CN106442570B - Device and method for detecting defects in pipeline and method for opening and setting camera - Google Patents
Device and method for detecting defects in pipeline and method for opening and setting camera Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
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- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
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Abstract
The invention discloses a device and a method for detecting defects in a pipeline and a method for opening and setting a camera. The system comprises an inner aircraft and an outer aircraft, wherein the inner aircraft detects pipelines with different inner diameters, transmits data to the outer aircraft after detection, and then transmits the data to a cloud through the outer aircraft; the method comprises the steps that an inner aircraft shoots through a camera group arranged on a circle of an annular support, images of the pipe wall of a pipe are collected, shot image data are encoded and compressed and then sent to an outer aircraft in an ultralow frequency infinite radio frequency mode, the outer aircraft uploads the image data to a cloud end through a 5G network, the image data are processed after being received by the cloud end, the pipe defect in the image is obtained through recognition, and then the position of the pipe defect in the pipe is determined. The invention mainly aims at detecting pipelines with different inner diameters, can automatically adjust the starting number of cameras, realizes the detection of the pipelines with different inner diameters, can reduce the use of the cameras, and improves the energy utilization rate.
Description
Technical Field
The invention relates to the field of detection in a pressure pipeline, in particular to a device and a method for detecting defects in a pipeline and a method for opening and setting a camera, wherein an aircraft is used for detecting the defects in the pipeline.
Background
Pipeline blockage and corrosion are common conditions in the use process of the pressure pipeline, and influence the normal operation and safety of the pressure pipeline. Current technology for pipeline detection is also increasing, including magnetic flux leakage detection, eddy current detection, nondestructive detection based on optical principles, ultrasonic detection, detection ball-based leak detection, and the like. However, they are too high in cost and have a slow detection speed; or some detectors have limited applicability.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a device and a method for detecting defects in a pipeline and a method for starting and setting a camera, which are suitable for detecting pipelines with different inner diameters, positioning the defects in real time, improving the pipeline detection efficiency and eliminating potential safety hazards.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
1. an in-pipe defect detection device comprising an inner aircraft and an outer aircraft:
the inner aircraft comprises an inner aircraft frame, an inner aircraft propeller, an inner aircraft motor, an inner aircraft main board and an inner aircraft battery, wherein the inner aircraft propeller, the inner aircraft motor, the inner aircraft main board and the inner aircraft battery are arranged on the inner aircraft frame; four inner aircraft propellers are mounted on the inner aircraft frame, the inner aircraft propellers are respectively connected with respective inner aircraft motors, and the inner aircraft propellers are driven by the inner aircraft motors to rotate so as to drive the inner aircraft to fly in the air; an inner aircraft ultrasonic sensor for detecting a front object to be blocked is arranged at the head end of the inner aircraft frame, an inner aircraft mainboard, a speed sensor and an inner aircraft battery are arranged in the inner aircraft frame, an annular bracket is arranged in the middle of the inner aircraft frame, a camera group for shooting a defect image of the inner wall of a pipeline is arranged on the outer peripheral surface of the annular bracket, an inner aircraft ARM processor and a low-frequency transmitter are arranged on the inner aircraft mainboard, and the inner aircraft ARM processor is respectively connected with the inner aircraft ultrasonic sensor, the inner aircraft battery, the speed sensor and four inner aircraft motors, and the inner aircraft mainboard transmits image detection signals to an outer aircraft through the low-frequency transmitter;
the outer aircraft comprises an outer aircraft frame, an outer aircraft propeller, an outer aircraft motor, an outer aircraft main board and an outer aircraft battery, wherein the outer aircraft propeller, the outer aircraft motor, the outer aircraft main board and the outer aircraft battery are arranged on the outer aircraft frame; four outer aircraft propellers are mounted on the outer aircraft frame, the outer aircraft propellers are respectively connected with respective outer aircraft motors, and the outer aircraft motors drive the outer aircraft propellers to rotate so as to drive the outer aircraft to fly in the air; the aircraft nose end of outer aircraft frame is installed and is used for detecting the place ahead object with the outer aircraft ultrasonic sensor of barrier, outer aircraft frame internally mounted has outer aircraft mainboard and outer flight battery, be equipped with 5G communication module on the outer aircraft mainboard, GPRS module, outer aircraft ARM treater and low frequency receiver, outer aircraft ARM treater is connected with outer aircraft ultrasonic sensor respectively, 5G communication module, GPRS module, outer aircraft battery, low frequency receiver and four outer aircraft motors, outer aircraft mainboard receives the image detection signal from interior aircraft via low frequency receiver.
