CN109506133A - A kind of pipeline positioning device, system and method - Google Patents
A kind of pipeline positioning device, system and method Download PDFInfo
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- CN109506133A CN109506133A CN201811330149.0A CN201811330149A CN109506133A CN 109506133 A CN109506133 A CN 109506133A CN 201811330149 A CN201811330149 A CN 201811330149A CN 109506133 A CN109506133 A CN 109506133A
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
-
- 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
-
- 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
- H04N23/51—Housings
-
- 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
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
-
- 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
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
Abstract
The present invention provides a kind of pipeline positioning device, including shell, lens group, verification component, photosensitive-member and processor, wherein lens group is set on shell, for taking in object to be measured and showing the measurement image of object to be measured；Whether axisymmetricly verification component is set to the inside of shell and is arranged on the emitting light path of lens group, for verifying measurement image shape, and output verification result；Photosensitive-member is set to the inside of shell and is arranged on the emitting light path of lens group, is converted to digital measurement information for receiving measurement image, and by measurement image；Processor is connect with verification component and photosensitive-member respectively, for determining the position of object to be measured according to check results and digital metrical information.As it can be seen that can be used in the pipe detection of underground pipe network using a kind of pipeline positioning device described in the invention, and the effect of object to be measured position accurate positionin is played, and can accomplish to prevent trouble before it happens with where the defect of targeted duct.
Description
Technical field
The present invention relates to public safety fields, in particular to a kind of pipeline positioning device, system and method.
Background technique
Currently, with the development of the city, the laying of underground piping becomes more and more, these underground pipings are constituted more
Complicated underground pipe network, also, to play resource in people's daily life easy-to-use and other effects for the underground pipe network.So
And in practice, it has been found that underground pipe network development while start to become to become increasingly complex, considerably increase underground pipe network maintenance
The difficulty of maintenance.Meanwhile and because underground pipe network is all buried in underground, most of accident is often after pipeline breaking
It could find, to will cause serious loss, or even can cause casualties.When conveying severe toxicity or the pipeline of radiating medium
When appearance accident, it is easy to will cause dielectric leakage, cause accident that disaster even occurs.As it can be seen that being remedied after above-mentioned this accident
Method usually occur not accomplishing to prevent trouble before it happens, can not know pipeline in advance after accident or disaster occur
Defect where.
Summary of the invention
In view of the above problems, the present invention provides a kind of pipeline positioning device, system and method, it can be used in underground pipe network
Pipe detection, play the effect of pipeline location accurate positionin, and can accomplish to prevent in not with where the defect of targeted duct
So.
To achieve the goals above, the present invention adopts the following technical scheme that:
In a first aspect, the present invention provides a kind of pipeline positioning device, including shell, lens group, verification component, photographic department
Part and processor, wherein
The lens group is set on the shell, for taking in the measurement of object to be measured and the display object to be measured
Image；
The verification component is set to the inside of the shell and is arranged on the emitting light path of the lens group, is used for school
Test the measurement image whether axisymmetricly shape, and output verification result；
The photosensitive-member is set to the inside of the shell and is arranged on the emitting light path of the lens group, for connecing
The measurement image is received, and the measurement image is converted into digital measurement information；
The processor is connect with the verification component and the photosensitive-member respectively, for according to the check results and
The digital measurement information determines the position of the object to be measured.
As an alternative embodiment, the pipeline positioning device further includes the distance ratio for comparing image with distance
To component, wherein
The distance compares component layout in the input path of the lens group, folds for the distance to be compared image
It is added on the measurement image of the object to be measured.
As an alternative embodiment, the pipeline positioning device further includes memory, wherein
The memory is connect with the processor communication, for storing apart from comparison information；
The processor be also used to obtain it is described apart from comparison information, and by it is described apart from comparison information be superimposed upon it is described to
It surveys on the measurement image of target.
As an alternative embodiment, the lens group includes at least one in tight shot group and zoom lens group
Kind.
As an alternative embodiment, the zoom lens group includes varifocal mirror and compensating glass, wherein
The varifocal mirror is set on the shell, for zoom observe the object to be measured and formed include it is described to
Survey the measurement image of target；
The compensating glass is coaxial with the varifocal mirror to be set on the shell, and imaging compensating is used for.
