通信，传输速度快，可靠性高，具有很强的时效性；1. The outer aircraft adopts 5G communication, which has fast transmission speed, high reliability and strong timeliness;
2、本发明采用云计算方式，可快速处理大数据，以最快速度检测出管道缺陷，快速的给出管道缺陷的位置，实时反馈检测结果做到检测和更换同步进行，提升了工作效率；2. The present invention adopts the cloud computing method, which can quickly process large data, detect pipeline defects at the fastest speed, quickly give the location of pipeline defects, and feedback the detection results in real time to achieve simultaneous detection and replacement, which improves work efficiency;
3、内飞行器采用了环形相机自动启动优化方案，可以针对直径不同的管道，选择最少的相机进行检测，不需要在不同的内径下从新设计相机的排列位置和布局光源，有很强的适应性应用价值。3. The inner aircraft adopts the ring camera automatic startup optimization scheme, which can select the least number of cameras for detection of pipes with different diameters, and does not need to redesign the arrangement position of the camera and the layout of the light source under different inner diameters, which has strong adaptability Value.
附图说明Description of drawings
图1为本发明内飞行器结构示意图。Fig. 1 is a schematic diagram of the structure of the aircraft in the present invention.
图2为本发明内飞行器机身内结构示意图。Fig. 2 is a schematic diagram of the internal structure of the aircraft fuselage of the present invention.
图3为本发明外中飞行器结构示意图。Fig. 3 is a structural schematic diagram of the outer and middle aircraft of the present invention.
图4为本发明外飞行器机身内结构示意图。Fig. 4 is a schematic diagram of the internal structure of the outer aircraft fuselage of the present invention.
图5为本发明摄像头截面结构示意图。FIG. 5 is a schematic diagram of a cross-sectional structure of a camera of the present invention.
图6为本发明环形支架上相机开启方式中涉及的字母表示示意图。Fig. 6 is a schematic diagram of letters involved in the way of opening the camera on the ring bracket of the present invention.
图7为本发明内飞行器的连线图。Fig. 7 is a wiring diagram of the aircraft in the present invention.
图8为本发明外飞行器的连线图。Fig. 8 is a wiring diagram of the outer aircraft of the present invention.
图9为本发明实施例的流程图。FIG. 9 is a flowchart of an embodiment of the present invention.
图中：1：内飞行器机身，2/3/4/5：内飞行器螺旋桨，6/7/8/9：内飞行器电机，10：内飞行器超声波传感器，11：摄像机，12：光源，13：高效能内飞行器电池，14:内飞行器主板，15：速度传感器，16：内飞行器ARM处理器，17：低频发射器，18：环形支架；19：外飞行器机身，20/21/22/23：外飞行器螺旋桨，24/25/26/27：外飞行器电机，28：外飞行器电池，29：外飞行器主板，30：外飞行器ARM处理器，31:5G通信模块，32：外飞行器超声波传感器，33：GPRS模块，34：低频接收器；35：环形支架外壁，36：待检测管道。In the figure: 1: Inner aircraft fuselage, 2/3/4/5: Inner aircraft propeller, 6/7/8/9: Inner aircraft motor, 10: Inner aircraft ultrasonic sensor, 11: Camera, 12: Light source, 13 : high-efficiency inner aircraft battery, 14: inner aircraft main board, 15: speed sensor, 16: inner aircraft ARM processor, 17: low frequency transmitter, 18: ring bracket; 19: outer aircraft fuselage, 20/21/22/ 23: Outer aircraft propeller, 24/25/26/27: Outer aircraft motor, 28: Outer aircraft battery, 29: Outer aircraft main board, 30: Outer aircraft ARM processor, 31: 5G communication module, 32: Outer aircraft ultrasonic sensor , 33: GPRS module, 34: low-frequency receiver; 35: outer wall of ring support, 36: pipeline to be tested.
具体实施方式Detailed ways
以下结合附图所示的实施例进一步说明。Further description will be given below in conjunction with the embodiments shown in the accompanying drawings.
