CN107507165A - Underground piping inspection method, device and computer-readable recording medium - Google Patents
Underground piping inspection method, device and computer-readable recording medium Download PDFInfo
- Publication number
- CN107507165A CN107507165A CN201710584605.3A CN201710584605A CN107507165A CN 107507165 A CN107507165 A CN 107507165A CN 201710584605 A CN201710584605 A CN 201710584605A CN 107507165 A CN107507165 A CN 107507165A
- Authority
- CN
- China
- Prior art keywords
- underground piping
- image
- intake
- trimmed
- inspection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/40—Analysis of texture
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Quality & Reliability (AREA)
- Image Analysis (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses a kind of underground piping inspection method, device and computer-readable recording medium, methods described includes：When detecting underground piping inspection instruction, the distributing position of underground piping to be checked is obtained；Generated based on the distributing position and check route, control the unmanned plane to open video camera on the inspection route, and absorb the image of the underground piping at interval of preset time period；The image of the intake is analyzed, realizes the pipeline conditions for obtaining the underground piping.This programme is solved in the prior art when in prior art pipeline checking process, efficiency is low, and cost is high, dangerous big technical problem.
Description
Technical field
The present invention relates to navigation field, more particularly to a kind of underground piping inspection method, device and computer-readable storage
Medium.
Background technology
At present, big multi-pipeline is all imbedded in ground end, such as municipal drainage pipeline, industrial pipeline, gas piping, natural gas line
Etc., wherein, the even dangerous bearing pipe of above-mentioned pipeline, to ensure pipe safety, it is necessary to check in time pipeline
Processing, but can accurately obtain pipe, it is necessary to different duct section progress hand excavation's inspections during existing pipe inspection
The state in road, this can not meet the needs of security to a certain extent, and efficiency is low, and cost is big.
The content of the invention
It is a primary object of the present invention to provide a kind of underground piping inspection method, device and computer-readable storage medium
Matter, it is intended to solve in prior art pipeline checking process, efficiency is low, and cost is high, dangerous big technical problem.
To achieve the above object, the underground piping inspection method includes：
When detecting underground piping inspection instruction, the distributing position of underground piping to be checked is obtained；
Generated based on the distributing position and check route, control the unmanned plane to open video camera on the inspection route,
And the image of the underground piping is absorbed at interval of preset time period；
The image of the intake is analyzed, realizes the pipeline conditions for obtaining the underground piping.
Alternatively, the control unmanned plane opens video camera on the inspection route, and at interval of preset time
The image step that section absorbs the underground piping to be checked includes：
The unmanned plane is controlled to open video camera on the inspection route；
The conduit types of underground piping to be checked are obtained, the camera parameter of the video camera is adjusted based on the conduit types；
The image of the underground piping is absorbed at interval of preset time period based on adjusted camera parameter.
Alternatively, the pipeline conditions include treating state to be trimmed, and the image to the intake is analyzed, and realize
Obtaining the pipeline conditions step of underground piping to be checked also includes：
The image of the intake is analyzed in real time；
When the textural characteristics that the image for detecting the intake corresponds to underground piping are inconsistent with default textural characteristics, then
The pipeline conditions for judging the underground piping are state to be trimmed.
Alternatively, the pipeline conditions for judging the underground piping include afterwards for state step to be trimmed：
Image corresponding to the underground piping of the state to be trimmed is stored into image library to be trimmed, and treated described in acquisition
The underground piping positional information of finishing state；
The underground piping of the state to be trimmed of the unmanned plane shooting preset times is controlled based on the positional information.
Alternatively, the unmanned plane is communicated with image analysis system, and the image to the intake is analyzed,
Realize that the pipeline conditions step for obtaining the underground piping includes：
The image of the underground piping of the intake is sent to image analysis system in real time, and receives image analysis system hair
The analysis result of the image of the underground piping to the intake sent；
Based on the analysis result, the pipeline conditions of the underground piping are obtained.
In addition, to achieve the above object, the present invention also proposes a kind of underground piping check device, the underground piping inspection
Device includes：Memory, processor, communication bus and it is stored on the memory underground piping and checks program：
The communication bus is used to realize the connection communication between processor and memory；
The processor is used to perform the underground piping inspection program, to realize following steps：
When detecting underground piping inspection instruction, the distributing position of underground piping to be checked is obtained；
Generated based on the distributing position and check route, control the unmanned plane to open video camera on the inspection route,
And the image of the underground piping is absorbed at interval of preset time period；
The image of the intake is analyzed, realizes the pipeline conditions for obtaining the underground piping.
Alternatively, the control unmanned plane opens video camera on the inspection route, and at interval of preset time
The image step that section absorbs the underground piping to be checked includes：
The unmanned plane is controlled to open video camera on the inspection route；
The conduit types of underground piping to be checked are obtained, the camera parameter of the video camera is adjusted based on the conduit types；
The image of the underground piping is absorbed at interval of preset time period based on adjusted camera parameter.