As an alternative embodiment, the lens group includes the tight shot group and zoom lens group, it is described
Lens group further includes lens group switching frame, and the lens group switching frame is used for the tight shot group and the zoom lens group
Alternatively it is switched to the camera position for being used to take in the object to be measured of the lens group.
As an alternative embodiment, the photosensitive-member includes charge-coupled device photosensitive element and complementary metal
At least one of oxide semiconductor photosensitive element.
Second aspect, the present invention provides a kind of pipeline location system, including pipeline positioning device described in first aspect,
And the fixation device for fixing the pipeline positioning device.
The third aspect, the present invention provides a kind of pipeline location methods, comprising:
It obtains and shows the measurement image including object to be measured；
Judge the measurement image whether axisymmetricly shape；
When the measurement image axisymmetricly shape, the measurement image is converted into digital measurement information；
The position of the object to be measured is determined according to the digital measurement information.
As an alternative embodiment, the step of measurement image is converted to digital measurement information packet
It includes:
It obtains and compares image for the distance of subsidiary conduit positioning；
It is superimposed the distance and compares image into the measurement image；
The measurement image is converted as digital measurement information.
A kind of pipeline positioning device provided according to the present invention, including for detecting the lens group shot, being clapped for verifying
Take the photograph whether qualified verification component, carry out for the photosensitive-member of records photographing image and to all data for getting
The processor of processing, wherein the processor can be after lens group takes the shooting image for meeting shooting condition, according to bat
The focal length of image, lens group and the parameter of pipeline taken the photograph are calculated where the position of object to be measured in pipeline.As it can be seen that should
Kind pipeline positioning device can obtain corresponding image information after whether verification meets shooting standard, and be believed according to the image
The information processings such as breath are calculated where the position of object to be measured, to realize the effect of accurate positionin, and then accomplish to pipeline
Accident prevents trouble before it happens.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of the scope of the invention.
Fig. 1 is a kind of structural schematic diagram for pipeline positioning device that first embodiment of the invention provides；
Fig. 2 is a kind of structural schematic diagram for pipeline positioning device that second embodiment of the invention provides；
Fig. 3 is a kind of structural schematic diagram for pipeline location system that third embodiment of the invention provides；
Fig. 4 is a kind of flow diagram for pipeline location method that fourth embodiment of the invention provides；
Fig. 5 is a kind of flow diagram for pipeline location method that fifth embodiment of the invention provides.
Main element symbol description:
10- pipeline positioning device；11- shell；12- lens group；13- verifies component；14- photosensitive-member；15- processor；
16- distance compares component；20- fixes device.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.It is logical
In normal situation, shown in attached drawing and component included by the embodiment of the present invention of description can by a variety of different configurations come
Arrangement and design.Therefore, requirement is not intended to limit to the detailed description of the provided embodiment of the present invention in the accompanying drawings below
The scope of the present invention of protection, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, this field skill
Art personnel every other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
In the present invention, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the present invention and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in the present invention can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected " shall be understood in a broad sense.For example, can make solid
Fixed connection, is detachably connected or monolithic construction；It can be mechanical connection, or point connection；It can make to be connected directly, either
It indirectly connected through an intermediary, or is two connection internal between device, element or component.For this field
For those of ordinary skill, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In addition, term " first ", " second " etc. are mainly used for distinguishing different devices, element or component (specifically
Type and construction may it is identical may also be different), be not intended to show or implies meaning showing device, element or component
Relative importance and quantity.Unless otherwise indicated, the meaning of " multiple " is two or more.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
For the problems of the prior art, the present invention provides a kind of pipeline positioning devices, including for detecting shooting
Lens group, for verifying the whether qualified verification component of shooting, for the photosensitive-member of records photographing image and to obtaining
The processor that all data got are handled, wherein the processor can take in lens group meets shooting condition
After shooting image, the position of object to be measured is calculated according to the focal length of image, lens group and the parameter of pipeline that take
Where setting.As it can be seen that this kind of pipeline positioning device can obtain corresponding image information after whether verification meets shooting standard,
And be calculated according to information processings such as the image informations where the position of object to be measured, thus realize the effect of accurate positionin,
And then accomplish to prevent trouble before it happens to pipeline accident.It is described below by embodiment.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Embodiment 1
Referring to Fig. 1, Fig. 1 is a kind of structural schematic diagram of pipeline positioning device 10, the pipeline provided by the present embodiment
Positioning device 10, including shell 11, lens group 12, verification component 13, photosensitive-member 14 and processor 15, wherein
Lens group 12 is set on shell 11, for taking in object to be measured and showing the measurement image of object to be measured；
Verification component 13 is set to the inside of shell 11 and is arranged on the emitting light path of the lens group 12, for verifying
Measure image whether axisymmetricly shape, and output verification result；
Photosensitive-member 14 is set to the inside of shell 11 and is arranged on the emitting light path of the lens group 12, for receiving
Image is measured, and measurement image is converted into digital measurement information；
Processor 15 is electrically connected with both verification component 13 and photosensitive-member 14 respectively, for according to check results and number
Metrical information determines the position of object to be measured.