本发明包括内飞行器和外飞行器：内飞行器对不同内径的管道进行采集，采集后将图像数据传送到外飞行器，再经外飞行器传送到云端。The invention includes an inner aircraft and an outer aircraft: the inner aircraft collects pipes with different inner diameters, and after collection, the image data is transmitted to the outer aircraft, and then transmitted to the cloud via the outer aircraft.
如图1和图2所示，内飞行器包括内飞行器机身1以及安装在内飞行器机身1上的内飞行器螺旋桨2、3、4、5、内飞行器电机6、7、8、9、内飞行器主板14和内飞行器电池13；内飞行器机身1上安装有四只内飞行器螺旋桨2、3、4、5，内飞行器螺旋桨2、3、4、5分别与各自的内飞行器电机6、7、8、9连接，由内飞行器电机带动内飞行螺旋桨旋转进而带动内飞行器空中飞行；内飞行器机身1的机头端安装有用于检测前方物体以壁障的内飞行器超声波传感器10，内飞行器机身1内部安装有内飞行器主板14、速度传感器15和内飞行器电池13，内飞行器机身1的中部安装有环形支架18，环形支架18的外周面上安装有用于拍摄管道内壁缺陷图像的相机组，内飞行器主板14上设有内飞行器ARM处理器16和低频发射器17，如图7所示，内飞行器ARM处理器16分别与内飞行器超声波传感器10、内飞行器电池13、速度传感器15和四个内飞行器电机6、7、8、9连接，内飞行器主板14经低频发射器17向外飞行器发射图像检测信号。As shown in Figures 1 and 2, the inner aircraft includes an inner aircraft fuselage 1 and inner aircraft propellers 2, 3, 4, 5, inner aircraft motors 6, 7, 8, 9, and inner aircraft fuselages 1 installed on the inner aircraft fuselage 1. Aircraft main board 14 and inner aircraft battery 13; Inner aircraft fuselage 1 is equipped with four inner aircraft propellers 2,3,4,5, inner aircraft propellers 2,3,4,5 are respectively connected with respective inner aircraft motors 6,7 , 8, and 9 are connected, and the inner flight propeller is driven by the inner aircraft motor to rotate and then drives the inner aircraft to fly in the air; the nose end of the inner aircraft fuselage 1 is equipped with an inner aircraft ultrasonic sensor 10 for detecting objects in front and barriers, and the inner aircraft machine Inner aircraft main board 14, speed sensor 15 and inner aircraft battery 13 are installed inside body 1, and the middle part of inner aircraft fuselage 1 is equipped with ring support 18, and the camera group that is used to take the image of pipeline inner wall defect is installed on the outer peripheral surface of ring support 18 , the inner aircraft main board 14 is provided with an inner aircraft ARM processor 16 and a low-frequency transmitter 17, as shown in Figure 7, the inner aircraft ARM processor 16 is respectively connected with the inner aircraft ultrasonic sensor 10, the inner aircraft battery 13, the speed sensor 15 and four The interior aircraft motors 6,7,8,9 are connected, and the interior aircraft main board 14 transmits image detection signals to the outer aircraft through the low frequency transmitter 17.
