CN112665582A - Underground pipeline detecting system based on IMU and laser spot image - Google Patents
Underground pipeline detecting system based on IMU and laser spot image Download PDFInfo
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Abstract
The invention discloses an underground pipeline detection system based on an IMU (inertial measurement Unit) and a laser spot image, which relates to the technical field of underground pipeline detection and comprises a flexible pipeline robot walking in an underground pipeline, wherein the flexible pipeline robot comprises a pipeline surveying and mapping instrument, an inertia measurement module, a mileometer module, a laser image acquisition module, a GPS (global positioning system) module and a processing module, and the inertia measurement module, the mileometer module, the laser image acquisition module and the GPS module are respectively connected with the processing module. The invention has the advantages of small calculated amount, high sensitivity, difficulty in generating false alarm due to the influence of pipelines and the like, and the data transmission has reliability, convenience, autonomy and no external interference, thereby effectively saving manpower and equipment cost.
Description
Technical Field
The invention relates to the technical field of underground pipeline detection, in particular to an underground pipeline detection system based on an IMU (inertial measurement Unit) and a laser spot image.
Background
In the general survey of urban underground pipeline detection, because the current urban underground pipeline networks are staggered, dense and overlapped with each other, if an underground pipeline detector is used on the ground surface for detecting the pipeline position, the accurate measurement becomes very difficult. The method also provides challenges for the existing underground pipeline detection technology, and the detection technology is required to be suitable for various detection environments and detection pipe diameters and can finish detection tasks efficiently and accurately.
The existing detection instruments of the equipment applied to practical engineering mainly have two types: pipeline detecting instrument, ground penetrating radar. The pipeline detector and the ground penetrating radar are external equipment instruments and are used for direct detection and general investigation on the ground surface. However, the underground pipelines in modern cities are complicated and have different depths of being buried underground, various underground pipelines are staggered and superposed, and if the pipelines to be measured cannot be distinguished by using a pipeline detector or a detection radar on the ground surface, the accuracy of the measurement result cannot be ensured. In addition, the detection environment is complex, power lines, urban strong magnetic fields and the like are likely to be distributed, the electromagnetic field formed around the pipeline is interfered by strong electromagnetic signals, the observed spatial distribution of the real electromagnetic field is seriously influenced, the measurement error is larger, and the measurement result is distorted in serious cases. Pipeline detectors and detection radars gradually fail to meet the requirements of general survey detection of complex underground pipe networks in modern cities.
The patent CN107218517A of the invention relates to a system and a method for detecting the leakage of a water supply pipeline of an urban underground pipe gallery, wherein the system comprises: the pressure monitoring unit, the data summarization unit, the data calculation unit and the judgment module unit; pressure values of the water supply pipeline are obtained by different pressure testers in the pressure monitoring unit, and data are summarized and calculated through the data summarizing unit; and judging whether the water supply pipeline leaks or not in time according to the result output by the data calculation unit. The invention is suitable for long-distance pipelines, and has the advantages of small calculated amount, high sensitivity, no possibility of false alarm caused by the influence of the pipelines and the like; meanwhile, related personnel in charge of maintenance can obtain information at the first time, and timely early warning of urban underground pipe gallery water supply pipeline leakage can be realized to the greatest extent, so that major loss caused by accidents is avoided. But still have large measurement errors.
An effective solution to the problems in the related art has not been proposed yet.
Disclosure of Invention
Aiming at the problems in the related art, the invention provides an underground pipeline detection system based on an IMU and a laser spot image, so as to overcome the technical problems in the prior related art.
The technical scheme of the invention is realized as follows:
an underground pipeline detection system based on an IMU (inertial measurement Unit) and a laser spot image comprises a flexible pipeline robot walking in an underground pipeline, wherein the flexible pipeline robot comprises a pipeline surveying instrument, an inertial measurement module, an odometer module, a laser image acquisition module, a GPS (global positioning system) module and a processing module, the inertial measurement module, the odometer module, the laser image acquisition module and the GPS module are respectively connected with the processing module, the processing module is also connected with a storage module, and the storage module comprises a first storage unit and a second storage unit, wherein the first storage unit is connected with the second storage unit;
the inertial measurement module is used for acquiring real-time attitude information of the pipeline surveying instrument in real time;
the odometer module is used for acquiring real-time walking path information of the pipeline surveying and mapping instrument;
the laser image acquisition module is used for acquiring real-time image information of the underground pipeline;
the GPS module is used for acquiring real-time position information of the flexible pipeline robot;
the processing module is used for acquiring information and issuing an instruction;
the first storage unit is used for receiving and storing real-time posture information, real-time walking path information, real-time image information, real-time position information and instruction operation information;
and the second storage unit is used for pre-generating underground pipeline parameter information.
Further, the inertial measurement module comprises a gyroscope, an accelerometer and a magnetometer.