In the present embodiment, component 13 and photosensitive-member 14 are verified all on the emergent light axis of lens group, so that photographic department
Part 14 can verification component 13 verified after carry out it is photosensitive, i.e., measurement image by verification after carry out again it is photosensitive,
It, can be to avoid meaningless photosensitive record to improve photosensitive precision.
In the present embodiment, shell 11 is used to protect lens group 12, verification component 13, photosensitive-member 14 and processor 15,
The shell 11 can have waterproof, anticorrosion ability, specifically, the shell 11 may include solid layer and coating, coating tool
There are above-mentioned waterproof and etch-proof effect.
In the present embodiment, lens group 12 is fixedly installed on shell 11, is seamlessly connected between the lens group 12 and shell 11,
Specifically, the lens group 12 can be mutually be bonded by anticorrosion glue between shell 11, common marine glue, glass can also be passed through
Glue is mutually bonded.
In the present embodiment, the shape of shell 11 can be one of cube, cylindrical body, rotary table and prism or more
Kind, it is preferred that the shape of shell 11 is cube.
As an alternative embodiment, pipeline positioning device 10 can also include light source, which can be camera lens
Group 12 provides brightness, convenient for taking pictures.
In the present embodiment, the overall shape of lens group 12 is cylindrical shape, wherein lens group 12 includes multiple round saturating
Mirror, multiple round lens all have the function of different.
In the present embodiment, lens group 12 being set on shell 11 with penetration, i.e., a part protrusion shell 11, separately
A part of recessed shell 11.
In the present embodiment, lens group 12 can also be all set among shell 11.
In the present embodiment, lens group 12 is when being all set among shell 11, the side of lens group 12 and shell 11
Side overlap；It is understood that the end camera lens in the lens group 12 is set on shell 11.
As an alternative embodiment, shell 11 may include that replacement door and replacement lock, the replacement door are used to open
Shell 11 avoids device from being known as disposable device in order to replacing the device in shell 11, meanwhile, replacement lock can be electricity
On the other hand the locking-types structure such as magnetic padlock, on the one hand opening that this kind of structure can avoid replacement door can be mentioned by corresponding structure
Tightness degree between height replacement door and the ontology of shell 11.
In the present embodiment, verification component 13 can be round shape photosensitive-member 14, which in the process of work can be by
Big extremely small diminution sensitive volume judges whether photosensitive content is symmetrical, such as when its photosensitive content is truncated to object to be measured position
Fruit is symmetrical, then may determine that photosensitive central point is located on the central axes of pipeline, while again because of verification component 13, lens group 12
Equal elements are all located on same axis, therefore, when verification component 13 judges that photosensitive central point is located on the central axes of pipeline, then
It can be determined that the object to be measured position is located on the central axes of pipeline.As it can be seen that the various information got on this basis have
Stable reference condition can effectively improve precision, reduce difficulty.
As an alternative embodiment, pipeline positioning device 10 can also include equilibristat, the equilibristat and processing
Device 15 is connected, and is used for break-off when pipeline positioning device 10 is in non-equilibrium state.
Implement this embodiment, it is ensured that pipeline positioning device 10 works in a balanced condition, Jin Erbao
The structures such as card lens group 12, verification component 13 are located on the central axes of pipeline.
In the present embodiment, verification component 13 can also be any electronic component for verification, when verification component 13
When for electronic component, the process of verification can be by processor 15 on behalf of progress.
In the present embodiment, photosensitive-member 14 is for recording measurement image, and converted measurement image is digital measurement image,
In, which is specifically used for converting optical signals to electric signal.
In the present embodiment, digital measurement information is the corresponding digital information of measurement image, it can be understood as image information turns
Become electric signal.
In the present embodiment, processor 15 can be single-chip microcontroller.
