CN108318506A - A kind of pipeline intelligent detection method and detecting system - Google Patents
A kind of pipeline intelligent detection method and detecting system Download PDFInfo
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- CN108318506A CN108318506A CN201810062322.7A CN201810062322A CN108318506A CN 108318506 A CN108318506 A CN 108318506A CN 201810062322 A CN201810062322 A CN 201810062322A CN 108318506 A CN108318506 A CN 108318506A
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- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
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- G—PHYSICS
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- G06V20/00—Scenes; Scene-specific elements
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- G06V20/41—Higher-level, semantic clustering, classification or understanding of video scenes, e.g. detection, labelling or Markovian modelling of sport events or news items
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
- G01N2021/9548—Scanning the interior of a cylinder
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Abstract
The invention discloses a kind of pipeline intelligent detection method and detecting system, the method includes：The multiple detection devices being connect in advance with mobile terminal are launched in the starting point inspection shaft of pipeline to be detected；The detection device is with the water movement in pipeline, and image data during movement in acquisition pipeline；It is detected the recycling of device when the detection device moves to the terminal inspection shaft of pipeline to be detected, the location information of detection device described in acquisition for mobile terminal；Mobile terminal downloads the image collected data from the detection device, and is transmitted to for in image data is handled and is analyzed intelligent terminal；The intelligent terminal carries out described image data surely to generate the virtual pipe detection video for stablizing visual field, and automatically identify the disease of pipeline from the pipe detection video of generation as processing.The present invention has effectively achieved the accurate detection and positioning to piping disease, improves operating efficiency, reduces economic cost.
Description
Technical field
The present invention relates to duct surveys and detection technique field, and in particular to a kind of pipeline intelligent detection method and detection system
System.
Background technology
Liquid transmission line（Such as feed pipe, drainpipe, petroleum pipeline）It is the modern life and the production numerous use of walking intermediate frequency
For matter transportation, discharge circulation canal.The safe operation of pipeline is concerning the people's livelihood and economical production.With service life
Increase, under the long term of working environment and conveying liquid, pipeline inevitably diseases such as aging, breakage, corrosion
Evil further causes road surface and the disasters such as ruptures, collapses so as to cause latent defects such as fluid seepage, pipeline bursts.Therefore it needs
Examination and maintenance periodically are carried out to pipeline, its operating status is grasped, potential risk is investigated and is eliminated.
Currently, there are mainly four types of common method for detecting pipeline, respectively pipeline periscope, the monitoring of pipeline closed-circuit television,
Pipeline sonar detects and personnel enter detection.These existing pipe detection modes still have several drawbacks.It is hoped for example, pipeline is latent
Mirror is only used for single-point detection, cannot obtain the result of pipeline all fronts；The monitoring of pipeline closed-circuit television is to have line traffic control, operation distance
It is limited, efficient under, the video data that cannot achieve quick-speed large-scale pipeline inspection, while obtaining lacks precise position information,
And it must assure that pipeline is in low water state when operation；Pipeline sonar set is of high cost, and operation is complex, is only used for liquid
The tube wall of covering detects；Personnel enter detection mode and so many people are needed to participate in, and labor intensity is big, and inefficiency is constructed simultaneously
There are certain security risks by personnel.From this, that there are operating efficiencies is low, labor intensity is big, economical for prior art means
The defects of of high cost.
Therefore, the existing technology needs to be improved and developed.
Invention content
The technical problem to be solved in the present invention is, for the drawbacks described above of the prior art, provides a kind of pipeline intelligent inspection
Survey method and detecting system, it is intended to solve that method for detecting pipeline operating efficiency in the prior art is low, labor intensity is big, economical
The problems such as of high cost.
The technical proposal for solving the technical problem of the invention is as follows：
A kind of pipeline intelligent detection method, wherein the method includes：
Step A, the multiple detection devices being connect in advance with mobile terminal are launched in the starting point inspection shaft of pipeline to be detected；
Step B, the described detection device is with the water movement in pipeline, and picture number during movement in acquisition pipeline
According to；
Step C, the recycling of device is detected when the detection device moves to the terminal inspection shaft of pipeline to be detected, it is mobile
Terminal obtains the location information of the detection device；
Step D, mobile terminal downloads the image collected data from the detection device, and is transmitted to for image data
In the intelligent terminal for being handled and being analyzed；
Step E, the described intelligent terminal to described image data surely generate the virtual pipe detection for stablizing visual field as processing and regard
Frequently, and from the pipe detection video of generation automatically identify the disease of pipeline.