Further, the odometer module is composed of a hall sensor.
Furthermore, the laser image acquisition module comprises a laser transmitter, a CMOS camera and an imaging screen.
Further, the method comprises the following steps:
acquiring a laser spot image;
and processing the acquired laser spot image, wherein gray level conversion is carried out on the image to enhance the contrast between the laser spot and the background, adaptive median filtering is adopted on the image of the laser spot, and the edge and the contour of the laser spot are determined by adopting a maximum inter-class variance method.
Further, the GPS module further comprises a GPS signal enhancement unit for performing signal enhancement on the GPS module.
Furthermore, the processing module is also connected with the upper monitoring terminal through a transmission interface and is used for acquiring and managing the acquired data information.
The invention has the beneficial effects that:
the invention discloses an underground pipeline detection system based on an IMU (inertial measurement Unit) and a laser spot image, which integrates a flexible pipeline robot walking in an underground pipeline and is provided with an inertia measurement module, an odometer module, a laser image acquisition module, a GPS (global positioning system) module and a processing module.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a functional block diagram of an underground pipe inspection system based on IMUs and laser spot images according to an embodiment of the present invention.
In the figure:
1. an inertial measurement module; 2. an odometer module; 3. a laser image acquisition module; 4. a GPS module; 5. a processing module; 6. and a storage module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
According to an embodiment of the present invention, an underground pipe inspection system based on IMUs and laser spot images is provided.
As shown in fig. 1, the system for detecting an underground pipeline based on an IMU and a laser spot image according to an embodiment of the present invention includes a flexible pipeline robot walking inside an underground pipeline, the flexible pipeline robot includes a pipeline mapper, the flexible pipeline robot further includes an inertial measurement module 1, an odometer module 2, a laser image acquisition module 3, a GPS module 4, and a processing module 5, the inertial measurement module 1, the odometer module 2, the laser image acquisition module 3, and the GPS module 4 are respectively connected to the processing module 5, and the processing module 5 is further connected to a storage module 6, the storage module 6 includes a first storage unit and a second storage unit, wherein;
the inertial measurement module 1 is used for acquiring real-time attitude information of the pipeline surveying instrument in real time;
the odometer module 2 is used for acquiring real-time walking path information of the pipeline surveying and mapping instrument;
the laser image acquisition module 3 is used for acquiring real-time image information of the underground pipeline;
the GPS module 4 is used for acquiring real-time position information of the flexible pipeline robot;
the processing module 5 is used for acquiring information and issuing an instruction;
the first storage unit is used for receiving and storing real-time posture information, real-time walking path information, real-time image information, real-time position information and instruction operation information;
and the second storage unit is used for pre-generating underground pipeline parameter information.
Wherein the inertial measurement module 1 comprises a gyroscope, an accelerometer and a magnetometer.
Wherein the odometer module 2 is composed of a hall sensor.
The laser image acquisition module 3 comprises a laser transmitter, a CMOS camera and an imaging screen.
The method comprises the following steps:
acquiring a laser spot image;
and processing the acquired laser spot image, wherein gray level conversion is carried out on the image to enhance the contrast between the laser spot and the background, adaptive median filtering is adopted on the image of the laser spot, and the edge and the contour of the laser spot are determined by adopting a maximum inter-class variance method.
The GPS module 4 further includes a GPS signal enhancement unit, configured to perform signal enhancement on the GPS module 4.
The processing module 5 is further connected to the upper monitoring terminal through a transmission interface, and is used for acquiring and managing the acquired data information.
By means of the technical scheme, through integrated walking in inside flexible pipe robot assembly inertia measurement module 1, odometer module 2, laser image acquisition module 3 and GPS module 4 and processing module 5 of underground piping, through the real-time attitude information who acquires the pipeline surveying instrument in real time, and acquire the real-time walking distance information of pipeline surveying instrument, acquire the real-time image information of underground piping, acquire the real-time positional information of flexible pipe robot acquires information and issue the instruction, not only has that the calculated amount is little and sensitivity is high, is difficult to receive the influence of pipeline and produces advantages such as wrong report, and data transmission has reliability and convenience moreover, has autonomy, does not receive external disturbance, effectively practices thrift manpower and equipment cost.
In addition, for the laser image acquisition module 3, in order to improve the acquired laser spot image, so that the laser spot display effect is clearer, and the later-stage spot information extraction is facilitated, an image gray value conversion method is adopted. The contrast between the laser spot and the background image is enhanced by performing gray scale conversion on the laser spot image. While the greyscale transformation is also prepared for the following threshold segmentation.