In the present embodiment, processor 15 can be the hardware configuration with respective specific function, and wherein specific function can be with
It is realized by the program being stored in hardware configuration.
In the present embodiment, processor 15 is specifically used for obtaining object to be measured position and 12 axis of lens group in measurement image
First distance, the focal length of lens group 12 and diameter or radius from the data base call pipeline, the direction of object to be measured position
It can be focal length and radius as the second distance of object to be measured position and pipeline positioning device 10 by being got in measurement image
Product and first distance ratio.
Implement this embodiment, the determination of object to be measured position, and the structure can be carried out by way of vision
Simply, practical, conveniently, and good reliability.
As an alternative embodiment, the pipeline positioning device 10 can also include laser emitter and laser pick-off
Device, above-mentioned laser emitter and laser pickoff are for being accurately positioned object to be measured by laser.Implement this reality
Mode is applied, positioning auxiliary can be carried out by laser aid and improve the accuracy of positioning to realize Dual positioning.As it can be seen that should
The optional embodiment of kind is a kind of expansion embodiment of former embodiment, and being not construed as former embodiment must select
A kind of embodiment selected.
As it can be seen that pipeline positioning device 10 shown in FIG. 1, including for detecting the lens group 12 shot, being shot for verifying
Whether it is qualified verification component 13, for records photographing image photosensitive-member 14 and to all data got into
Row processing processor 15, wherein the processor 15 can lens group 12 take meet shooting condition shooting image it
Afterwards, it is calculated according to the image, the focal length of lens group 12 and the parameter of pipeline that take where the position of object to be measured.It can
To see, this kind of pipeline positioning device 10 can obtain corresponding image information after whether verification meets shooting standard, and according to
The information processings such as the image information are calculated where the position of object to be measured, to realize the effect of accurate positionin, and then do
It prevents trouble before it happens to pipeline accident.
Embodiment 2
Referring to Fig. 2, being a kind of structural schematic diagram of pipeline positioning device 10 provided in this embodiment.Wherein, shown in Fig. 2
A kind of object to be measured positioning device 10 be that pipeline positioning device 10 as shown in Figure 1 improves.
As shown in Fig. 2, pipeline positioning device 10 further includes the distance comparison component 16 for comparing image with distance, wherein
Distance compares component 16 and is arranged in the input path of lens group, for that will be superimposed upon mesh to be measured apart from image is compared
Target measures on image.
As an alternative embodiment, pipeline positioning device 10 further includes memory, wherein
Memory and processor 15 communicate to connect, for storing apart from comparison information；
Processor 15 is also used to obtain apart from comparison information, and the measurement figure for object to be measured being superimposed upon apart from comparison information
As upper.
As an alternative embodiment, lens group 12 includes tight shot group in this kind of pipeline positioning device 10
At least one of with zoom lens group.
In the present embodiment, tight shot group is the lens group 12 that multiple tight shots are composed.
In the present embodiment, zoom lens group includes tight shot and other zoom elements.
In the present embodiment, in zoom lens group, the element that varifocal mirror lens group 12 includes can be in a certain range
It is moved.
In the present embodiment, the multiple element that zoom lens group includes can be controlled by processor 15.
As an alternative embodiment, zoom lens group includes varifocal mirror and compensating glass, wherein
Varifocal mirror is set on shell 11, is observed object to be measured for zoom and is formed the measurement figure including object to be measured
Picture；
Compensating glass is coaxial with varifocal mirror to be set on shell 11, and imaging compensating is used for.
In the present embodiment, varifocal mirror is can to convert focal length, in a certain range to obtain the field angle of different width,
The camera lens of different size of image and different scenery ranges.
In the present embodiment, varifocal mirror can be changed in the case where not changing shooting distance by changing focal length
Become coverage, therefore is very beneficial for film composition.Since a varifocal mirror simultaneous can bear the responsibility several tight shots
Effect, when out on tours, not only reduce the quantity of carrying photograph equipment, also save the time of replacement camera lens.
In the present embodiment, varifocal mirror for moving with focus-variable lens according to certain rules when zooming, it is ensured that town and country picture
Position it is constant, i.e., change focal length when image clarity it is constant.
As an alternative embodiment, zoom lens group further includes focusing lens, wherein
Focusing lens are coaxial with varifocal mirror to be set on shell 11, and is set between varifocal mirror and verification component 13, is used for
Fixed imaging position.