Alternatively, the pipeline conditions include treating state to be trimmed, and the image to the intake is analyzed, and realize
Obtaining the pipeline conditions step of underground piping to be checked also includes：
The image of the intake is analyzed in real time；
When the textural characteristics that the image for detecting the intake corresponds to underground piping are inconsistent with default textural characteristics, then
The pipeline conditions for judging the underground piping are state to be trimmed.
Alternatively, the pipeline conditions for judging the underground piping include afterwards for state step to be trimmed：
Image corresponding to the underground piping of the state to be trimmed is stored into image library to be trimmed, and treated described in acquisition
The underground piping positional information of finishing state；
The underground piping of the state to be trimmed of the unmanned plane shooting preset times is controlled based on the positional information.
Alternatively, the unmanned plane is communicated with image analysis system, and the image to the intake is analyzed,
Realize that the pipeline conditions step for obtaining the underground piping includes：
The image of the underground piping of the intake is sent to image analysis system in real time, and receives image analysis system hair
The analysis result of the image of the underground piping to the intake sent；
Based on the analysis result, the pipeline conditions of the underground piping are obtained.
In addition, to achieve the above object, the present invention also provides a kind of computer-readable recording medium, described computer-readable
Storage medium is stored with one or more than one program, one either more than one program can by one or one with
On computing device for：
When detecting underground piping inspection instruction, the distributing position of underground piping to be checked is obtained；
Generated based on the distributing position and check route, control the unmanned plane to open video camera on the inspection route,
And the image of the underground piping is absorbed at interval of preset time period；
The image of the intake is analyzed, realizes the pipeline conditions for obtaining the underground piping.
The present invention is by when detecting that underground piping inspection instructs, obtaining the distributing position of underground piping to be checked；Base
Generated in the distributing position and check route, control the unmanned plane to open video camera on the inspection route, and at interval of pre-
If the period absorbs the image of the underground piping；The image of the intake is analyzed, realizes and obtains the underground piping
Pipeline conditions.Due to by controlling unmanned plane to obtain underground piping to be checked, and generate the inspection road of underground piping to be checked
Line, the image of underground piping is absorbed at interval of preset time period on the inspection route, the image based on the underground piping obtains
The state of underground piping, it is thus possible to solve in prior art pipeline checking process, efficiency is low, and cost is high, dangerous big skill
Art problem.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of underground piping inspection method first embodiment of the present invention；
Fig. 2 is the schematic flow sheet of underground piping inspection method second embodiment of the present invention；
Fig. 3 is the inspection schematic diagram of a scenario of underground piping inspection of the present invention；
Fig. 4 is the device structure schematic diagram for the hardware running environment that present invention method is related to.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
In follow-up description, the suffix using such as " module ", " part " or " unit " for representing element is only
Be advantageous to the explanation of the present invention, itself there is no a specific meaning.Therefore, " module ", " part " or " unit " can mix
Ground uses.
The present invention provides a kind of underground piping inspection method, in the first embodiment of underground piping inspection method, reference
Fig. 1, the underground piping inspection method are applied to unmanned plane, and the underground piping inspection method includes：
Step S10, when detecting underground piping inspection instruction, obtain the distributing position of underground piping to be checked；
When detecting underground piping inspection instruction, wherein, underground piping inspection instruction can be by artificially touching nothing
Man-machine control terminal-pair answers APP to trigger, and specifically, APP corresponding to unmanned plane is downloaded or prestore in terminal, at this
Number of registration can be achieved after registration logs on APP and correspond to the control of unmanned plane, the control, which can be, controls taking off and landing for unmanned plane,
In addition, the control of other accessories on unmanned plane can be also realized on the APP, such as the camera installed on unmanned plane, shooting
The control of machine, especially, it is first-class that camera or camera on unmanned plane can be infrared photography, the infrared camera energy
Enough when receiving terminal open command, opened in real time and the image of underground piping can be obtained, in addition, on the APP
The setting of unmanned plane parameter can be carried out, is illustrated to specific embodiment, the motion state of unmanned plane is can control on the APP
And movement velocity parameter of unmanned plane etc..
Especially, underground piping inspection instruction may also be unmanned aerial vehicle control system and issue automatically, when the underground piping is examined
When to look into instruction be that unmanned aerial vehicle control system issues automatically, program segment is set in advance in unmanned aerial vehicle control system domestic demand, the program
Segment table shows the processing logic that underground piping inspection instruction issues, and the processing logic is used for when underground piping checks that condition meets,
Triggering response underground piping inspection instruction, to obtain the distribution position of underground piping to be checked based on underground piping inspection instruction
Put, the underground piping checks that condition can be the preset time for reaching and checking.In addition, control panel can be set on unmanned plane, its
In, touch triggering of underground piping inspection instruction etc. can be carried out on the control panel.