The pipeline intelligent detection method, wherein include before the step A：
Step S, it will be distinguished in advance for the different color of multiple detection devices for acquiring different detection section image datas, and every
A data acquisition module is configured with unique identifier；And mobile terminal is passed through into the WIFI communication units of APP and multiple detection devices
Member connection.
The pipeline intelligent detection method, wherein further include before the step A：
Step M, mud cleaning is carried out to the pipeline to be detected, and launches test device and is used for leading to the pipeline to be detected
The property crossed is tested.
The pipeline intelligent detection method, wherein the position of detection device described in the acquisition for mobile terminal in the step C
Confidence breath specifically includes：
Step C1, the described mobile terminal determines the beginning and end position of detection device by GNSS positioning systems；
Step C2, segment processing is carried out to exercise data by 9 axis MEMS motion sensors in the detection device, passes through fortune
Dynamic signature analysis goes out the crucial topology location in pipeline, at the time of obtaining the detection device by the crucial topology location,
Obtain time topological sequences track；
Step C3, in conjunction with start position, the time topological sequences track of acquisition is matched with the laying drawing of the pipeline, is obtained
Each corresponding particular geographic location of key topology location, and obtain the evacuated space track sets of detection device movement；
Step C4, Kalman filtering track combination, knot are carried out using 9 axis MEMS exercise datas and the location point of evacuated space track
The feature constraint for closing detection device uniform motion when rectilinear duct moves obtains the fine space rail of the detection device movement
Mark.
The pipeline intelligent detection method, wherein the step D further includes：
Step D1, after the mobile terminal completes image data download, the detection device is initialized.
The pipeline intelligent detection method, wherein the intelligent terminal in the step E carries out described image data steady
As processing, generates the virtual pipe detection video for stablizing visual field and specifically include：
Step E1, intelligent terminal is integrated according to the gyro angular speed between adjacent two frame in image data, when obtaining adjacent two frame
The amount of relative rotation of detection device between quarter；
Step E2, present frame is rotated, obtains the spherical imaging video for going rotation relative to former frame；
Step E3, the fine space tracking moved according to the detection device, obtains the movement side that detection device is drifted about in water
To and corner of the detection device relative to the direction of motion；
Step E4, according to the corner, the interception area to be tested from the spherical imaging video for going rotation relative to former frame
Image obtains the pipe detection video for virtually stablizing visual field.
The pipeline intelligent detection method, wherein know automatically in the pipe detection video from generation in the step E
The defect for not going out pipeline specifically includes：
Step E5, image greyscale correction is carried out to the virtual pipe detection video for stablizing visual field of generation；
Step E6, using multi-scale strategy Defect inspection model, image is divided into Pixel-level image, cell level image and block grade shadow
Picture, and image is split by calculating process twice；
Step E7, by carrying out Edge track to detected disease region, the edge vectors of disease is obtained, disease is extracted
Geometric properties identify the disease in pipeline.
One kind being based on pipeline intelligent detecting system described in any one of the above embodiments, wherein the system comprises：For collection tube
The detection device of image data in road, for being connect with the detection device, and download image data from the detection device
Mobile terminal, and disease for automatically identifying pipeline according to pipe detection video intelligent terminal.
The pipeline intelligent detecting system, wherein the detection device includes：External waterproof case, internal electron mould
Block and clump weight are coated with nano paint on the external waterproof case, for the detection device and mud adhesion.
The pipeline intelligent detecting system, wherein the interior electronic module includes：Positioning and orientation unit, imaging are clapped
According to unit, integrated control unit and power supply unit；
The positioning provides the nine axis MEMS motion sensors that unit includes mems accelerometer, gyroscope, magnetometer composition surely；
The imaging photographing unit uses horizontal field of view angle for 360 °, is vertically the ultra-wide angle flake mirror that field angle is more than 180 °
Head；
The integrated control unit includes ARM circuit boards, storage card and WIFI communication units；
Said supply unit includes lithium battery and electric power management circuit.
Beneficial effects of the present invention：The present invention carries out image data to pipeline using the detection device of unpowered design and adopts
Collection is realized the dead reckoning of detection device by image and 9 axis MEMS inertial navigations, and realizes piping disease using image analysis technology
And Disease Analysis, the accurate detection and positioning to piping disease are had effectively achieved, operating efficiency is improved, reduces economic cost.