The inner aircraft and the outer aircraft adopt an ultrasonic obstacle avoidance mode.
The camera group comprises a plurality of cameras which mainly consist of video cameras and light sources, and the cameras are uniformly distributed and installed along the circumference of the outer circumferential surface of the annular bracket at intervals; in each camera, a camera is installed outwardly in a radial direction, and a light source for illumination is arranged at the camera.
The camera is embedded and installed in the annular support.
The inner aircraft and the outer aircraft are communicated by adopting ultra-low frequency, and image information acquired by the inner aircraft is sent to a low-frequency receiver of the outer aircraft through a low-frequency transmitter.
The outer aircraft follows the inner aircraft in real time according to signals transmitted by the inner aircraft, so that the data transmitted by the inner aircraft can be received in real time within the signal range.
The 5G communication module of the outer aircraft transmits image detection signal data acquired by the inner aircraft to the cloud in real time in a 5G communication mode, and the data are processed in real time by a computer of the cloud to detect defects of a pipeline and obtain positions of the pipeline defects in real time.
The inner aircraft and the outer aircraft adopt embedded platforms based on ARM+Linux.
During the flying process, the interval distance between the four face cameras of the inner aircraft is constant. When the inner aircraft is started, two cameras are started up, down, left and right, the distance between each face and the pipe wall is calculated, according to the visual angle shot by the camera and the size of the shot cambered surface of each face, according to a binocular range algorithm, the number of cameras to be started on each face and the position of the started cameras are calculated, so that the cameras can be started up automatically and 360-degree dead-angle-free shooting is completed.
2. A method for detecting defects in a pipeline comprises the following steps:
by adopting the detection device, the inner aircraft shoots through the camera group arranged on the annular support for one circle, acquires the image of the pipe wall of the pipe, then codes and compresses the shot image data, sends the compressed image data to the outer aircraft in an ultralow frequency wireless radio frequency mode, the outer aircraft uploads the received image and GPRS information data containing the flight records of the outer aircraft to the cloud through a 5G network, the cloud receives the shot image information and the GPRS information containing the flight records of the outer aircraft, processes the image data through cloud computing, identifies the pipe defect in the acquired image, and further determines the position of the defect in the pipe.
The final cloud processing result can be directly fed back to front line overhauling staff, the serial numbers of the defective images obtained through processing and corresponding distance D and GPRS information are transmitted to a portable laptop of the staff, new pipelines are directly inspected and replaced, the detection efficiency is improved, and potential safety hazards are rapidly eliminated.
After identifying the pipeline defect in the image, the method for determining the position of the defect in the pipeline specifically comprises the following steps: firstly, each camera in a camera group transmits images to be respectively decoded and numbered, and as long as the cloud detects that the pipeline defect exists in the image with the corresponding number, the pipeline position where the defect exists is positioned at the position in the pipeline where the image is shot by the number, specifically, the position D of the pipeline corresponding to the image with the number N from the starting point is:
where the image acquired per second is n and the speed of the aircraft is V.
In addition, the external aircraft can further carry out secondary positioning confirmation by containing GPRS information.