When detecting underground piping inspection instruction, the distributing position of underground piping to be checked is obtained, the acquisition is to be checked
The process of the distributing position of underground piping can be：When detecting underground piping inspection instruction, unmanned plane and underground are triggered immediately
Pipe-line system is communicated, and the interface of instruction calls underground piping system is checked based on the underground piping, chooses underground piping
What system was sent either distribution map or can be unmanned plane and receives ground with the distributing position of the underground piping of the instructions match
The distributing position or distribution map with the underground piping of the instructions match that lower pipe-line system is sent, especially, are being obtained
After the distributing position or distribution map of underground piping, type, the underground piping history of the underground piping of selection can be obtained simultaneously
Other parameters for influenceing underground piping inspection such as inspection record.In addition, when detecting underground piping inspection instruction, to be checkedly
The distributing position of lower pipeline, which can be, to be called or pre-enters to unmanned plane in advance, thus is detecting underground piping inspection
When looking into instruction, the distributing position of the underground piping to be checked is directly invoked or obtained.
Step S20, generated based on the distributing position and check route, control the unmanned plane to be opened on the inspection route
Video camera, and at interval of the image of the preset time period intake underground piping；
Generated in unmanned plane according to distributing position and check route, especially, unmanned plane is obtaining the distribution of underground piping
Behind position, the generation of Route Generation device is called to check route, the inspection route can be review time most short route, or nobody
Minimum route is disturbed during machine check, to generate optimal inspection route, also needs to obtain environment corresponding to pipeline to be checked
Information, the environmental information include pipeline crowd quantity to be checked, and crowd is by temporal information of the pipeline to be checked etc..Generating
During checking route, but after the distributing position of underground piping is obtained, the distributing position based on the underground piping is abstract simultaneously
The distribution function model of the underground piping for the matching having built up is chosen, is examined based on function corresponding to function model calling
Look into the generation of route.
After generation checks route, the unmanned plane is controlled to open video camera on the inspection route, except video camera
Outside, the video camera also includes microwave video camera etc., and the image of the underground piping is absorbed at interval of preset time period, especially
Ground, in this application, the camera on unmanned plane can be active infrared shooting, active infrared shooting or infrared take the photograph
As can be one or more, when infrared photography is multiple, the plurality of infrared photography obtains to be checked from different perspectives respectively
The image of pipeline, the state of the pipeline to be checked with Overall Acquisition.In this application, the depth buried due to underground piping is not
Together, thus can be adjusted in real time based on the buried depth by the buried depth of the depth detector Underground pipeline on unmanned plane
The camera parameter of whole video camera, and then be based further on the camera parameter after adjustment and obtain image.
Step S30, the image of the intake is analyzed, realize the pipeline conditions for obtaining the underground piping.
The image of the intake is analyzed, especially, but unmanned plane is analyzed the image of the intake, separately
Outside, it can also be unmanned plane and the image of intake sent to corresponding image processing system to the analysis for carrying out image, the analysis process
Including the image to intake, it is compared with the image to prestore, or directly the underground piping crack on the image of intake is entered
Row analysis.To the image of intake, during being compared with the image to prestore, the ground that can show in photographed images can be obtained
The parameter information of lower pipeline is compared, such as but the diameter of progress underground piping compares, and the thickness of underground piping tube wall
Comparison, when underground piping diameter increm ent and/or underground piping tube wall change value of thickness within a preset range when, should
Underground piping be it is safe, can without finishing, when the diameter increm ent of underground piping and/or the thickness of underground piping tube wall
Changing value not within a preset range when, the pipeline conditions of the underground underground piping are state to be trimmed, it is necessary to the shape to be trimmed
The pipeline of state is repaired.
The present invention is by when detecting that underground piping inspection instructs, obtaining the distributing position of underground piping to be checked；Base
Generated in the distributing position and check route, control the unmanned plane to open video camera on the inspection route, and at interval of pre-
If the period absorbs the image of the underground piping；The image of the intake is analyzed, realizes and obtains the underground piping
Pipeline conditions.Due to by controlling unmanned plane to obtain underground piping to be checked, and generate the inspection road of underground piping to be checked
Line, the image of underground piping is absorbed at interval of preset time period on the inspection route, the image based on the underground piping obtains
The state of underground piping, it is thus possible to solve in prior art pipeline checking process, efficiency is low, and cost is high, dangerous big skill
Art problem.
Further, on the basis of underground piping inspection method first embodiment of the present invention, there is provided underground piping inspection
The second embodiment of method, in a second embodiment, as shown in Fig. 2 the control unmanned plane is on the inspection route
Video camera is opened, and is included at interval of the image step of the preset time period intake underground piping to be checked：
Step S21, the unmanned plane is controlled to open video camera on the inspection route；
Step S22, the conduit types of underground piping to be checked are obtained, taking the photograph for the video camera is adjusted based on the conduit types
As parameter；
Step S23, the image of the underground piping is absorbed at interval of preset time period based on adjusted camera parameter.