如图3和图4所示，外飞行器器包括外飞行器机身19以及安装在外飞行器机身19上的外飞行器螺旋桨21、22、22、23、外飞行器电机24、25、26、27、外飞行器主板29和外飞行电池28；外飞行器机身19上安装有四只外飞行器螺旋桨21、22、22、23，外飞行器螺旋桨21、22、22、23分别与各自的外飞行器电机24、25、26、27连接，由外飞行器电机带动外飞行器螺旋桨旋转进而带动外飞行器空中飞行；外飞行器机身19的机头端安装有用于检测前方物体以壁障的外飞行器超声波传感器32，外飞行器机身19内部安装有外飞行器主板29和外飞行器电池28，外飞行器主板29上设有5G通信模块31、GPRS模块33、外飞行器ARM处理器30和低频接收器34，如图8所示，外飞行器ARM处理器30分别与外飞行器超声波传感器32、5G通信模块31、GPRS模块33、外飞行器电池28、低频接收器34和四个外飞行器电机24、25、26、27连接，外飞行器主板29经由低频接收器34接收来自内飞行器的图像检测信号。As shown in Figures 3 and 4, the outer aircraft includes an outer aircraft fuselage 19 and an outer aircraft propeller 21, 22, 22, 23, an outer aircraft motor 24, 25, 26, 27, an outer aircraft fuselage 19, and an outer aircraft fuselage 19. Aircraft main board 29 and outer flight battery 28; Four outer aircraft propellers 21,22,22,23 are installed on the outer aircraft fuselage 19, and outer aircraft propellers 21,22,22,23 are respectively connected with respective outer aircraft motors 24,25 , 26, and 27 are connected, and the outer aircraft motor drives the outer aircraft propeller to rotate and then drives the outer aircraft to fly in the air; the nose end of the outer aircraft fuselage 19 is equipped with an outer aircraft ultrasonic sensor 32 that is used to detect objects in front and barriers, and the outer aircraft machine The body 19 is equipped with an outer aircraft main board 29 and an outer aircraft battery 28, and the outer aircraft main board 29 is provided with a 5G communication module 31, a GPRS module 33, an outer aircraft ARM processor 30 and a low-frequency receiver 34, as shown in Figure 8, the outer aircraft Aircraft ARM processor 30 is respectively connected with outer aircraft ultrasonic sensor 32, 5G communication module 31, GPRS module 33, outer aircraft battery 28, low frequency receiver 34 and four outer aircraft motors 24, 25, 26, 27, outer aircraft main board 29 Image detection signals from the inner aircraft are received via a low frequency receiver 34 .
如图5所示，相机组包括多个主要由摄像机11和光源12组成的相机，相机上沿环形支架18外周面的圆周间隔均布安装；每个相机中，摄像机11沿径向方向朝外安装，用于照明的光源12布置在摄像机11，内飞行器电池13连接光源12进行供电。相机嵌入安装在环形支架18中，检测过程中通过相机组的相机采集图像数据进行处理实现快速、实时调整飞行器，使得飞行器沿着管道的中心轴进行飞行。As shown in Figure 5, the camera group includes a plurality of cameras mainly composed of cameras 11 and light sources 12, and the cameras are evenly distributed along the circumference of the outer peripheral surface of the annular support 18; in each camera, the cameras 11 are outwards along the radial direction For installation, the light source 12 for lighting is arranged on the camera 11, and the internal aircraft battery 13 is connected to the light source 12 for power supply. The camera is embedded and installed in the ring bracket 18. During the detection process, the image data collected by the cameras of the camera group is processed to realize fast and real-time adjustment of the aircraft, so that the aircraft flies along the central axis of the pipeline.
如图9所示，本发明的实施例及其实施过程如下：As shown in Figure 9, an embodiment of the present invention and its implementation process are as follows:
采用内飞行器通过布置在环形支架一圈的相机组进行拍摄，采集管道管壁的图像，再将拍摄的图像数据编码压缩后通过超低频的无限射频方式发送给外飞行器，外飞行器将接收的图像和包含着外飞行器飞行记录的GPRS信息数据一起通过5G网络上传到云端。云端接收到拍摄的图像信息和包含着外飞行器记录的GPRS信息，采用云计算对图像数据进行处理，识别获得图像中的管道缺陷，进而确定管道内缺陷的位置。The inner aircraft is used to shoot through the camera group arranged around the ring bracket to collect the image of the pipe wall, and then encode and compress the captured image data and send it to the outer aircraft through ultra-low frequency infinite radio frequency. The outer aircraft will receive the image Together with the GPRS information data containing the flight records of the outer aircraft, it is uploaded to the cloud through the 5G network. The cloud receives the captured image information and the GPRS information including the records of the outer aircraft, and uses cloud computing to process the image data, identify the pipeline defects in the image, and then determine the location of the defects in the pipeline.