The inner aircraft in the detection device flies in the pipeline and acquires image data of the inner wall of the pipeline through the camera group, in the camera group, the distance between the cameras and the pipeline wall and the inner diameter of the pipeline are obtained by adopting a binocular range method through two adjacent cameras, so that the inner aircraft flies in the pipeline along the central axis and optimally sets the number of opened cameras in the camera group, and the least cameras are started to meet 360 dead-angle-free pipeline shooting.
The distance between the cameras and the pipe wall and the inner diameter of the pipe are obtained by using two adjacent cameras through a binocular distance measuring method, so that an inner aircraft flies in the pipe along a central shaft and the number of opened cameras in a camera set is optimally set, and the method specifically comprises the following steps:
placing an inner aircraft into a pipeline to be detected, starting all cameras, and calculating the radial distance d between each camera and the pipeline by using a binocular range algorithm from the images acquired by any two adjacent cameras i Distance d from the pipeline wall acquired by each camera i Taking an average value as a radial distance between the outer wall of the annular bracket and the inner wall of the pipeline to be detected, sending a flight control signal to a motor by using the average value, and controlling the propeller to rotate by the motor so as to adjust the flight height and the horizontal position of the inner aircraft, so that the inner aircraft always flies along the pipeline along the center of the inner diameter of the pipeline;
and the inner radius r of the pipeline to be detected is obtained by adopting the following formula 2 ：
r 2 ＝r 1 +d i
Wherein r is 1 Is the outer radius of the annular bracket;
then the arc length S of the shooting pipeline area of the single camera is calculated by adopting the following formula 1 And overlapping arc length S between any two adjacent camera shooting pipeline areas 2 ：
S 1 ＝(r 2 -r 1 )·θ 1
S 2 ＝(r 2 -r 1 )·θ 1 -r 2 ·θ 2
Wherein θ 1 For the view angle of the camera, θ 2 Is the radian angle between adjacent cameras;
through S 2 And S is 1 The comparison and judgment are carried out by adopting the following modes, and the opening and closing optimization setting is carried out on the cameras on all the annular supports, so that the minimum opening cameras on the inner aircraft can carry out complete shooting on the inner wall of the pipeline with the same section in the process of flying the inner aircraft in the pipeline:
for any two adjacent cameras, whenWhen the two cameras are in the same state, and when the two cameras are in the same state, the two cameras are in the same state.
3. An opening setting method for an inner aircraft camera group to collect images in a pipeline comprises the following steps:
the inner aircraft in the detection device flies in the pipeline and acquires image data of the inner wall of the pipeline through the camera group, in the camera group, the distance between the cameras and the pipeline wall and the inner diameter of the pipeline are obtained by using two adjacent cameras through a binocular range method, so that the inner aircraft flies in the pipeline along the central axis and the number of cameras in the camera group which are started is optimally set, and the least cameras are started to meet 360 dead angle-free pipeline shooting.
The distance between the cameras and the pipe wall and the inner diameter of the pipe are obtained by using two adjacent cameras through a binocular distance measuring method, so that an inner aircraft flies in the pipe along a central shaft and the number of opened cameras in a camera set is optimally set, and the method specifically comprises the following steps:
placing an inner aircraft into a pipeline to be detected, starting all cameras, and calculating the radial distance d between each camera and the pipeline by using a binocular range algorithm from the images acquired by any two adjacent cameras i Distance d from the pipeline wall acquired by each camera i Taking an average value as a radial distance between the outer wall of the annular bracket and the inner wall of the pipeline to be detected, sending a flight control signal to a motor by using the average value, and controlling the propeller to rotate by the motor so as to adjust the flying height and the horizontal position of the inner aircraft, so that the inner aircraft is always positioned along the inner diameter of the pipelineFlying centrally along the pipeline;
and the inner radius r of the pipeline to be detected is obtained by adopting the following formula 2 ：
r 2 ＝r 1 +d i
Wherein r is 1 Is the outer radius of the annular bracket;
then the arc length S of the shooting pipeline area of the single camera is calculated by adopting the following formula 1 And overlapping arc length S between any two adjacent camera shooting pipeline areas 2 ：
S 1 ＝(r 2 -r 1 )·θ 1
S 2 ＝(r 2 -r 1 )·θ 1 -r 2 ·θ 2
Wherein θ 1 For the view angle of the camera, θ 2 Is the radian angle between adjacent cameras;
through S 2 And S is 1 The comparison and judgment are carried out by adopting the following modes, and the opening and closing optimization setting is carried out on the cameras on all the annular supports, so that the minimum opening cameras on the inner aircraft can carry out complete shooting on the inner wall of the pipeline with the same section in the process of flying the inner aircraft in the pipeline:
for any two adjacent cameras, whenWhen the two cameras are in the same state, and when the two cameras are in the same state, the two cameras are in the same state.