Camera parameter includes the pixel of shooting, resolution ratio, signal to noise ratio etc., controls the unmanned plane on the inspection route
Video camera is opened, after video camera unlatching, the conduit types of underground piping to be checked can be obtained, as the conduit types can be pressure-bearing
Pipe, not pressure-bearing pipe, high-voltage tube, conduit, water pipe, drainpipe, send airduct, composite insulating pipe, compressed air hose etc. back to, the pipeline
Type can also make plastic tube, common welded tube, galvanized welded pipe, noise abatement pipe etc., be taken the photograph described in the conduit types adjustment based on underground piping
The camera parameter of camera, the image of the underground piping is absorbed at interval of preset time period based on adjusted camera parameter, used
Illustrated with specific embodiment, when the pipeline is the shooting of noise abatement Guan Yufei noise abatements pipe, the shooting signal to noise ratio parameter of video camera
It is significantly different, after camera parameter is adjusted, the buried pipe is absorbed at interval of preset time period based on adjusted camera parameter
The image in road.
In the present embodiment, video camera is opened on the inspection route by controlling the unmanned plane；Obtain to be checked
The conduit types of underground piping, the camera parameter of the video camera is adjusted based on the conduit types；Based on adjusted shooting ginseng
Number absorbs the image of the underground piping at interval of preset time period.The image of underground piping thus can be accurately obtained, and then
Improve the accuracy of underground piping inspection.
Further, on the basis of underground piping inspection method first embodiment of the present invention, there is provided underground piping inspection
Pipeline conditions described in the 3rd embodiment of method include treating state to be trimmed, and the image to the intake is analyzed,
Realize that the pipeline conditions step for obtaining underground piping to be checked also includes：
The image of the intake is analyzed in real time；
When the textural characteristics that the image for detecting the intake corresponds to underground piping are inconsistent with default textural characteristics, then
The pipeline conditions for judging the underground piping are state to be trimmed.
Image corresponding to the underground piping of the state to be trimmed is stored into image library to be trimmed, wherein, will and it obtain
Take the underground piping positional information of the state to be trimmed；
The image of the intake is analyzed in real time, the analysis process can be carried out in unmanned plane, you can be in unmanned plane
Image dissector the image of intake is carried out information gathering, especially underground piping gap information collection, wherein, can lead to
Start image corresponding with the pipeline to be checked for being pre-stored in unmanned plane is crossed to be analysed and compared to obtain current underground piping figure
The textural characteristics as corresponding to, the textural characteristics include the gap information of underground piping, when the image for detecting the intake is corresponding
When the textural characteristics of underground piping and inconsistent default textural characteristics, or image corresponds to the gap of underground piping more than default
During gap, then the pipeline conditions for judging the underground piping are state to be trimmed, wherein, when the image for detecting the intake is corresponding
When the gap of underground piping is less than default gap, then the pipeline conditions for judging the underground piping are normal condition.
In the present embodiment, analyzed in real time by the image to the intake；When the image for detecting the intake
When the textural characteristics and inconsistent default textural characteristics of corresponding underground piping, then the pipeline conditions for judging the underground piping are to be repaired
Whole state.Thus the application can accurately obtain the state of underground piping, so lifted the efficiency of underground piping inspection with it is accurate
Property.
Further, on the basis of underground piping inspection method first embodiment of the present invention, there is provided underground piping inspection
In the fourth embodiment of method, in the fourth embodiment, the pipeline conditions for judging the underground piping walk for state to be trimmed
Include after rapid：
Image corresponding to the underground piping of the state to be trimmed is stored into image library to be trimmed, and treated described in acquisition
The underground piping positional information of finishing state；
The underground piping of the state to be trimmed of the unmanned plane shooting preset times is controlled based on the positional information.
In the present embodiment, the underground piping of state to be trimmed image corresponding with normal condition pipeline stores to not respectively
In same image library, wherein, image corresponding to the underground piping of state to be trimmed is stored into image library to be trimmed, will be normal
Image corresponding to state pipeline is stored into normal picture storehouse, specifically, due to analyzing in real time the image of intake, thus
The underground piping positional information of the state to be trimmed is taken, the unmanned plane shooting preset times are controlled based on the positional information
The state to be trimmed underground piping, especially, the underground piping of 3 states to be trimmed can be shot.
In the present embodiment, by the way that image corresponding to the underground piping of the state to be trimmed is stored to image to be trimmed
In storehouse, and obtain the underground piping positional information of the state to be trimmed；The unmanned plane is controlled to clap based on the positional information
Take the photograph the underground piping of the state to be trimmed of preset times.Because the application is repeatedly clapped the underground piping of state to be trimmed
Take the photograph, can more accurately check underground piping.
Further, on the basis of underground piping inspection method first embodiment of the present invention, there is provided underground piping inspection
In 5th embodiment of method, in the 5th embodiment, the unmanned plane is communicated with image analysis system, described to described
The image of intake is analyzed, and realizes that the pipeline conditions step for obtaining the underground piping includes：
The image of the underground piping of the intake is sent to image analysis system in real time, and receives image analysis system hair
The analysis result of the image of the underground piping to the intake sent；
Based on the analysis result, the pipeline conditions of the underground piping are obtained.