在采用内飞行器在管道内飞行并通过相机组采集管道内壁的图像数据过程中，利用相邻两个相机采用双目测距方法获得相机距离管壁的距离和管道的内径，进而使得内飞行器在管道内沿中心轴飞行并优化设置相机组中相机开启的个数，启用最少相机满足360无死角的管道拍摄，具体为：In the process of using the inner aircraft to fly in the pipeline and collect the image data of the inner wall of the pipeline through the camera group, two adjacent cameras are used to obtain the distance between the camera and the pipe wall and the inner diameter of the pipeline by using the binocular ranging method, so that the inner aircraft can Fly along the central axis in the pipeline and optimize the number of cameras in the camera group to enable the least number of cameras to meet the 360-degree pipeline shooting without dead angle, specifically:
将内飞行器放入待检测的管道，先开启所有相机，将任意相邻两个相机采集到的图像利用双目测距算法计算获得其每个相机距离管道的径向距离di，将每个相机采集到的距离管道壁的距离di取平均值，作为环形支架外壁35和待检测管道内壁36之间的径向距离，利用该平均值发送飞行控制信号到电机，通过电机控制螺旋桨旋转，进而调整内飞行器的飞行高度和水平位置，使得内飞行器始终位于沿管道内径中心地沿管道飞行；Put the inner aircraft into the pipeline to be detected, first turn on all the cameras, and use the binocular ranging algorithm to calculate the images collected by any two adjacent cameras to obtain the radial distance d i of each camera from the pipeline. The distance d i from the pipeline wall collected by the camera is averaged as the radial distance between the outer wall 35 of the ring support and the inner wall 36 of the pipeline to be detected, and the average value is used to send the flight control signal to the motor, and the propeller is controlled by the motor to rotate, Then adjust the flight height and horizontal position of the inner aircraft, so that the inner aircraft is always positioned at the center of the inner diameter of the pipeline and flies along the pipeline;
并且如图6所示，采用以下公式获得待检测管道的内半径r2：And as shown in Fig. 6, the inner radius r 2 of the pipeline to be tested is obtained by using the following formula:
r2＝r1+di r 2 =r 1 +d i
其中，r1是环形支架的外半径；Wherein, r 1 is the outer radius of annular support;
再采用以下公式计算单个相机拍摄管道区域的弧长S1和任意相邻两个相机拍摄管道区域之间的重叠弧长S2：Then use the following formula to calculate the arc length S 1 of the pipeline area captured by a single camera and the overlapping arc length S 2 between any two adjacent cameras to capture the pipeline area:
S1＝(r2-r1)·θ1 S 1 =(r 2 -r 1 )·θ 1
S2＝(r2-r1)·θ1-r2gθ2 S 2 =(r 2 -r 1 )·θ 1 -r 2 gθ 2
其中，θ1为相机的视角，θ2为相邻相机之间的弧度角；Among them, θ 1 is the viewing angle of the camera, and θ 2 is the radian angle between adjacent cameras;
通过S2和S1之间采用以下方式进行比较判断，对所有环形支架上的相机进行开启和关闭的优化设置。By comparing and judging between S2 and S1 in the following way, optimize the settings for opening and closing of all cameras on the ring bracket.
下面以外径200mm的管道，相机视角为π度，环形支架直径150mm，相机之间的弧度角为30度，相机每秒钟30张图片为例，说明该装置的具体实施方式。The following is an example of a pipeline with an outer diameter of 200mm, a camera angle of view of π degrees, a ring bracket diameter of 150mm, an arc angle between the cameras of 30 degrees, and 30 pictures per second of the camera to illustrate the specific implementation of the device.
将内外飞行器打开后，将内飞行器放入待检测的管道，同时内飞行器的环形相机组和光源组都完全打开，相邻相机利用双目测距算技术，得到每个相机距离管道的距离di，此时的di是各不相同的。而利用双目测距原理可以求得检测管道的内径190mm。此时将每个相机的距离管道壁的距离di，反馈给控制处理器，控制处理器输出反馈信号给控制电机，电机调整内飞行器的飞行高度和水平位置，使得每个相机距离管道的di的大小通过不断调整后均为20mm,此时飞行器处于检测管道的内径中心轴上。当飞行器平稳飞行在管道内径中心轴上时，开始计算需要启动相机的个数，以及需要起动相机的位置，关闭多余的相机和光源。After opening the inner and outer aircraft, put the inner aircraft into the pipeline to be detected, and at the same time, the ring camera group and the light source group of the inner aircraft are fully opened, and the adjacent cameras use binocular distance measurement technology to obtain the distance d between each camera and the pipeline. i , the d i at this time are different. Using the principle of binocular distance measurement, the inner diameter of the detection pipeline can be obtained as 190mm. At this time, the distance d i of each camera from the pipeline wall is fed back to the control processor, and the control processor outputs a feedback signal to the control motor, which adjusts the flying height and horizontal position of the inner aircraft, so that each camera is d i from the pipeline The size of i is 20mm after constant adjustment, and the aircraft is on the central axis of the inner diameter of the detection pipeline at this time. When the aircraft is flying smoothly on the central axis of the inner diameter of the pipe, start to calculate the number of cameras that need to be activated, as well as the position where the cameras need to be activated, and turn off redundant cameras and light sources.