Description of the drawings
Fig. 1 is the flow chart of the preferred embodiment of the pipeline intelligent detection method of the present invention.
Fig. 2 is the imaging schematic diagram of the imaging photographing unit of inventive pipeline intelligent detecting method.
Fig. 3 is the functional schematic block diagram of inventive pipeline intelligent checking system.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer and more explicit, develop simultaneously embodiment pair referring to the drawings
The present invention is further described.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and do not have to
It is of the invention in limiting.
For the deficiency of existing method for detecting pipeline, the present invention provides a kind of pipeline intelligent detection method, such as Fig. 1 institutes
Show, Fig. 1 is the flow chart of the preferred embodiment of the pipeline intelligent detection method of the present invention.The pipeline intelligent detection method includes
Following steps：
Step S100, the multiple detection devices being connect in advance with mobile terminal are launched in the starting point inspection shaft of pipeline to be detected.
When it is implemented, when being detected operation, in order to ensure that the passability of pipeline to be detected can before formal operation
Selection carries out dredging processing to pipeline, and launches test device and test the passability of the pipeline to be detected.In addition, being
Avoid individual detection devices stranded by sundries, the mud in pipeline, the present invention is thrown in the upper starting point inspection shaft of pipeline to be detected
Multiple detection detection devices are put, and the different color area of multiple detection devices of the image data of different detection sections will be acquired
Point, and each data acquisition module is configured with unique identifier, and by mobile terminal（Such as mobile phone）Pass through APP and multiple detections
The WIFI communication units of device connect, and are preferably monitored to detection device with realizing, terminal easy to remove obtains detection dress
The location information set.
Step S200, the described detection device acquires during movement in pipeline with the water movement in pipeline
Image data.
Detection device in the present invention uses unpowered design, can be directly with the water movement in pipeline, in order to make inspection
Survey device has the sufficient time to take pictures in the duct, and the present invention can design detection device according to fluid mechanics principle, make
Detection device can be slower than flow stream.Meanwhile in order to ensure that detection device can stablize acquisition image data, ensureing imaging
Quality can also install stable module in the detection device lower part.
Specifically, the detection device in the present invention includes：External waterproof case, interior electronic module and clump weight, institute
It states and is coated with special nano paint on external waterproof case, for the detection device and mud adhesion.The entirety of detection device
Using waterproofing design, ensure that interior electronic module is not influenced by immersion.
Further, the interior electronic module of the detection device includes：Positioning and orientation unit, imaging photographing unit, collection
At control unit and power supply unit.Surely money unit includes the sensors such as mems accelerometer, gyroscope, magnetometer composition for positioning
Nine axis MEMS motion sensors；It includes illumination to be imaged photographing unit（Infrared or visible light）And horizontal field of view angle is 360 °,
It is vertically the ultra-wide angle fish eye lens that field angle is more than 180 °, ensures the stability taken pictures.Photographing unit is imaged on the one hand to provide
Inner wall of the pipe visual state data, on the other hand can be estimated with synkinesia, be detected the positioning and orientation of device.It is described integrated
Control unit includes ARM circuit boards, storage card and WIFI communication units；Integrated control unit can realize and mobile terminal（Example
Such as mobile phone）The functions such as connection, data acquisition control, data download.Said supply unit includes lithium battery and power management electricity
Road.
Step S300, returning for device is detected when the detection device moves to the terminal inspection shaft of pipeline to be detected
It receives, the location information of detection device described in acquisition for mobile terminal.