In the present embodiment, focusing lens can be such that the subject of certain distance is clearly imaged on photosensitive-member 14.
As a kind of further alternative embodiment, varifocal mirror is specifically set between compensating glass and verification component 13,
Object to be measured is taken in specifically for zoom and shows the measurement image of the object to be measured after imaging compensating.
As an alternative embodiment, tight shot group includes multiple camera lenses with different fixed focal lengths.
As an alternative embodiment, lens group 12 includes two kinds of lens groups of tight shot group and zoom lens group
12, lens group 12 further includes lens group switching frame, and lens group switches frame and is used for tight shot group and zoom lens group alternatively
It is switched to the camera position for being used to take in object to be measured of lens group 12.
In the present embodiment, it can be electronic switching frame or manual switching frame that lens group, which switches frame,.
As an alternative embodiment, the shape of verification component 13 is identical as the shape of pipeline.
In the present embodiment, the shape of the shape and pipeline that verify component 13 is generally circular.
As an alternative embodiment, photosensitive-member 14 includes charge-coupled device photosensitive element and complementary metal oxygen
At least one of compound semiconductor photosensitive element.
In the present embodiment, charge-coupled device photosensitive element is a kind of for detecting the silicon wafer of light, by clock pulse voltages
Generating and control the variation of semiconductor potential well, realizing storage and transmitting the solid electronic device of charge information.
In the present embodiment, complementary metal oxide semiconductor photosensitive element is a kind of voltage-controlled amplifying device.
As an alternative embodiment, pipeline positioning device 10 further includes communication component, wherein
Communication component is electrically connected with processor 15, for sending the location information of object to be measured.
In the present embodiment, communication component may include the construction such as cable, to realize wired communication connection.
In the present embodiment, communication component can be wireless signal transmitter.
As it can be seen that pipeline positioning device 10 shown in the present embodiment, including for detecting the lens group 12 shot, being used for school
Test shooting whether qualified verification component 13, for the photosensitive-member 14 of records photographing image and to all got
The processor 15 that data are handled, wherein the processor 15 can take in lens group 12 meets the shooting of shooting condition
After image, the position of object to be measured is calculated according to the image, the focal length of lens group 12 and the parameter of pipeline that take
Place.As it can be seen that this kind of pipeline positioning device 10 can obtain corresponding image information after whether verification meets shooting standard,
And be calculated according to information processings such as the image informations where the position of object to be measured, thus realize the effect of accurate positionin,
And then accomplish to prevent trouble before it happens to pipeline accident.
Embodiment 3
Referring to Fig. 3, being a kind of structural schematic diagram of pipeline location system provided in this embodiment.Wherein, shown in Fig. 3
A kind of object to be measured positioning system includes pipeline positioning device 10 shown in embodiment 1 and embodiment 2.
As shown in figure 3, this kind of pipeline location system, the pipeline positioning device 10 including embodiment 1 or the description of embodiment 2,
And the fixation device 20 for fixing the pipeline positioning device 10.
In the present embodiment, fixed device 20 can be used for the fixation device of well head for tripod, four foot props etc..
As it can be seen that pipeline location system shown in Fig. 3, the fixed dress including pipeline positioning device 10 and pipeline positioning device 10
20 are set, two kinds of devices are applied in combination, and can be used for mesh to be measured while being fixed device 20 and fixing in pipeline positioning device 10
Target positioning, while the movement of pipeline positioning device 10, rotation can also be controlled etc..As it can be seen that this kind of pipeline location system can
Pipeline positioning device 10 is controlled in the more common scenario to obtain the position of object to be measured, to improve pipeline positioning device 10
It using generality, and realizes the effect of accurate positionin, and then accomplishes to prevent trouble before it happens to pipeline accident.
Embodiment 4
Referring to Fig. 4, being a kind of flow diagram of pipeline location method provided in this embodiment, this method includes following
Step:
S301, acquisition simultaneously show the measurement image including object to be measured.
In the present embodiment, object to be measured can want the target of detection for user, which specifically can be certain of pipeline
A certain feature in one position or pipeline, to not being limited in any way in this present embodiment.
In the present embodiment, it is same that pipeline can be understood as by the measurement image including object to be measured that photographic device is got
Axis image, this kind of image can be adjusted in the mode that control obtains, so that subsequent many and diverse calculating process is avoided, thus
Improve computational efficiency.