In the present embodiment, but with unmanned plane the figure of the underground piping of the image analysis system processing intake to be communicated
Picture, after the image analysis system analyzes and processes the image of the underground piping of intake, analysis result is sent to unmanned plane, for obtaining
The pipeline conditions of underground piping are taken, as shown in Figure 3.
In the present embodiment, by the way that the image of the underground piping of the intake is sent to image analysis system in real time, and
Receive the analysis result of the image for the underground piping to the intake that image analysis system is sent；Based on the analysis result, obtain
Take the pipeline conditions of the underground piping.In the present embodiment, the analysis pressure of unmanned plane is reduced, further improves user
Experience.
The present invention provides a kind of underground piping check device, described in the first embodiment of underground piping check device
Underground piping check device includes：
Detection module, for when detecting underground piping inspection instruction, obtaining the distributing position of underground piping to be checked；
Control module, route is checked for being generated based on the distributing position, controls the unmanned plane in the inspection route
Upper unlatching video camera, and at interval of the image of the preset time period intake underground piping；
Analysis module, for analyzing the image of the intake, realize the pipeline conditions for obtaining the underground piping.
Wherein, in the second embodiment of underground piping check device, control module includes：
Control unit, for controlling the unmanned plane to open video camera on the inspection route；
First acquisition unit, for obtaining the conduit types of underground piping to be checked, based on described in conduit types adjustment
The camera parameter of video camera；
Shooting unit, for absorbing the figure of the underground piping at interval of preset time period based on adjusted camera parameter
Picture.
Wherein, in the 3rd embodiment of underground piping check device, the pipeline conditions include treating state to be trimmed, point
Analysis module includes：
Analytic unit, analyzed in real time for the image to the intake；
Identifying unit, the textural characteristics and default texture for corresponding to underground piping when the image for detecting the intake are special
When levying inconsistent, then the pipeline conditions for judging the underground piping are state to be trimmed.
Wherein, in the fourth embodiment of underground piping check device, underground piping check device also includes：
Acquisition module, for image corresponding to the underground piping of the state to be trimmed to be stored to image library to be trimmed
In, and obtain the underground piping positional information of the state to be trimmed；
Taking module, for controlling the state to be trimmed of the unmanned plane shooting preset times based on the positional information
Underground piping.
Wherein, in the 5th embodiment of underground piping check device, the analysis module includes：
Receiving unit, for the image of the underground piping of the intake to be sent to image analysis system in real time, and receive
The analysis result of the image for the underground piping to the intake that image analysis system is sent；
Second acquisition unit, for based on the analysis result, obtaining the pipeline conditions of the underground piping.
Underground piping check device embodiment of the present invention and above-mentioned each embodiment of underground piping inspection method are basic
It is identical, it will not be repeated here.
Reference picture 4, Fig. 4 are the device structure schematic diagrams for the hardware running environment that present invention method is related to.
Underground piping of embodiment of the present invention check device can be PC or smart mobile phone, tablet personal computer, e-book
Reader, MP3 (Moving Picture Experts Group Audio Layer III, dynamic image expert's compression standard
Audio aspect 3) player, MP4 (Moving Picture Experts Group Audio Layer IV, dynamic image expert
Compression standard audio aspect 3) terminal device such as player, pocket computer.
As shown in figure 4, the underground piping check device can include：Processor 1001, such as CPU, memory 1005, lead to
Believe bus 1002.Wherein, communication bus 1002 is used to realize the connection communication between processor 1001 and memory 1005.Storage
Device 1005 can be high-speed RAM memory or stable memory (non-volatile memory), such as disk
Memory.Memory 1005 optionally can also be the storage device independently of aforementioned processor 1001.
Alternatively, the underground piping check device can also include user interface, network interface, video camera, RF (Radio
Frequency, radio frequency) circuit, sensor, voicefrequency circuit, WiFi module etc..User interface can include display screen
(Display), input block such as keyboard (Keyboard), optional user interface can also include wireline interface, the nothing of standard
Line interface.Network interface can optionally include wireline interface, the wave point (such as WI-FI interfaces) of standard.
It will be understood by those skilled in the art that the underground piping check device structure shown in Fig. 4 is not formed to underground
The restriction of pipe inspection device, it can include than illustrating more or less parts, either combine some parts or different
Part is arranged.
As shown in figure 4, it can lead to as in a kind of memory 1005 of computer-readable storage medium including operating system, network
Believe that module and underground piping check program.Operating system is management and control underground piping check device hardware and software resource
Program, support underground piping to check the operation of program and other softwares and/or program.Network communication module is deposited for realization
Communication between each component in the inside of reservoir 1005, and with being communicated in underground piping check device between other hardware and softwares.