Compared with the prior art, the invention has the beneficial effects that:
1. the outer aircraft adopts 5G communication, so that the transmission speed is high, the reliability is high, and the timeliness is very strong;
2. according to the invention, a cloud computing mode is adopted, so that big data can be rapidly processed, the pipeline defect is detected at the highest speed, the position of the pipeline defect is rapidly given, the detection result is fed back in real time, the detection and the replacement are synchronously carried out, and the working efficiency is improved;
3. the inner aircraft adopts an automatic starting optimization scheme of the annular camera, can select the least cameras for detection aiming at pipelines with different diameters, does not need to newly design the arrangement positions and the layout light sources of the cameras under different inner diameters, and has strong adaptability and application value.
Drawings
Fig. 1 is a schematic view of the structure of an aircraft in the present invention.
Fig. 2 is a schematic view of the internal structure of the fuselage of the aircraft according to the invention.
Fig. 3 is a schematic view of the structure of the external medium aircraft of the invention.
Fig. 4 is a schematic view of the internal structure of the fuselage of the external aircraft according to the invention.
Fig. 5 is a schematic cross-sectional view of a camera according to the present invention.
Fig. 6 is a schematic diagram showing the letters involved in the camera on-mode on the ring support of the present invention.
Fig. 7 is a wiring diagram of an aircraft within the present invention.
Fig. 8 is a wiring diagram of an external aircraft of the present invention.
Fig. 9 is a flow chart of an embodiment of the present invention.
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 internal aircraft battery, 14, internal aircraft motherboard, 15: speed sensor, 16: interior aircraft ARM processor, 17: low frequency transmitter, 18: an annular 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 motherboard, 30: outer aircraft ARM processor, 31:5G communication module, 32: outer aircraft ultrasonic sensor, 33: GPRS module, 34: a low frequency receiver; 35: annular carrier outer wall, 36: and (5) detecting the pipeline.
Detailed Description
Further description will be given below of embodiments shown in the drawings.
The invention includes an inner aircraft and an outer aircraft: the inner aircraft collects pipelines with different inner diameters, and after collection, the image data are transmitted to the outer aircraft and then transmitted to the cloud end through the outer aircraft.
As shown in fig. 1 and 2, the inner aircraft comprises an inner aircraft fuselage 1, inner aircraft propellers 2, 3, 4, 5 mounted on the inner aircraft fuselage 1, inner aircraft motors 6, 7, 8, 9, an inner aircraft main board 14 and an inner aircraft battery 13; four inner aircraft propellers 2, 3, 4 and 5 are arranged on the inner aircraft body 1, the inner aircraft propellers 2, 3, 4 and 5 are respectively connected with respective inner aircraft motors 6, 7, 8 and 9, and the inner aircraft motors drive the inner aircraft propellers to rotate so as to drive the inner aircraft to fly in the air; the aircraft nose of the inner aircraft fuselage 1 is provided with an inner aircraft ultrasonic sensor 10 for detecting a front object to be blocked, an inner aircraft main board 14, a speed sensor 15 and an inner aircraft battery 13 are arranged in the inner aircraft fuselage 1, an annular bracket 18 is arranged in the middle of the inner aircraft fuselage 1, a camera group for shooting a defect image of the inner wall of a pipeline is arranged on the outer peripheral surface of the annular bracket 18, an inner aircraft ARM processor 16 and a low-frequency transmitter 17 are arranged on the inner aircraft main board 14, and as shown in fig. 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 inner aircraft motors 6, 7, 8 and 9, and the inner aircraft main board 14 transmits image detection signals to an outer aircraft through the low-frequency transmitter 17.