In the present embodiment, measurement image can be watched by user, which can directly be viewed by a user and obtain
Result out.Specifically, measurement image has the cyclic annular image of pipeline, object to be measured, shown by the experience and image of user
Distance can learn that object to be measured is located at that position of pipeline.
In the present embodiment, the color for measuring image and object to be measured can render discoloration or adjustment pair according to the actual situation
Than degree and brightness, to not being limited in any way in this present embodiment.
S302, judge to measure image whether axisymmetricly shape, if so, thening follow the steps S303~S304；If it is not, then tying
This process of beam.
In the present embodiment, axisymmetric shape is symmetrical shape or shape symmetrical above and below and various symmetric shapes.
Specifically, which should be the axial symmetry image in 360 degree of all directions.
Implement this embodiment, can avoid by measuring the judgement of image subsequent generating because of non-axisymmetric shape
Extra computation amount, to improve computational efficiency.
S303, measurement image is converted into digital measurement information.
In the present embodiment, measurement image is the image that photographic device is shot, which is through image, is had higher
Resolution ratio, be not easy to data analysis, therefore the step carries out simplifying processing and critical data extraction process to measurement image.
Wherein, the image information of pipeline, the information and pipeline of object to be measured should be got in the step of being converted to digital measurement information
The information such as diameter, shooting angle, image height and focal length.
S304, the position that object to be measured is determined according to digital measurement information.
In the present embodiment, according to above-mentioned digital measurement information determine object to be measured apart from pipeline positioning device away from
From, and Plane Angle information is obtained, so that it is determined that the specific location of object to be measured out.
As it can be seen that implementing pipeline location method described in Fig. 4, the position of object to be measured in pipeline can be preferentially obtained, and
Obtain the measurement image including the object to be measured judges whether image is effective image after getting above-mentioned measurement image,
Judge whether pipeline positioning device is located on the central axis of pipeline, it, will when pipeline positioning device is located on above-mentioned central axis
Measurement image is converted to digital measurement information, and determines the position of object to be measured to digital metrical information by processor.It can
See, implement this embodiment, corresponding image information can be obtained after whether verification meets shooting standard, and according to this
The information processings such as image information are calculated where the position of object to be measured, to realize the effect of accurate positionin, and then accomplish
It prevents trouble before it happens to pipeline accident.
Embodiment 5
Referring to Fig. 5, Fig. 5 is a kind of flow diagram of pipeline location method provided in this embodiment.As shown in figure 5,
The pipeline location method the following steps are included:
S401, acquisition simultaneously show the measurement image including object to be measured.
In the present embodiment, object to be measured can want the target of detection for user, which specifically can be certain of pipeline
A certain feature in one position or pipeline, to not being limited in any way in this present embodiment.
In the present embodiment, it is same that pipeline can be understood as by the measurement image including object to be measured that photographic device is got
Axis image, this kind of image can be adjusted in the mode that control obtains, so that subsequent many and diverse calculating process is avoided, thus
Improve computational efficiency.
In the present embodiment, measurement image can be watched by user, which can directly be viewed by a user and obtain
Result out.Specifically, measurement image has the cyclic annular image of pipeline, object to be measured, shown by the experience and image of user
Distance can learn that object to be measured is located at that position of pipeline.
In the present embodiment, the color for measuring image and object to be measured can render discoloration or adjustment pair according to the actual situation
Than degree and brightness, to not being limited in any way in this present embodiment.
S402, judge to measure image whether axisymmetricly shape, if so, thening follow the steps S403~S406；If it is not, then tying
This process of beam.
In the present embodiment, axisymmetric shape is symmetrical shape or shape symmetrical above and below and various symmetric shapes.
Specifically, which should be the axial symmetry image in 360 degree of all directions.
Implement this embodiment, can avoid by measuring the judgement of image subsequent generating because of non-axisymmetric shape
Extra computation amount, to improve computational efficiency.
S403, the distance comparison image positioned for subsidiary conduit is obtained.
In the present embodiment, it can may be data image for physical image that distance, which compares image,.
In the present embodiment, distance compares the image that image can be polycyclic composition, and wherein each ring-type represents pipeline
Distance apart from pipeline positioning device, wherein principle is field depth principle.
For example, a distance, which compares image, has five coaxial rings, respectively represents 5 meters, 10 meters, 15 from outside to inside
Rice, 20 meters, 30 meters then can be determined that object to be measured apart from pipeline positioning device 15 when object to be measured is fallen on third ring
Rice.