The present invention combines existing pipeline to lay drawing, when detection device moves to the terminal inspection shaft of pipeline to be detected
It is detected the recycling of device, and obtains the location information of detection device.It is common wireless due to being enclosed environment inside pipeline
Localization method such as GNSS（GPS）, cellular base station positioning, all can not normally position.The present invention proposes one kind
Based on 9 axis MEMS inertial navigations（Three axis accelerometer, three axis accelerometer, three axle magnetometer）, the pipe that combines of vision and pipeline map datum
Road positioned internal method.Specifically, mobile terminal determines detection by APP connecting detection devices, and using GNSS positioning systems
The beginning and end position of device.Then exercise data is carried out by 9 axis MEMS motion sensors in the detection device
Segment processing goes out the crucial topology location in pipeline by motion subtree（Such as drop well, turn lamp）, obtain the detection
At the time of device is by the crucial topology location, time topological sequences track is obtained.It further, will in conjunction with start position
The time topological sequences track of acquisition is matched with the laying drawing of the pipeline, and it is corresponding specific to obtain each crucial topology location
Geographical location, and obtain the evacuated space track sets of detection device movement.Finally utilize 9 axis MEMS exercise datas and sparse sky
Between track location point carry out Kalman filtering track combination, in conjunction with the spy of detection device uniform motion when rectilinear duct moves
Sign constraint obtains the fine space tracking of the detection device movement.Through the above steps, the present invention can accurately be got
The location information of detection device.
Step S400, mobile terminal downloads the image collected data from the detection device, and be transmitted to for pair
In the intelligent terminal that image data is handled and analyzed.
The mobile terminal is recovered to after detection device, and image data is downloaded from the detection device, is downloaded and is completed
Afterwards, detection device is initialized, is convenient for lower subjob.The image data of download is transmitted to intelligent terminal by mobile terminal
（Such as computer）, image data is handled and is analyzed by the intelligent terminal.
Step S500, the described intelligent terminal carries out described image data surely to generate the virtual pipe for stablizing visual field as processing
Road detects video, and the disease of pipeline is automatically identified from the pipe detection video of generation.
When being drifted about in the duct due to detection device of the present invention, it can be generated around gravity axis by uncertain Turbulent Flow Effects
To rotation and horizontal direction wave equal irregular movements.These irregular movements will ultimately result in collected detection video
Visual field shakes serious, quality decline.In order to eliminate these negative effects, the present invention proposes that a kind of virtual stable visual field detects video
Generation method.The present invention is 360 ° using horizontal field of view angle, is vertically the ultra-wide angle fish eye lens that field angle is more than 180 °
Video image is acquired, as shown in Fig. 2, Fig. 2 is the imaging schematic diagram of the imaging photographing unit of inventive pipeline intelligent detecting method,
Its imaging surface is a hemispherical.Due to rotation or the presence of oscillating motion, the interested duct wall area to be tested of user
It is not a fixed area for being steadily present in image.Stablize the detection video at visual angle, the intelligence in the present invention in order to obtain
Energy terminal is integrated according to the gyro angular speed between adjacent two frame in image data, obtains detection device between the adjacent two frames moment
Amount of relative rotation；Then present frame is rotated, obtains the spherical imaging video for going rotation relative to former frame.According to institute
The fine space tracking for stating detection device movement, obtains the direction of motion that detection device is drifted about in water and detection device is opposite
In the corner of the direction of motion；Then it further according to the corner, is intercepted from the spherical imaging video for going rotation relative to former frame
The image of area to be tested obtains the pipe detection video for virtually stablizing visual field.
Further, using multi-scale strategy Defect inspection model, by image be divided into Pixel-level image, cell level image and
Block grade image, and image is split by calculating process twice, to detect the diseases such as crack.Specifically calculating process
For：
A. it is that the image greyscale based on Pixel-level to cell level calculates first, it can be with the shadow of Removing Random No by the calculating
It rings, while reducing time calculating dimension.Select 4 × 4 pixel windows for a unit, computing unit gray value：
According to this threshold value, two-value image is converted gray images into,
M, n respectively represent the horizontal and vertical unit number of block image.
Further, by detected crack area progress Edge track, obtaining the edge vectors in crack, it
It is the basis of crack Extraction of Geometrical Features, geometric properties are an important component of classification of rifts again.For general envelope
For the geometric figure closed, geometric properties are divided into three categories i.e.：Point-like character, line feature and planar feature.Above three is big
Category feature can reflect the type in crack to varying degrees, to provide relatively good basic data for classification of rifts.It carries
The geometric properties for taking piping disease, to identify the disease in pipeline.
Based on above-described embodiment, the present invention provides a kind of pipeline intelligent detecting system, as shown in figure 3, Fig. 3 is pipe of the present invention
The functional schematic block diagram of road intelligent checking system.The system comprises：Detection device for acquiring image data in pipeline
310, it is used to connect with the detection device 310, and downloads the mobile terminal 320 of image data from the detection device 310,
And the intelligent terminal 330 of the disease for automatically identifying pipeline according to pipe detection video.Mobile terminal 320 can pass through
APP connect with WIFI communication units built-in in detection device 310, mobile terminal 320 and intelligent terminal 330 can by bluetooth,
The technologies such as WIFI carry out data transmission.