As shown in fig. 3 and 4, the outer aircraft comprises an outer aircraft fuselage 19, outer aircraft propellers 21, 22, 23 mounted on the outer aircraft fuselage 19, outer aircraft motors 24, 25, 26, 27, an outer aircraft motherboard 29 and an outer flight battery 28; four outer aircraft propellers 21, 22 and 23 are arranged on the outer aircraft body 19, the outer aircraft propellers 21, 22 and 23 are respectively connected with respective outer aircraft motors 24, 25, 26 and 27, and the outer aircraft propellers are driven to rotate by the outer aircraft motors so as to drive the outer aircraft to fly in the air; the nose end of the outer aircraft body 19 is provided with an outer aircraft ultrasonic sensor 32 for detecting a front object to be blocked, the outer aircraft body 19 is internally provided with an outer aircraft main board 29 and an outer aircraft battery 28, 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 fig. 8, the outer aircraft ARM processor 30 is respectively connected with the outer aircraft ultrasonic sensor 32, the 5G communication module 31, the GPRS module 33, the outer aircraft battery 28, the low-frequency receiver 34 and the four outer aircraft motors 24, 25, 26 and 27, and the outer aircraft main board 29 receives image detection signals from the inner aircraft through the low-frequency receiver 34.
As shown in fig. 5, the camera group comprises a plurality of cameras mainly composed of a video camera 11 and a light source 12, and the cameras are uniformly distributed and installed along the circumference of the outer peripheral surface of the annular bracket 18 at intervals; in each camera, a camera 11 is mounted radially outwards, a light source 12 for illumination is arranged at the camera 11, and an internal aircraft battery 13 is connected to the light source 12 for power supply. The cameras are embedded and installed in the annular support 18, and image data are collected through the cameras of the camera set in the detection process to be processed, so that the aircraft can be quickly and real-timely adjusted, and the aircraft can fly along the central axis of the pipeline.
As shown in fig. 9, the embodiment of the present invention and the implementation process thereof are as follows:
the inner aircraft shoots through the camera group arranged on the annular support for one circle, images of the pipe wall of the pipe are collected, shot image data are encoded and compressed and then sent to the outer aircraft in an ultralow frequency infinite radio frequency mode, and the outer aircraft uploads the received images and GPRS information data containing flight records of the outer aircraft to the cloud through a 5G network. The cloud receives the shot image information and GPRS information containing records of the external aircraft, processes the image data by adopting cloud computing, identifies and obtains the pipeline defect in the image, and further determines the position of the defect in the pipeline.
In the process of adopting an inner aircraft to fly in a pipeline and collecting image data of the inner wall of the pipeline through a camera group, obtaining the distance between the cameras and the pipe wall and the inner diameter of the pipeline by adopting a binocular range method by utilizing two adjacent cameras, further enabling the inner aircraft to fly along a central shaft in the pipeline and optimally setting the number of opened cameras in the camera group, enabling the least cameras to meet 360 dead-angle-free pipeline shooting, and specifically comprising the following steps of:
placing the inner aircraft into the position to be detectedFirstly, starting all cameras, calculating the images acquired by any two adjacent cameras by using a binocular distance algorithm to obtain the radial distance d between each camera and the pipeline i Distance d from the pipeline wall acquired by each camera i Taking an average value as a radial distance between the outer wall 35 of the annular bracket and the inner wall 36 of the pipeline to be detected, sending a flight control signal to a motor by using the average value, and controlling the propeller to rotate by the motor so as to adjust the flight height and the horizontal position of the inner aircraft, so that the inner aircraft always flies along the pipeline along the center of the inner diameter of the pipeline;
and as shown in fig. 6, the inner radius r of the pipe to be inspected is obtained using the following formula 2 ：
r 2 ＝r 1 +d i
Wherein r is 1 Is the outer radius of the annular bracket;
then the arc length S of the shooting pipeline area of the single camera is calculated by adopting the following formula 1 And overlapping arc length S between any two adjacent camera shooting pipeline areas 2 ：
S 1 ＝(r 2 -r 1 )·θ 1
S 2 ＝(r 2 -r 1 )·θ 1 -r 2 gθ 2
Wherein θ 1 For the view angle of the camera, θ 2 Is the radian angle between adjacent cameras;
through S 2 And S is 1 The comparison and judgment are carried out in the following mode, and the opening and closing of the cameras on all the annular supports are optimally set.