Adaptive median filtering is an improved method of traditional median filtering, and the filtering mode is the same. The median filtering is based on the ordering statistical theory, has good filtering effect on impulse noise and salt and pepper noise, and has great relation with the size of the selected filtering window. The adaptive median filtering can filter salt and pepper noise with high probability and can better protect the details of the image. In the process of self-adaptive median filtering, the size of a filtering window is dynamically changed according to certain preset conditions, and meanwhile, when the central value of the filtering window is judged to be noise, the central value is replaced by a field median, otherwise, the current value is not changed. Therefore, the self-adaptive median filtering can filter salt-pepper noise and smooth non-pulse noise in the laser spot image and better protect the edge information of the laser spot.
And (3) carrying out threshold segmentation on the laser spot image, firstly segmenting the laser spot and the background image, and then calculating the position of the central point of the laser spot by using a corresponding algorithm. The principle of the threshold segmentation is to divide a pixel set of the whole image into one subset by using one or more thresholds according to the gray level of the image, and each subset obtained corresponds to a region in the image. By combining the measurement environment of the system, the laser spot image is thresholded because the acquired image has obvious laser spot characteristics and regular shape and has high contrast with the background.
In summary, according to the above technical solution of the present invention, the flexible pipeline robot integrally walking inside the underground pipeline is equipped with the inertia measurement module, the odometer module, the laser image acquisition module, the GPS module and the processing module, and by acquiring real-time attitude information of the pipeline surveying instrument and real-time walking path information of the pipeline surveying instrument in real time, acquiring real-time image information of the underground pipeline, acquiring real-time position information of the flexible pipeline robot, acquiring information and issuing an instruction, the present invention has the advantages of small calculation amount, high sensitivity, being not easily affected by the pipeline to generate false alarms, etc., and the data transmission has reliability and convenience, autonomy, being not interfered by the outside, and effectively saving manpower and equipment cost.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. An underground pipeline detection system based on an IMU (inertial measurement Unit) and a laser spot image comprises a flexible pipeline robot walking inside an underground pipeline, wherein the flexible pipeline robot comprises a pipeline surveying instrument, and is characterized in that the flexible pipeline robot further comprises an inertial measurement module (1), an odometer module (2), a laser image acquisition module (3), a GPS module (4) and a processing module (5), the inertial measurement module (1), the odometer module (2), the laser image acquisition module (3) and the GPS module (4) are respectively connected with the processing module (5), the processing module (5) is further connected with a storage module (6), and the storage module (6) comprises a first storage unit and a second storage unit, wherein;
the inertial measurement module (1) is used for acquiring real-time attitude information of the pipeline surveying instrument in real time;
the odometer module (2) is used for acquiring real-time walking path information of the pipeline surveying and mapping instrument;
the laser image acquisition module (3) is used for acquiring real-time image information of the underground pipeline;
the GPS module (4) is used for acquiring real-time position information of the flexible pipeline robot;
the processing module (5) is used for acquiring information and issuing an instruction;
the first storage unit is used for receiving and storing real-time posture information, real-time walking path information, real-time image information, real-time position information and instruction operation information;
and the second storage unit is used for pre-generating underground pipeline parameter information.
2. An underground pipe detection system based on IMU and laser spot images according to claim 1, characterized in that the inertial measurement module (1) comprises a gyroscope, an accelerometer and a magnetometer.
3. An underground pipe detection system based on IMU and laser spot images according to claim 1, characterized in that the odometer module (2) is constituted by a hall sensor.
4. An underground pipeline inspection system based on IMU and laser spot images according to claim 1, characterized in that the laser image acquisition module (3) comprises a laser transmitter, a CMOS camera and an imaging screen.
5. An IMU and laser spot image based underground pipe inspection system according to claim 4 including the steps of:
acquiring a laser spot image;
and processing the acquired laser spot image, wherein gray level conversion is carried out on the image to enhance the contrast between the laser spot and the background, adaptive median filtering is adopted on the image of the laser spot, and the edge and the contour of the laser spot are determined by adopting a maximum inter-class variance method.
6. An underground pipeline inspection system based on IMU and laser spot images as claimed in claim 1, wherein the GPS module (4) further comprises a GPS signal enhancement unit for signal enhancement of the GPS module (4).
7. The IMU and laser spot image based underground pipeline detection system according to claim 1, wherein the processing module (5) is further connected with an upper monitoring terminal through a transmission interface for acquiring and managing acquired data information.
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Cited By (1)
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| CN116009559A (en) * | 2023-03-24 | 2023-04-25 | 齐鲁工业大学(山东省科学院) | Inspection robot and inspection method for inner wall of water conveying pipeline |
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| CN107218517A (en) * | 2017-07-19 | 2017-09-29 | 河南永立电力杆塔有限公司 | Urban Underground piping lane water supply line leak detection system and method |
| CN108844463A (en) * | 2018-06-12 | 2018-11-20 | 南京理工大学 | Underground piping dimensional orientation measuring system and method based on laser spot position |
| CN108955675A (en) * | 2018-07-24 | 2018-12-07 | 东南大学 | A kind of underground piping track detection system and method based on inertia measurement |
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