Further, the detection device 310 includes：External waterproof case, interior electronic module and clump weight, it is described
It is coated with nano paint on external waterproof case, for the detection device and mud adhesion.
Further, the interior electronic module includes：Positioning and orientation unit, imaging photographing unit, integrated control unit
And power supply unit；The positioning provides the nine axis MEMS movements that unit includes mems accelerometer, gyroscope, magnetometer composition surely
Sensor；The imaging photographing unit uses horizontal field of view angle for 360 °, is vertically the ultra-wide angle flake that field angle is more than 180 °
Camera lens；The integrated control unit includes ARM circuit boards, storage card and WIFI communication components；Said supply unit includes lithium
Battery and electric power management circuit.
In conclusion a kind of pipeline intelligent detection method provided by the invention and detecting system, the method includes：It is waiting for
The starting point inspection shaft of detection pipeline launches the multiple detection devices being connect in advance with mobile terminal；The detection device is in pipeline
Water movement, and during movement acquire pipeline in image data；When the detection device moves to test tube to be checked
It is detected the recycling of device when the terminal inspection shaft in road, the location information of detection device described in acquisition for mobile terminal；It is mobile whole
The image collected data are downloaded at end from the detection device, and are transmitted to for being handled image data and analyzing
In intelligent terminal；The intelligent terminal carries out described image data surely to generate the virtual pipe detection for stablizing visual field as processing
Video, and automatically identify from the pipe detection video of generation the disease of pipeline.The present invention has effectively achieved to pipeline disease
Harmful accurate detection and positioning, improve operating efficiency, reduce economic cost.
It should be understood that the application of the present invention is not limited to the above for those of ordinary skills can
With improvement or transformation based on the above description, all these modifications and variations should all belong to the guarantor of appended claims of the present invention
Protect range.
Claims (10)
1. a kind of pipeline intelligent detection method, which is characterized in that the method includes：
Step A, the multiple detection devices being connect in advance with mobile terminal are launched in the starting point inspection shaft of pipeline to be detected；
Step B, the described detection device is with the water movement in pipeline, and picture number during movement in acquisition pipeline
According to；
Step C, the recycling of device is detected when the detection device moves to the terminal inspection shaft of pipeline to be detected, it is mobile
Terminal obtains the location information of the detection device；
Step D, mobile terminal downloads the image collected data from the detection device, and is transmitted to for image data
In the intelligent terminal for being handled and being analyzed；
Step E, the described intelligent terminal to described image data surely generate the virtual pipe detection for stablizing visual field as processing and regard
Frequently, and from the pipe detection video of generation automatically identify the disease of pipeline.
2. according to the pipeline intelligent detection method described in claim 1, which is characterized in that include before the step A：
Step S, it will be distinguished in advance for the different color of multiple detection devices for acquiring different detection section image datas, and every
A data acquisition module is configured with unique identifier；And mobile terminal is passed through into the WIFI communication units of APP and multiple detection devices
Member connection.
3. according to the pipeline intelligent detection method described in claim 1, which is characterized in that further include before the step A：
Step M, mud cleaning is carried out to the pipeline to be detected, and launches test device and is used for leading to the pipeline to be detected
The property crossed is tested.
4. according to the pipeline intelligent detection method described in claim 1, which is characterized in that the mobile terminal in the step C
The location information for obtaining the detection device specifically includes：
Step C1, the described mobile terminal determines the beginning and end position of detection device by GNSS positioning systems；
Step C2, segment processing is carried out to exercise data by 9 axis MEMS motion sensors in the detection device, passes through fortune
Dynamic signature analysis goes out the crucial topology location in pipeline, at the time of obtaining the detection device by the crucial topology location,
Obtain time topological sequences track；
Step C3, in conjunction with start position, the time topological sequences track of acquisition is matched with the laying drawing of the pipeline, is obtained
Each corresponding particular geographic location of key topology location, and obtain the evacuated space track sets of detection device movement；
Step C4, Kalman filtering track combination, knot are carried out using 9 axis MEMS exercise datas and the location point of evacuated space track
The feature constraint for closing detection device uniform motion when rectilinear duct moves obtains the fine space rail of the detection device movement
Mark.