In the underground piping check device shown in Fig. 4, processor 1001 is used to perform the ground stored in memory 1005
Lower pipe inspection program, realizes following steps：
When detecting underground piping inspection instruction, the distributing position of underground piping to be checked is obtained；
Generated based on the distributing position and check route, control the unmanned plane to open video camera on the inspection route,
And the image of the underground piping is absorbed at interval of preset time period；
The image of the intake is analyzed, realizes the pipeline conditions for obtaining the underground piping.
Further, the control unmanned plane opens video camera on the inspection route, and at interval of it is default when
Between section absorb the image step of the underground piping to be checked and include：
The unmanned plane is controlled to open video camera on the inspection route；
The conduit types of underground piping to be checked are obtained, the camera parameter of the video camera is adjusted based on the conduit types；
The image of the underground piping is absorbed at interval of preset time period based on adjusted camera parameter.
Further, the pipeline conditions include treating state to be trimmed, and the image to the intake is analyzed, real
Now obtaining the pipeline conditions step of underground piping to be checked also includes：
The image of the intake is analyzed in real time；
When the textural characteristics that the image for detecting the intake corresponds to underground piping are inconsistent with default textural characteristics, then
The pipeline conditions for judging the underground piping are state to be trimmed.
Further, the pipeline conditions for judging the underground piping include afterwards for state step to be trimmed：
Image corresponding to the underground piping of the state to be trimmed is stored into image library to be trimmed, and treated described in acquisition
The underground piping positional information of finishing state；
The underground piping of the state to be trimmed of the unmanned plane shooting preset times is controlled based on the positional information.
Further, the unmanned plane is communicated with image analysis system, and the image to the intake divides
Analysis, realize that the pipeline conditions step for obtaining the underground piping includes：
The image of the underground piping of the intake is sent to image analysis system in real time, and receives image analysis system hair
The analysis result of the image of the underground piping to the intake sent；
Based on the analysis result, the pipeline conditions of the underground piping are obtained.
Underground piping check device embodiment of the present invention and above-mentioned each embodiment of underground piping inspection method are basic
It is identical, it will not be repeated here.
The invention provides a kind of computer-readable recording medium, the computer-readable recording medium storage have one or
More than one program of person, one either more than one program can also by one or more than one computing device with
In：
When detecting underground piping inspection instruction, the distributing position of underground piping to be checked is obtained；
Generated based on the distributing position and check route, control the unmanned plane to open video camera on the inspection route,
And the image of the underground piping is absorbed at interval of preset time period；
The image of the intake is analyzed, realizes the pipeline conditions for obtaining the underground piping.
Further, the control unmanned plane opens video camera on the inspection route, and at interval of it is default when
Between section absorb the image step of the underground piping to be checked and include：
The unmanned plane is controlled to open video camera on the inspection route；
The conduit types of underground piping to be checked are obtained, the camera parameter of the video camera is adjusted based on the conduit types；
The image of the underground piping is absorbed at interval of preset time period based on adjusted camera parameter.
Further, the pipeline conditions include treating state to be trimmed, and the image to the intake is analyzed, real
Now obtaining the pipeline conditions step of underground piping to be checked also includes：
The image of the intake is analyzed in real time；
When the textural characteristics that the image for detecting the intake corresponds to underground piping are inconsistent with default textural characteristics, then
The pipeline conditions for judging the underground piping are state to be trimmed.
Further, the pipeline conditions for judging the underground piping include afterwards for state step to be trimmed：
Image corresponding to the underground piping of the state to be trimmed is stored into image library to be trimmed, and treated described in acquisition
The underground piping positional information of finishing state；
The underground piping of the state to be trimmed of the unmanned plane shooting preset times is controlled based on the positional information.
Further, the unmanned plane is communicated with image analysis system, and the image to the intake divides
Analysis, realize that the pipeline conditions step for obtaining the underground piping includes：
The image of the underground piping of the intake is sent to image analysis system in real time, and receives image analysis system hair
The analysis result of the image of the underground piping to the intake sent；
Based on the analysis result, the pipeline conditions of the underground piping are obtained.
Computer-readable recording medium embodiment of the present invention and each embodiment base of above-mentioned underground piping inspection method
This is identical, will not be repeated here.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row
His property includes, so that process, method, article or device including a series of elements not only include those key elements, and
And also include the other element being not expressly set out, or also include for this process, method, article or device institute inherently
Key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including this
Other identical element also be present in the process of key element, method, article or device.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on such understanding, technical scheme is substantially done to prior art in other words
Going out the part of contribution can be embodied in the form of software product, and the computer software product is stored in a storage medium
In (such as ROM/RAM, magnetic disc, CD), including some instructions to cause a station terminal (can be mobile phone, computer, service
Device, air conditioner, or network equipment etc.) perform method described in each embodiment of the present invention.
Embodiments of the invention are described above in conjunction with accompanying drawing, but the invention is not limited in above-mentioned specific
Embodiment, above-mentioned embodiment is only schematical, rather than restricted, one of ordinary skill in the art
Under the enlightenment of the present invention, in the case of present inventive concept and scope of the claimed protection is not departed from, it can also make a lot
Form, these are belonged within the protection of the present invention.