The specific embodiment of the device will be described below by taking a pipe with an outer diameter of 200mm, a camera view angle of pi degrees, an annular bracket diameter of 150mm, an arc angle between cameras of 30 degrees, and 30 pictures per second for the cameras as an example.
After the inner and outer aircrafts are opened, the inner aircrafts are placed in a pipeline to be detected, meanwhile, an annular camera group and a light source group of the inner aircrafts are completely opened, and adjacent cameras obtain distance pipes of each camera by using a binocular distance calculation technologyDistance d of track i D at this time i Are different from each other. And the inner diameter of the detection pipeline can be obtained by using the principle of binocular distance measurement. At this time, distance d from the pipe wall of each camera i The feedback signals are fed back to the control processor, the control processor outputs the feedback signals to the control motor, and the motor adjusts the flying height and the horizontal position of the inner aircraft so that each camera is away from the d of the pipeline i The size of the detection pipeline is 20mm after continuous adjustment, and the aircraft is positioned on the inner diameter central shaft of the detection pipeline. When the aircraft stably flies on the central axis of the inner diameter of the pipeline, the number of cameras to be started and the positions of the cameras to be started are calculated, and the redundant cameras and the light source are turned off.
Wherein, the visual angle of the camera is 180 degrees, the radian angle between adjacent cameras is 30 degrees, the arc length of a pipeline shot by a single camera is 62.8mm, and the overlapping arc length of the adjacent cameras is 13.09mm, because 13.09mm <31.4mm, each camera needs to be started. Then the annular camera group shoots and collects the image of the pipe wall. The shot image is encoded and compressed and then sent to an external aircraft through an infinite radio frequency technology, and the external aircraft uploads received data to the cloud end through a 5G network. The cloud receives shot image information and GPRS information containing records of an external aircraft, the cloud decodes and numbers the received images, then the cloud calculates to rapidly process the numbered image data, the positions of identification defects are judged, the images with numbers 322, 569 and 789 are obtained in experiments, corrosion defects exist in the images, the aircraft keeps flying at a constant speed of 0.2m/s in the experiments, the obtained corresponding distances from an initial pipeline are respectively 2.15m, 3.79m and 5.26m, the cloud processed results are directly transmitted through the Internet and fed back to a front line overhaul worker, the corrosion positions and the detection results are compared and found out to be within 5%, the detection results are reliable, the corrosion pipeline parts are smoothly replaced, the GPRS longitude and latitude of the three corrosion points corresponding to the shooting time of the images are (30.3208311,120.3727659) (30.3208313,120.3727662) (30.3208312,120.3727661), the change amplitude is small, the GPRS longitude and latitude information of the experiment points coincide, the effective accuracy is low, and the quick search can be carried out when the external aircraft loses contact.
Finally, it should be noted that the above list is only one specific embodiment of the present invention, and is not intended to limit the present invention in any way. Obviously, the invention is not limited to the above embodiments, but many variations are possible. All modifications directly derived or suggested to one skilled in the art from the present disclosure should be considered as being within the scope of the present invention.