其中，相机的视角为180°、相邻相机之间的弧度角为30°，单个相机拍摄到的管道的弧长为62.8mm，求得相邻相机的重叠弧长13.09mm，因为13.09mm<31.4mm，每一个相机都需要启动。然后环形相机组进行拍摄，采集管壁的图像。拍摄的图像编码压缩后通过无限射频技术发送给外飞行器，外飞行器将接收的数据通过5G网络上传到云端。云端接收到拍摄的图像信息和包含着外飞行器记录的GPRS信息，云端对接受的图像进行解码编号，然后采用云计算快速的对编号的图像数据进行处理，判断识别缺陷的位置，实验中得到的是编号322、569、789的图像存在腐蚀缺陷，实验中飞行器保持速度0.2m/s匀速飞行，得到的对应的距离初始管道的距离分别为2.15m、3.79m、5.26m，云端处理的结果通过互联网直接传输反馈给前线检修工作人员，腐蚀位置和检测结果进行对比发现误差均在5％内，检测结果可靠，顺利的对腐蚀管道部分进行更换，三个腐蚀点对应图片拍摄时间的GPRS的经纬度是(30.3208311,120.3727659)(30.3208313,120.3727662)(30.3208312,120.3727661)，变化幅度小，和实验点的经纬度信息吻合，GPRS虽有效精度低，不过可以在外飞行器失去联系进行快速定位查找。Among them, the angle of view of the camera is 180°, the arc angle between adjacent cameras is 30°, the arc length of the pipeline captured by a single camera is 62.8mm, and the overlapping arc length of adjacent cameras is obtained to be 13.09mm, because 13.09mm< 31.4mm, every camera needs to be activated. The ring camera group then takes pictures, collecting images of the tube wall. The captured image is coded and compressed and sent to the outer aircraft through wireless radio frequency technology, and the outer aircraft uploads the received data to the cloud through the 5G network. The cloud receives the captured image information and the GPRS information recorded by the outer aircraft, and the cloud decodes and numbers the received images, and then uses cloud computing to quickly process the numbered image data to determine the location of the identified defect. The images with numbers 322, 569, and 789 have corrosion defects. In the experiment, the aircraft maintained a constant speed of 0.2m/s and flew at a constant speed. The corresponding distances from the initial pipeline were 2.15m, 3.79m, and 5.26m respectively. The results of cloud processing passed The Internet directly transmits feedback to the front-line maintenance staff. The corrosion location is compared with the test results and the error is found to be within 5%. The test results are reliable and the corroded pipeline is replaced smoothly. The three corrosion points correspond to the latitude and longitude of GPRS when the picture was taken Yes (30.3208311, 120.3727659) (30.3208313, 120.3727662) (30.3208312, 120.3727661), the range of change is small, and it matches the latitude and longitude information of the experimental point. Although GPRS has low effective accuracy, it can quickly locate and search when the external aircraft loses contact.
最后，需要注意的是，以上列举的仅是本发明的一个具体实施例，并非对本发明做任何形式上的限制。显然，本发明不限于以上实施例，还可以有很多变形。本领域的技术人员能从本发明公开的内容中直接导出或联想到的所有变形，均应认为是本发明的保护范围。Finally, it should be noted that what is listed above is only a specific embodiment of the present invention, and does not limit the present invention in any form. Obviously, the present invention is not limited to the above embodiments, and many modifications are possible. All deformations that can be directly derived or associated by those skilled in the art from the content disclosed in the present invention should be considered as the protection scope of the present invention.
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