In the present embodiment, distance compare image can also for panel map or other, to not appointing in this present embodiment
What is limited.
In the present embodiment, distance compares image and can be pre-set, or pre-sets, to distance than
Generation and source to image are not limited in any way in the present embodiment.Wherein, it when it is physical image that distance, which compares image, uses
Family can replace the physical image to adapt to different pipeline or the matching of different distances.It is datagram when distance compares image
When picture, pipeline positioning device can be calculated automatically from according to above-mentioned theory with data, to determine object to be measured automatically
Specific location.
S404, superposition distance compare image into measurement image.
In the present embodiment, when it is physical image that above-mentioned distance, which compares image, pipeline positioning device obtains the physical map
Picture, and the physical image and measurement image are combined, obtain the measurement image with comparison function.
In the present embodiment, when it is data image that above-mentioned distance, which compares image, pipeline positioning device obtains the datagram
Picture, and the data image is added to and is measured in image, obtain the measurement image with comparison function.
S405, converted measurement image are digital measurement information.
In the present embodiment, measurement image can intuitively be observed by user, but reason can be exported by needing to handle to calculate
By as a result, therefore, the process of conversion is may be implemented in step S405, while during the conversion, pipeline positioning device may be used also
To carry out Data Detection and fine tuning, to obtain accurate digital measurement information.
In the present embodiment, digital measurement information includes all data that measurement obtains and calculates analysis according to above-mentioned data
Obtained result.
S406, the position that object to be measured is determined according to digital measurement information.
In the present embodiment, the position of object to be measured can be by Plane Angle and apart from determination.
For example, Plane Angle is the section of pipeline, has 360 degree of angles on the section and 0 degree is defined as top, because
This, when Plane Angle is 180 degree angle, the position of object to be measured is located below, and distance then fills for object to be measured and pipeline location
The distance set.
In the present embodiment, default meets following condition: the caliber of pipeline is certain, filming apparatus focal length is certain and shooting
The target surface size of device is certain.
Implement this embodiment, can be obtained by parameters such as caliber, focal length and image heights position to be measured
Pipeloop locating in image is measured, and is capable of determining that according to the pipeloop, distance of the object to be measured apart from filming apparatus, wherein
Filming apparatus is certain at a distance from pipeline opening, thus can convert learn the object to be measured in pipeline to pipeline opening distance.Its
In, pipeline positioning device is placed at pipeline opening.
For example, above-mentioned step is it is to be understood that target surface or lens head the setting distance in camera compare component
16, which, which compares component 16, can provide distance comparison image, pass through rang ring and target on distance comparison component 16
Point carries out overlapping comparison, directly shows the position of target point, on the ring that target point falls in 15M, thus can be intuitive
Learn depth of the target point apart from nozzle be 15M.Distance compare component 16 can for apart from comparison information (electronic stencil),
It can be physical template (distance compares component 16), measurement accuracy can have other division modes.Letter is compared if distance
It ceases (electronic stencil), when using camera ranging, can directly recall and be shown in imaging, and can be according to different tube diameters, coke
It is calculated away from, target surface size, repartitions display position and deep identification.Physical template (i.e. distance compares component 16) is directly
Before being mounted on camera lens.
As it can be seen that implementing pipeline location method described in Fig. 5, the position of object to be measured in pipeline can be preferentially obtained, and
Obtain the measurement image including the object to be measured judges whether image is effective image after getting above-mentioned measurement image,
Judge whether pipeline positioning device is located on the central axis of pipeline, it, will when pipeline positioning device is located on above-mentioned central axis
Measurement image is converted to digital measurement information, and determines the position of object to be measured to digital metrical information by processor.It can
See, implement this embodiment, corresponding image information can be obtained after whether verification meets shooting standard, and according to this
The information processings such as image information are calculated where the position of object to be measured, to realize the effect of accurate positionin, and then accomplish
It prevents trouble before it happens to pipeline accident.
It should be understood that " in the present embodiment ", " in the embodiment of the present invention " or " optional as one kind that specification is mentioned in the whole text
Embodiment " mean a particular feature, structure, or characteristic related with embodiment include in embodiments of the invention in.