5. according to the pipeline intelligent detection method described in claim 1, which is characterized in that the step D further includes：
Step D1, after the mobile terminal completes image data download, the detection device is initialized.
6. according to the pipeline intelligent detection method described in claim 1, which is characterized in that the intelligent terminal in the step E
Described image data surely generate the virtual pipe detection video for stablizing visual field as processing and specifically include：
Step E1, intelligent terminal is integrated according to the gyro angular speed between adjacent two frame in image data, when obtaining adjacent two frame
The amount of relative rotation of detection device between quarter；
Step E2, present frame is rotated, obtains the spherical imaging video for going rotation relative to former frame；
Step E3, the fine space tracking moved according to the detection device, obtains the movement side that detection device is drifted about in water
To and corner of the detection device relative to the direction of motion；
Step E4, according to the corner, the interception area to be tested from the spherical imaging video for going rotation relative to former frame
Image obtains the pipe detection video for virtually stablizing visual field.
7. according to the pipeline intelligent detection method described in claim 1, which is characterized in that in the step E from generation
The defect that pipeline is automatically identified in pipe detection video specifically includes：
Step E5, image greyscale correction is carried out to the virtual pipe detection video for stablizing visual field of generation；
Step E6, using multi-scale strategy Defect inspection model, image is divided into Pixel-level image, cell level image and block grade shadow
Picture, and image is split by calculating process twice；
Step E7, by carrying out Edge track to detected disease region, the edge vectors of disease is obtained, disease is extracted
Geometric properties identify the disease in pipeline.
8. one kind being based on the claims 1-7 any one of them pipeline intelligent detecting systems, which is characterized in that the system
Including：For acquiring the detection device of image data in pipeline, for connecting with the detection device, and from the detection device
It is middle download image data mobile terminal, and for automatically identified according to pipe detection video pipeline disease intelligence eventually
End.
9. according to the pipeline intelligent detecting system described in claim 8, which is characterized in that the detection device includes：It is external
Waterproof case, interior electronic module and clump weight are coated with nano paint on the external waterproof case, are used for the detection
Device and mud adhesion.
10. according to the pipeline intelligent detecting system described in claim 9, which is characterized in that the interior electronic module includes：
Positioning and orientation unit, imaging photographing unit, integrated control unit and power supply unit；
The positioning provides the nine axis MEMS motion sensors that unit includes mems accelerometer, gyroscope, magnetometer composition surely；
The imaging photographing unit uses horizontal field of view angle for 360 °, is vertically the ultra-wide angle flake mirror that field angle is more than 180 °
Head；
The integrated control unit includes ARM circuit boards, storage card and WIFI communication units；
Said supply unit includes lithium battery and electric power management circuit.
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| CN109000158A (en) * | 2018-09-04 | 2018-12-14 | 深圳市市政设计研究院有限公司 | Pipe leakage early warning system, method and its application based on Internet of Things and BIM |
| CN109028994A (en) * | 2018-08-30 | 2018-12-18 | 中冶赛迪上海工程技术有限公司 | A kind of stove cooling wall image information collecting unit and device, cooling wall detection method |
| CN109284753A (en) * | 2018-08-30 | 2019-01-29 | 深圳大学 | A kind of localization method of liquid transmission line and application |
| CN110942026A (en) * | 2019-11-26 | 2020-03-31 | 深圳大学 | Capsule robot drain pipe disease detection method and system based on deep learning |
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| CN111424795A (en) * | 2020-02-26 | 2020-07-17 | 郑州大学 | Visual intelligent rotary spraying method for repairing drainage pipeline |
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| CN113847912A (en) * | 2021-08-16 | 2021-12-28 | 重庆市建筑科学研究院有限公司 | Underground water pipe culvert endoscopic positioning system and working method thereof |
| CN114397311A (en) * | 2022-02-07 | 2022-04-26 | 浙江致远工程管理有限公司 | Cement pipe gap detection device |
| CN114397311B (en) * | 2022-02-07 | 2024-05-03 | 浙江致远工程管理有限公司 | Cement pipe gap detection device |
| CN114827469A (en) * | 2022-04-27 | 2022-07-29 | 江苏宇晗数据科技有限公司 | Air pipe dust accumulation amount monitoring equipment based on image recognition |
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