Claims (10)
1. a kind of underground piping inspection method, it is characterised in that the underground piping inspection method is applied to unmanned plane, the side
Method includes：
When detecting underground piping inspection instruction, the distributing position of underground piping to be checked is obtained；
Generated based on the distributing position and check route, control the unmanned plane to open video camera on the inspection route, and often
It is spaced the image that preset time period absorbs the underground piping；
The image of the intake is analyzed, realizes the pipeline conditions for obtaining the underground piping.
2. underground piping inspection method as claimed in claim 1, it is characterised in that the control unmanned plane is in the inspection
Video camera is opened on route, and is included at interval of the image step of the preset time period intake underground piping to be checked：
The unmanned plane is controlled to open video camera on the inspection route；
The conduit types of underground piping to be checked are obtained, the camera parameter of the video camera is adjusted based on the conduit types；
The image of the underground piping is absorbed at interval of preset time period based on adjusted camera parameter.
3. underground piping inspection method as claimed in claim 1, it is characterised in that the pipeline conditions include treating shape to be trimmed
State, the image to the intake are analyzed, and realize that the pipeline conditions step for obtaining underground piping to be checked also includes：
The image of the intake is analyzed in real time；
When the textural characteristics that the image for detecting the intake corresponds to underground piping are inconsistent with default textural characteristics, then judge
The pipeline conditions of the underground piping are state to be trimmed.
4. underground piping inspection method as claimed in claim 3, it is characterised in that the pipeline conditions for judging the underground piping
To include after state step to be trimmed：
Image corresponding to the underground piping of the state to be trimmed is stored into image library to be trimmed, and obtained described to be trimmed
The underground piping positional information of state；
The underground piping of the state to be trimmed of the unmanned plane shooting preset times is controlled based on the positional information.
5. underground piping inspection method as claimed in claim 1, it is characterised in that the unmanned plane is carried out with image analysis system
Communication, the image to the intake are analyzed, and realize that the pipeline conditions step for obtaining the underground piping includes：
The image of the underground piping of the intake is sent to image analysis system in real time, and receives image analysis system transmission
To the analysis result of the image of the underground piping of the intake；
Based on the analysis result, the pipeline conditions of the underground piping are obtained.
6. a kind of underground piping check device, it is characterised in that the underground piping check device includes：Memory, processor,
Communication bus and it is stored on the memory underground piping and checks program：
The communication bus is used to realize the connection communication between processor and memory；
The processor is used to perform the underground piping inspection program, to realize following steps：
When detecting underground piping inspection instruction, the distributing position of underground piping to be checked is obtained；
Generated based on the distributing position and check route, control the unmanned plane to open video camera on the inspection route, and often
It is spaced the image that preset time period absorbs the underground piping；
The image of the intake is analyzed, realizes the pipeline conditions for obtaining the underground piping.
7. underground piping check device as claimed in claim 6, it is characterised in that the control unmanned plane is in the inspection
Video camera is opened on route, and is included at interval of the image step of the preset time period intake underground piping to be checked：
The unmanned plane is controlled to open video camera on the inspection route；
The conduit types of underground piping to be checked are obtained, the camera parameter of the video camera is adjusted based on the conduit types；
The image of the underground piping is absorbed at interval of preset time period based on adjusted camera parameter.
8. underground piping check device as claimed in claim 6, it is characterised in that the pipeline conditions include treating shape to be trimmed
State, the image to the intake are analyzed, and realize that the pipeline conditions step for obtaining underground piping to be checked also includes：
The image of the intake is analyzed in real time；
When the textural characteristics that the image for detecting the intake corresponds to underground piping are inconsistent with default textural characteristics, then judge
The pipeline conditions of the underground piping are state to be trimmed.
9. underground piping check device as claimed in claim 8, it is characterised in that the pipeline conditions for judging the underground piping
To include after state step to be trimmed：
Image corresponding to the underground piping of the state to be trimmed is stored into image library to be trimmed, and obtained described to be trimmed
The underground piping positional information of state；
The underground piping of the state to be trimmed of the unmanned plane shooting preset times is controlled based on the positional information.