Therefore, " in the present embodiment " for occurring everywhere in the whole instruction, " in the embodiment of the present invention " " optional are implemented as a kind of
Mode " not necessarily refers to identical embodiment.In addition, these a particular feature, structure, or characteristics can be in any suitable manner
In conjunction in one or more embodiments.Those skilled in the art should also know that embodiment described in this description belongs to
In alternative embodiment, related actions and modules are not necessarily necessary for the present invention.
In various embodiments of the present invention, it should be appreciated that the size of the serial number of above-mentioned each structure is not meant to that structure is arranged
Successively putting in order for each structure should be determined by its function and internal logic for column sequence inevitable, implement without coping with the present invention
The implementation process of example constitutes any restriction.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should with subject to scope of protection of the claims.
Claims (10)
1. a kind of pipeline positioning device, which is characterized in that including shell, lens group, verification component, photosensitive-member and processing
Device, wherein
The lens group is set on the shell, for taking in the measurement figure of object to be measured and the display object to be measured
Picture；
The verification component is set to the inside of the shell and is arranged on the emitting light path of the lens group, for verifying
State measurement image whether axisymmetricly shape, and output verification result；
The photosensitive-member is set to the inside of the shell and is arranged on the emitting light path of the lens group, for receiving
Measurement image is stated, and the measurement image is converted into digital measurement information；
The processor is connect with the verification component and the photosensitive-member respectively, for according to check results and described
Digital measurement information determines the position of the object to be measured.
2. pipeline positioning device according to claim 1, which is characterized in that the pipeline positioning device further include have away from
Component is compared with a distance from image from comparing, wherein
The distance compares component layout in the input path of the lens group, is superimposed upon for the distance to be compared image
On the measurement image of the object to be measured.
3. pipeline positioning device according to claim 1, which is characterized in that the pipeline positioning device further includes storage
Device, wherein
The memory is connect with the processor communication, for storing apart from comparison information；
The processor is also used to obtain described apart from comparison information, and is superimposed upon the mesh to be measured apart from comparison information for described
Target measures on image.
4. pipeline positioning device according to claim 1, which is characterized in that the lens group includes tight shot group and change
At least one of zoom lens group.
5. pipeline positioning device according to claim 4, which is characterized in that the zoom lens group includes varifocal mirror and benefit
Repay mirror, wherein
The varifocal mirror is set on the shell, and observing the object to be measured for zoom and formed includes the mesh to be measured
Target measures image；
The compensating glass is coaxial with the varifocal mirror to be set on the shell, and imaging compensating is used for.
6. pipeline positioning device according to claim 4, which is characterized in that the lens group includes the tight shot group
And zoom lens group, the lens group further include lens group switching frame, the lens group switching frame is used for the tight shot
Group and the zoom lens group are alternatively switched to the camera position for being used to take in the object to be measured of the lens group.
7. pipeline positioning device according to claim 1, which is characterized in that the photosensitive-member includes charge-coupled device
At least one of photosensitive element and complementary metal oxide semiconductor photosensitive element.
8. a kind of pipeline location system, which is characterized in that including the described in any item pipeline positioning devices of claim 1~7, with
And the fixation device for fixing the pipeline positioning device.
9. a kind of pipeline location method characterized by comprising
It obtains and shows the measurement image including object to be measured；
Judge the measurement image whether axisymmetricly shape；
When the measurement image axisymmetricly shape, the measurement image is converted into digital measurement information；
The position of the object to be measured is determined according to the digital measurement information.
10. pipeline location method according to claim 9, which is characterized in that described that the measurement image is converted to number
The step of word metrical information includes:
It obtains and compares image for the distance of subsidiary conduit positioning；
It is superimposed the distance and compares image into the measurement image；
The measurement image is converted as digital measurement information.
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| CN201811330149.0A CN109506133A (en) | 2018-11-09 | 2018-11-09 | A kind of pipeline positioning device, system and method |
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Address after: 518000 11/F, Silver Star Zhijie Building 2, 1301 Guanlan Street, Longhua New District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Schroder Industry Group Co., Ltd. Applicant after: CHONGQING HANDE HI-TECH ROBOT CO., LTD. Address before: 518000 2nd and 3rd floors of No. 9 workshop of Xilitang Lang Tongfu Industrial City, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Applicant before: SHENZHEN CITY SCHROEDER MEASUREMENT AND CONTROL EQUIPMENT CO., LTD. Applicant before: CHONGQING HANDE HI-TECH ROBOT CO., LTD. |