Claims (6)
1. An in-pipeline defect detection device is characterized by comprising an inner aircraft and an outer aircraft:
the inner aircraft comprises an inner aircraft body (1), inner aircraft propellers (2, 3, 4, 5), inner aircraft motors (6, 7, 8, 9), an inner aircraft main board (14) and an inner aircraft battery (13) which are arranged on the inner aircraft body (1); four inner aircraft propellers (2, 3, 4 and 5) are arranged on the inner aircraft body (1), the inner aircraft propellers (2, 3, 4 and 5) are respectively connected with respective inner aircraft motors (6, 7, 8 and 9), and the inner aircraft propellers are driven to rotate by the inner aircraft motors so as to drive the inner aircraft to fly in the air; an inner flight ultrasonic sensor (10) for detecting a front object to be blocked is arranged at the head end of an inner aircraft body (1), an inner aircraft main board (14), a speed sensor (15) and an inner aircraft battery (13) are arranged in the inner aircraft frame (1), an annular bracket (18) is arranged in the middle of the inner aircraft body (1), a camera set and an annular light source for shooting a defect image of the inner wall of a pipeline are arranged on the outer peripheral surface of the annular bracket (18), an inner aircraft ARM processor (16) and a low-frequency transmitter (17) are arranged on the inner aircraft main board (14), and 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 inner aircraft motors (6, 7, 8 and 9), and the inner aircraft main board (14) transmits image detection signals to an outer aircraft through the low-frequency transmitter (17);
the outer aircraft comprises an outer aircraft body (19), outer aircraft propellers (21, 22, 23) mounted on the outer aircraft body (19), outer aircraft motors (24, 25, 26, 27), an outer aircraft main board (29) and an outer aircraft battery (28); four outer aircraft propellers (21, 22 and 23) are arranged on the outer aircraft body (19), the outer aircraft propellers (21, 22 and 23) are respectively connected with respective outer aircraft motors (24, 25, 26 and 27), and the outer aircraft motors drive the outer aircraft propellers to rotate so as to drive the outer aircraft to fly in the air; an outer aircraft ultrasonic sensor (32) for detecting a front object to be blocked is arranged at the nose end of an outer aircraft body (19), an outer aircraft main board (29) and an outer aircraft battery (28) are arranged in the outer aircraft body (19), a 5G communication module (31), a GPRS module (33), an outer aircraft ARM processor (30) and a low-frequency receiver (34) are arranged on the outer aircraft main board (29), the outer aircraft ARM processor (30) is respectively connected with the outer aircraft ultrasonic sensor (32), the 5G communication module (31), the GPRS module (33), the outer aircraft battery (28), the low-frequency receiver (34) and four outer aircraft motors (24, 25, 26 and 27), and the outer aircraft main board (29) receives image detection signals from an inner aircraft through the low-frequency receiver (34);
the camera group comprises a plurality of cameras which mainly consist of a video camera (11) and a light source (12), and the cameras are uniformly distributed and installed along the circumference of the outer peripheral surface of the annular bracket (18) at intervals; in each camera, a camera (11) is mounted outwardly in a radial direction, and a light source (12) for illumination is arranged at the camera (11);
the camera is mounted embedded in a ring mount (18).
2. An in-pipe defect detection apparatus according to claim 1, wherein: the inner aircraft and the outer aircraft are communicated by adopting ultra-low frequency, and image information acquired by the inner aircraft is sent to a low-frequency receiver of the outer aircraft through a low-frequency transmitter.
3. A method for detecting defects in a pipeline is characterized by comprising the following steps: the detection device of claim 1 is adopted, the inner aircraft shoots through the camera group arranged on the annular support, images of the pipe wall of the pipe are collected, shot image data are encoded and compressed and then sent to the outer aircraft in an ultralow frequency infinite radio frequency mode, the outer aircraft uploads the received images and GPRS information data containing flight records of the outer aircraft to the cloud through a 5G network, the cloud receives shot image information and GPRS information containing the records of the outer aircraft, the cloud calculates the image data, the pipe defects in the obtained images are identified, and then the positions of the defects in the pipe are determined.