10. a kind of computer-readable recording medium, it is characterised in that be stored with buried pipe on the computer-readable recording medium
Road checks program, and the underground piping checks realizes following steps when program is executed by processor：
When detecting underground piping inspection instruction, the distributing position of underground piping to be checked is obtained；
Generated based on the distributing position and check route, control the unmanned plane to open video camera on the inspection route, and often
It is spaced the image that preset time period absorbs the underground piping；
The image of the intake is analyzed, realizes the pipeline conditions for obtaining the underground piping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710584605.3A CN107507165B (en) | 2017-07-17 | 2017-07-17 | Underground pipeline inspection method, device and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710584605.3A CN107507165B (en) | 2017-07-17 | 2017-07-17 | Underground pipeline inspection method, device and computer readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107507165A true CN107507165A (en) | 2017-12-22 |
| CN107507165B CN107507165B (en) | 2020-08-25 |
Family
ID=60678919
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710584605.3A Active CN107507165B (en) | 2017-07-17 | 2017-07-17 | Underground pipeline inspection method, device and computer readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107507165B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113469386A (en) * | 2021-07-15 | 2021-10-01 | 山东崇霖软件有限公司 | Urban pipeline management system and method based on big data |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102381481A (en) * | 2011-08-01 | 2012-03-21 | 四川省科学城久利科技实业有限责任公司 | Unmanned aerial vehicle-mounted laser radar system |
| CN106444803A (en) * | 2016-09-14 | 2017-02-22 | 江苏师范大学 | UAV (Unmanned Aerial Vehicle) navigation system and method used for positioning of pipeline robot |
| CN106769163A (en) * | 2017-03-14 | 2017-05-31 | 常州市环境监测中心 | A kind of unmanned plane for underground piping sample detecting |
-
2017
- 2017-07-17 CN CN201710584605.3A patent/CN107507165B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102381481A (en) * | 2011-08-01 | 2012-03-21 | 四川省科学城久利科技实业有限责任公司 | Unmanned aerial vehicle-mounted laser radar system |
| CN106444803A (en) * | 2016-09-14 | 2017-02-22 | 江苏师范大学 | UAV (Unmanned Aerial Vehicle) navigation system and method used for positioning of pipeline robot |
| CN106769163A (en) * | 2017-03-14 | 2017-05-31 | 常州市环境监测中心 | A kind of unmanned plane for underground piping sample detecting |
Non-Patent Citations (1)
| Title |
|---|
| 紫燕UAV: "无人机在油气管线巡检的应用", 《搜狐科技》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113469386A (en) * | 2021-07-15 | 2021-10-01 | 山东崇霖软件有限公司 | Urban pipeline management system and method based on big data |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107507165B (en) | 2020-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105139470A (en) | Checking-in method, device and system based on face recognition | |
| CN104937616A (en) | Systems and methods for collaborating in non-destructive testing system using location information | |
| AU2018450490A1 (en) | Surveying and mapping system, surveying and mapping method and device, and apparatus | |
| Akhavian et al. | Automated knowledge discovery and data-driven simulation model generation of construction operations | |
| CN105930058A (en) | Application starting method and apparatus for mobile terminal and mobile terminal | |
| CN106845836B (en) | Safety risk analysis method and system for environmental protection measures in power transmission and transformation engineering construction process | |
| CN104038948A (en) | Equipment laying method and device | |
| CN107507165A (en) | Underground piping inspection method, device and computer-readable recording medium | |
| CN110597940A (en) | WeChat-based natural resource field check method and system, server and medium | |
| CN114387400A (en) | Three-dimensional scene display method, display device, electronic equipment and server | |
| CN112651069A (en) | Intelligent construction site management and control method, system and device based on BIM and storage medium | |
| CN113050472A (en) | Intelligent zero-direct-discharge dynamic sewage supervision system based on pipe network early warning analysis technology | |
| CN106295954A (en) | Flood control personnel and the intelligent dispatching method of pumping plant and intelligent dispatching system | |
| CN106683108A (en) | Method and apparatus for determining the flat areas of video frame and electronic device | |
| CN103747352A (en) | Smart television search control method and control device | |
| CN104750239A (en) | Application method and equipment based on spatial gesture access terminal equipment | |
| CN106201393A (en) | Information processing method and electronic equipment | |
| CN104702670B (en) | A kind of special equipment maintenance device based on mobile GIS | |
| CN106394281A (en) | New energy automobile charging pile based on radar scanning technology and recognition method of new energy automobile charging pile | |
| CN110659750A (en) | Product rapid maintenance design system engineering method based on virtual maintenance data | |
| CN103646439B (en) | A kind of method for inspecting and system possessing interactive function | |
| US8649771B1 (en) | System and method for controlling access to a particular functionality of a wireless communication device | |
| CN115993926A (en) | Interaction method, intelligent terminal and storage medium | |
| CN109062934B (en) | Method and device for searching measure pattern spots and mobile terminal | |
| CN114466160A (en) | Method and system for acquiring images of monitoring blind areas |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Underground pipeline inspection method, device and computer readable storage medium Effective date of registration: 20210520 Granted publication date: 20200825 Pledgee: Shenzhen Longgang sub branch of Agricultural Bank of China Ltd. Pledgor: SHENZHEN ECHIEV AUTONOMOUS DRIVING TECHNOLOGY Co.,Ltd. Registration number: Y2021980003808 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20220607 Granted publication date: 20200825 Pledgee: Shenzhen Longgang sub branch of Agricultural Bank of China Ltd. Pledgor: SHENZHEN ECHIEV AUTONOMOUS DRIVING TECHNOLOGY Co.,Ltd. Registration number: Y2021980003808 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right |