4. A method for detecting defects in a pipe according to claim 3, wherein: firstly, each camera in a camera group transmits images to be respectively decoded and numbered, and as long as the cloud detects that the pipeline defect exists in the image with the corresponding number, the pipeline position where the defect exists is positioned at the position in the pipeline where the image is shot by the number, specifically, the position D of the pipeline corresponding to the image with the number N from the starting point is:
where the image acquired per second is n and the speed of the aircraft is V.
5. An opening method for capturing images of an interior aircraft camera assembly in a pipeline or a method for detecting defects in a pipeline according to claim 4, characterized in that: the inner aircraft in the detection device of claim 1 flies in the pipeline and acquires image data of the inner wall of the pipeline through the camera group, wherein in the camera group, the distance between the cameras and the pipeline wall and the inner diameter of the pipeline are obtained by adopting a binocular distance measurement method through two adjacent cameras, so that the inner aircraft flies in the pipeline along the central axis, the number of the cameras in the camera group is optimally set, and the least cameras are started to meet the 360-degree dead-angle-free pipeline shooting.
6. An on-line method for capturing images of an interior aircraft camera assembly within a pipeline or an in-line defect detection method as defined in claim 5, wherein: the distance between the cameras and the pipe wall and the inner diameter of the pipe are obtained by using two adjacent cameras through a binocular distance measuring method, so that an inner aircraft flies in the pipe along a central shaft and the number of opened cameras in a camera set is optimally set, and the method specifically comprises the following steps:
placing an inner aircraft into a pipeline to be detected, starting all cameras, and calculating the radial distance d between each camera and the pipeline by using a binocular range algorithm from the images acquired by any two adjacent cameras i Distance d from the pipeline wall acquired by each camera i Taking an average value as a radial distance between the outer wall (35) of the annular bracket and the inner wall (36) of the pipeline to be detected, sending a flight control signal to a motor by using the average value, and controlling the rotation of a propeller by the motor so as to adjust the flight height and the horizontal position of the inner aircraft, so that the inner aircraft always flies along the pipeline along the center of the inner diameter of the pipeline;
and the inner radius r of the pipeline to be detected is obtained by adopting the following formula 2 ：
r 2 ＝r 1 +d i
Wherein r is 1 Is the outer radius of the annular bracket;
then the arc length S of the shooting pipeline area of the single camera is calculated by adopting the following formula 1 And overlapping arc length S between any two adjacent camera shooting pipeline areas 2 ：
S 1 ＝(r 2 -r 1 )·θ 1
S 2 ＝(r 2 -r 1 )·θ 1 -r 2 ·θ 2
Wherein θ 1 For the view angle of the camera, θ 2 Is the radian angle between adjacent cameras;
through S 2 And S is 1 The comparison and judgment are carried out by adopting the following modes, and the opening and closing optimization setting is carried out on the cameras on all the annular supports, so that the minimum opening cameras on the inner aircraft can carry out complete shooting on the inner wall of the pipeline with the same section in the process of flying the inner aircraft in the pipeline:
for any two adjacent cameras, whenWhen the two cameras are in the same state, and when the two cameras are in the same state, the two cameras are in the same state.
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| CN112118988B (en) * | 2018-05-09 | 2024-01-05 | 自动化控制系统研究所株式会社 | Mobile body and method for using same |
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| JP7213104B2 (en) * | 2019-02-27 | 2023-01-26 | 三菱重工業株式会社 | Unmanned aerial vehicles and inspection methods |
| US10955241B2 (en) * | 2019-06-26 | 2021-03-23 | Aurora Flight Sciences Corporation | Aircraft imaging system using projected patterns on featureless surfaces |
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| CN112380908B (en) * | 2020-10-21 | 2022-12-13 | 华能渑池热电有限责任公司 | Binocular vision measurement method and system for thermal power plant pipeline expansion amount |
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